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Co-authored-by: dakejahl <37091262+dakejahl@users.noreply.github.com>
84 lines
4.8 KiB
Markdown
84 lines
4.8 KiB
Markdown
# PX4 DroneCAN Firmware
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PX4 can run as the firmware on many DroneCAN peripherals. There are multiple benefits to this:
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- PX4 has built-in drivers for a [wide range](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers) of sensors and peripherals components.
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- PX4 has a robust DroneCAN driver implementation that has undergone multiple years of field testing.
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- PX4 is continuously being developed. You routinely get access to the latest improvements.
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- PX4's estimation and control code makes it easy to create "smart" cannodes like integrated AHRS modules.
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- The firmware is completely open source (PX4 is BSD licensed).
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## Building the Firmware
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Follow the [PX4 building docs](../dev_setup/building_px4.md) just as you would to build firmware for a flight controller. Device build configurations are stored [here](https://github.com/PX4/PX4-Autopilot/tree/main/boards). After installing the [PX4 toolchain](../dev_setup/dev_env.md), clone the sources and build. For example, to build for the [Ark Flow](ark_flow.md) target:
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```sh
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git clone --recursive https://github.com/PX4/PX4-Autopilot
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cd PX4-Autopilot
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make ark_can-flow_default
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```
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This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.
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## Firmware Releases
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When PX4 creates official releases, CAN node firmware files are packaged separately from regular flight controller firmware:
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- **Flight controller firmware**: Available as `.px4` files in the root of the release
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- **CAN node firmware**: Available as `.uavcan.bin` files organized in named subdirectories under `can_nodes/`
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For example, in a release you might find:
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```
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├── px4_fmu-v5_default.px4 (flight controller firmware)
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├── can_nodes/
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│ ├── ark_can-flow_default/
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│ │ └── 1234-1.0.abcd1234.uavcan.bin (CAN node firmware)
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│ └── ark_can-gps_default/
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│ └── 5678-2.0.efgh5678.uavcan.bin (CAN node firmware)
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```
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Use the `.uavcan.bin` files from the appropriate subdirectory to flash your CAN nodes.
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## Developer Information
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This section has information that is relevant to developers who want to add support for new DroneCAN hardware to the PX4 Autopilot.
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### DroneCAN Bootloader Installation
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:::warning
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DroneCAN devices typically ship with a bootloader pre-installed.
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Do not follow the instructions in this section unless you are developing DroneCAN devices,
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or have (accidentally) corrupted/wiped your bootloader.
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:::
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The PX4 project includes a standard DroneCAN bootloader for STM32 devices.
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The bootloader occupies the first 8-16 KB of flash, and is the first code executed on power-up.
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Typically the bootloader performs low-level device initialization, automatically determines the CAN
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bus baud rate, acts as a [DroneCAN dynamic node ID client](index.md#node-id-allocation) to obtain a unique node ID, and waits for confirmation from the flight controller before proceeding with application boot.
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This process ensures that a DroneCAN device can recover from invalid or corrupted application firmware without user intervention, and also permits automatic firmware updates.
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Build the bootloader firmware by specifying the same peripheral target with the `canbootloader` build configuration instead of the `default` configuration.
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For example, to build for the [Ark Flow](ark_flow.md) target:
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```sh
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git clone --recursive https://github.com/PX4/PX4-Autopilot
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cd PX4-Autopilot
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make ark_can-flow_canbootloader
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```
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The binary can then be flashed to the microcontroller using your favorite SWD/JTAG debugger, such as the [Black Magic Probe](https://black-magic.org/index.html), [ST-Link](https://www.st.com/en/development-tools/st-link-v2.html), or [Segger JLink](https://www.segger.com/products/debug-probes/j-link/).
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### Firmware Internals
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For the most part, peripheral firmware works the same way as flight controller firmware builds.
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However, most modules are disabled - only the sensor drivers, DroneCAN driver, and internal infrastructure (uORB, etc.) are enabled.
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DroneCAN communication is handled by the [uavcannode](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/uavcannode) module.
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This driver handles producer-side communication - it takes sensor/actuator data from uORB, serializes it using the DroneCAN libraries, and publishes it over CAN.
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In the future, this will likely be merged with the [uavcan](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/uavcan) module which handles flight controller side (consumer side) drivers, which receive/deserialize data from the CAN bus and publish them over uORB.
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The build system also produces firmware binaries designed to be flashed through a DroneCAN bootloader via [PX4's DroneCAN flashing support] or the DroneCAN GUI, in addition to the standard raw binary, ELF, and `.px4` firmware files.
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