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Diffstat (limited to 'src/drivers/boards/px4cannode-v1/bootloader/uavcan/protocol.h')
-rw-r--r--src/drivers/boards/px4cannode-v1/bootloader/uavcan/protocol.h425
1 files changed, 215 insertions, 210 deletions
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/uavcan/protocol.h b/src/drivers/boards/px4cannode-v1/bootloader/uavcan/protocol.h
index f1530a692..faee7ae10 100644
--- a/src/drivers/boards/px4cannode-v1/bootloader/uavcan/protocol.h
+++ b/src/drivers/boards/px4cannode-v1/bootloader/uavcan/protocol.h
@@ -1,4 +1,9 @@
#pragma once
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+# include <nuttx/compiler.h>
#include <stdint.h>
#include <stdlib.h>
@@ -15,219 +20,219 @@ typedef enum
} can_error_t;
/* UAVCAN message formats */
- typedef enum {
- SERVICE_RESPONSE = 0,
- SERVICE_REQUEST = 1,
- MESSAGE_BROADCAST = 2,
- MESSAGE_UNICAST = 3
- } uavcan_transfertype_t;
-
- typedef struct {
+typedef enum {
+ SERVICE_RESPONSE = 0,
+ SERVICE_REQUEST = 1,
+ MESSAGE_BROADCAST = 2,
+ MESSAGE_UNICAST = 3
+} uavcan_transfertype_t;
+
+typedef struct packed_struct uavcan_frame_id_t {
uint8_t transfer_id;
uint8_t last_frame;
uint8_t frame_index;
uint8_t source_node_id;
uavcan_transfertype_t transfer_type;
uint16_t data_type_id;
- } __attribute__((packed)) uavcan_frame_id_t;
-
- typedef struct {
- uint32_t uptime_sec;
- uint8_t status_code;
- uint16_t vendor_specific_status_code;
- } __attribute__((packed)) uavcan_nodestatus_t;
-
- #define UAVCAN_NODESTATUS_DTID 550u
- #define UAVCAN_NODESTATUS_PUBLICATION_CYCLES (72000000u / 2u)
- #define UAVCAN_NODESTATUS_STATUS_OK 0u
- #define UAVCAN_NODESTATUS_STATUS_INITIALIZING 1u
- #define UAVCAN_NODESTATUS_STATUS_WARNING 2u
- #define UAVCAN_NODESTATUS_STATUS_CRITICAL 3u
-
-
- typedef struct {
- uint8_t major;
- uint8_t minor;
- uint8_t optional_field_mask;
- uint32_t vcs_commit;
- uint64_t image_crc;
- } __attribute__((packed)) uavcan_softwareversion_t;
-
- typedef struct {
- uint8_t major;
- uint8_t minor;
- uint8_t unique_id[16];
- uint8_t certificate_of_authenticity_length;
- uint8_t certificate_of_authenticity[255];
- } __attribute__((packed)) uavcan_hardwareversion_t;
-
- typedef struct {
- uint8_t nodestatus[6];
-
- uavcan_softwareversion_t software_version;
- uavcan_hardwareversion_t hardware_version;
-
- uint8_t name[80];
- uint8_t name_length;
- } __attribute__((packed)) uavcan_getnodeinfo_response_t;
-
- #define UAVCAN_GETNODEINFO_DTID 551u
- #define UAVCAN_GETNODEINFO_CRC 0x14BBu
-
-
- typedef struct {
- uint8_t node_id; /* bottom bit is the first part flag */
- uint8_t unique_id[16];
- } __attribute__((packed)) uavcan_allocation_t;
-
- #define UAVCAN_DYNAMICNODEIDALLOCATION_DTID 559u
-
-
- typedef struct {
- uint8_t level;
- uint8_t message[2];
- } __attribute__((packed)) uavcan_logmessage_t;
-
- #define UAVCAN_LOGMESSAGE_DTID 1023u
- #define UAVCAN_LOGMESSAGE_LEVEL_DEBUG 0u
- #define UAVCAN_LOGMESSAGE_LEVEL_INFO 1u
- #define UAVCAN_LOGMESSAGE_LEVEL_WARNING 2u
- #define UAVCAN_LOGMESSAGE_LEVEL_ERROR 3u
- #define UAVCAN_LOGMESSAGE_SOURCE_0 'B'
- #define UAVCAN_LOGMESSAGE_SOURCE_1 'O'
- #define UAVCAN_LOGMESSAGE_SOURCE_2 'O'
- #define UAVCAN_LOGMESSAGE_SOURCE_3 'T'
-
- #define UAVCAN_LOGMESSAGE_STAGE_INIT 'I'
- #define UAVCAN_LOGMESSAGE_STAGE_GET_INFO 'G'
- #define UAVCAN_LOGMESSAGE_STAGE_ERASE 'E'
- #define UAVCAN_LOGMESSAGE_STAGE_READ 'R'
- #define UAVCAN_LOGMESSAGE_STAGE_PROGRAM 'P'
- #define UAVCAN_LOGMESSAGE_STAGE_VALIDATE 'V'
- #define UAVCAN_LOGMESSAGE_STAGE_FINALIZE 'F'
- #define UAVCAN_LOGMESSAGE_RESULT_START 's'
- #define UAVCAN_LOGMESSAGE_RESULT_FAIL 'f'
- #define UAVCAN_LOGMESSAGE_RESULT_OK 'o'
-
-
- typedef struct {
- uint8_t source_node_id;
- uint8_t path[200];
- uint8_t path_length;
- } __attribute__((packed)) uavcan_beginfirmwareupdate_request_t;
-
- typedef struct {
- uint8_t error;
- } __attribute__((packed)) uavcan_beginfirmwareupdate_response_t;
-
- #define UAVCAN_BEGINFIRMWAREUPDATE_DTID 580u
- #define UAVCAN_BEGINFIRMWAREUPDATE_CRC 0x729Eu
- #define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_OK 0u
- #define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_INVALID_MODE 1u
- #define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_IN_PROGRESS 2u
- #define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_UNKNOWN 255u
-
-
- typedef struct {
- uint8_t path[200];
- uint8_t path_length;
- } __attribute__((packed)) uavcan_getinfo_request_t;
-
- typedef struct {
- uint64_t crc64;
- uint32_t size;
- uint16_t error;
- uint8_t entry_type;
- } __attribute__((packed)) uavcan_getinfo_response_t;
-
- #define UAVCAN_GETINFO_DTID 585u
- #define UAVCAN_GETINFO_CRC 0x37A0u
- #define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_FILE 0x01u
- #define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_DIRECTORY 0x02u
- #define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_SYMLINK 0x04u
- #define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_READABLE 0x08u
- #define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_WRITEABLE 0x10u
-
-
- typedef struct {
- uint32_t offset;
- uint8_t path[200];
- uint8_t path_length;
- } __attribute__((packed)) uavcan_read_request_t;
-
- typedef struct {
- uint16_t error;
- uint8_t data[250];
- uint8_t data_length;
- } __attribute__((packed)) uavcan_read_response_t;
-
- #define UAVCAN_READ_DTID 588u
- #define UAVCAN_READ_CRC 0x2921u
-
- #define UAVCAN_FILE_ERROR_OK 0u
- /* Left the others out for now because we don't really care why it failed */
-
-
- #define UAVCAN_ALLOCATION_CRC 0x7BAAu
-
-
- size_t uavcan_pack_nodestatus(
- uint8_t *data,
- const uavcan_nodestatus_t *payload
- );
- size_t uavcan_pack_logmessage(
- uint8_t *data,
- const uavcan_logmessage_t *payload
- );
- uint32_t uavcan_make_message_id(const uavcan_frame_id_t *frame_id);
- int uavcan_parse_message_id(uavcan_frame_id_t *frame_id, uint32_t message_id,
- uint16_t expected_id);
- void uavcan_tx_nodestatus(
- uint8_t node_id,
- uint32_t uptime_sec,
- uint8_t status_code
- );
- void uavcan_tx_allocation_message(
- uint8_t requested_node_id,
- size_t unique_id_length,
- const uint8_t *unique_id,
- uint8_t unique_id_offset,
- uint8_t transfer_id
- );
- void uavcan_tx_getnodeinfo_response(
- uint8_t node_id,
- uavcan_getnodeinfo_response_t *response,
- uint8_t dest_node_id,
- uint8_t transfer_id
- );
- can_error_t uavcan_rx_beginfirmwareupdate_request(
- uint8_t node_id,
- uavcan_beginfirmwareupdate_request_t *request,
- uavcan_frame_id_t *out_frame_id
- );
- void uavcan_tx_read_request(
- uint8_t node_id,
- const uavcan_read_request_t *request,
- uint8_t dest_node_id,
- uint8_t transfer_id
- );
- can_error_t uavcan_rx_read_response(
- uint8_t node_id,
- uavcan_read_response_t *response,
- uint8_t dest_node_id,
- uint8_t transfer_id,
- uint32_t timeout_ticks
- );
- void uavcan_tx_getinfo_request(
- uint8_t node_id,
- const uavcan_getinfo_request_t *request,
- uint8_t dest_node_id,
- uint8_t transfer_id
- );
- can_error_t uavcan_rx_getinfo_response(
- uint8_t node_id,
- uavcan_getinfo_response_t *response,
- uint8_t dest_node_id,
- uint8_t transfer_id,
- uint32_t timeout_ticks
- );
+ } uavcan_frame_id_t;
+
+typedef struct packed_struct uavcan_nodestatus_t {
+ uint32_t uptime_sec;
+ uint8_t status_code;
+ uint16_t vendor_specific_status_code;
+} uavcan_nodestatus_t;
+
+#define UAVCAN_NODESTATUS_DTID 550u
+#define UAVCAN_NODESTATUS_PUBLICATION_CYCLES (72000000u / 2u)
+#define UAVCAN_NODESTATUS_STATUS_OK 0u
+#define UAVCAN_NODESTATUS_STATUS_INITIALIZING 1u
+#define UAVCAN_NODESTATUS_STATUS_WARNING 2u
+#define UAVCAN_NODESTATUS_STATUS_CRITICAL 3u
+
+
+typedef struct packed_struct uavcan_softwareversion_t {
+ uint8_t major;
+ uint8_t minor;
+ uint8_t optional_field_mask;
+ uint32_t vcs_commit;
+ uint64_t image_crc;
+} uavcan_softwareversion_t;
+
+typedef struct packed_struct uavcan_hardwareversion_t {
+ uint8_t major;
+ uint8_t minor;
+ uint8_t unique_id[16];
+ uint8_t certificate_of_authenticity_length;
+ uint8_t certificate_of_authenticity[255];
+} uavcan_hardwareversion_t;
+
+typedef struct packed_struct uavcan_getnodeinfo_response_t {
+ uint8_t nodestatus[6];
+
+ uavcan_softwareversion_t software_version;
+ uavcan_hardwareversion_t hardware_version;
+
+ uint8_t name[80];
+ uint8_t name_length;
+} uavcan_getnodeinfo_response_t;
+
+#define UAVCAN_GETNODEINFO_DTID 551u
+#define UAVCAN_GETNODEINFO_CRC 0x14BBu
+
+
+typedef struct packed_struct uavcan_allocation_t {
+ uint8_t node_id; /* bottom bit is the first part flag */
+ uint8_t unique_id[16];
+} uavcan_allocation_t;
+
+#define UAVCAN_DYNAMICNODEIDALLOCATION_DTID 559u
+
+
+typedef struct packed_struct uavcan_logmessage_t {
+ uint8_t level;
+ uint8_t message[2];
+} uavcan_logmessage_t;
+
+#define UAVCAN_LOGMESSAGE_DTID 1023u
+#define UAVCAN_LOGMESSAGE_LEVEL_DEBUG 0u
+#define UAVCAN_LOGMESSAGE_LEVEL_INFO 1u
+#define UAVCAN_LOGMESSAGE_LEVEL_WARNING 2u
+#define UAVCAN_LOGMESSAGE_LEVEL_ERROR 3u
+#define UAVCAN_LOGMESSAGE_SOURCE_0 'B'
+#define UAVCAN_LOGMESSAGE_SOURCE_1 'O'
+#define UAVCAN_LOGMESSAGE_SOURCE_2 'O'
+#define UAVCAN_LOGMESSAGE_SOURCE_3 'T'
+
+#define UAVCAN_LOGMESSAGE_STAGE_INIT 'I'
+#define UAVCAN_LOGMESSAGE_STAGE_GET_INFO 'G'
+#define UAVCAN_LOGMESSAGE_STAGE_ERASE 'E'
+#define UAVCAN_LOGMESSAGE_STAGE_READ 'R'
+#define UAVCAN_LOGMESSAGE_STAGE_PROGRAM 'P'
+#define UAVCAN_LOGMESSAGE_STAGE_VALIDATE 'V'
+#define UAVCAN_LOGMESSAGE_STAGE_FINALIZE 'F'
+#define UAVCAN_LOGMESSAGE_RESULT_START 's'
+#define UAVCAN_LOGMESSAGE_RESULT_FAIL 'f'
+#define UAVCAN_LOGMESSAGE_RESULT_OK 'o'
+
+
+typedef struct packed_struct uavcan_beginfirmwareupdate_request_t {
+ uint8_t source_node_id;
+ uint8_t path[200];
+ uint8_t path_length;
+} uavcan_beginfirmwareupdate_request_t;
+
+typedef struct packed_struct uavcan_beginfirmwareupdate_response_t {
+ uint8_t error;
+} uavcan_beginfirmwareupdate_response_t;
+
+#define UAVCAN_BEGINFIRMWAREUPDATE_DTID 580u
+#define UAVCAN_BEGINFIRMWAREUPDATE_CRC 0x729Eu
+#define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_OK 0u
+#define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_INVALID_MODE 1u
+#define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_IN_PROGRESS 2u
+#define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_UNKNOWN 255u
+
+
+typedef struct packed_struct uavcan_getinfo_request_t {
+ uint8_t path[200];
+ uint8_t path_length;
+} uavcan_getinfo_request_t;
+
+typedef struct packed_struct uavcan_getinfo_response_t {
+ uint64_t crc64;
+ uint32_t size;
+ uint16_t error;
+ uint8_t entry_type;
+} uavcan_getinfo_response_t;
+
+#define UAVCAN_GETINFO_DTID 585u
+#define UAVCAN_GETINFO_CRC 0x37A0u
+#define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_FILE 0x01u
+#define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_DIRECTORY 0x02u
+#define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_SYMLINK 0x04u
+#define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_READABLE 0x08u
+#define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_WRITEABLE 0x10u
+
+
+typedef struct packed_struct uavcan_read_request_t {
+ uint32_t offset;
+ uint8_t path[200];
+ uint8_t path_length;
+} uavcan_read_request_t;
+
+typedef struct packed_struct uavcan_read_response_t {
+ uint16_t error;
+ uint8_t data[250];
+ uint8_t data_length;
+} uavcan_read_response_t;
+
+#define UAVCAN_READ_DTID 588u
+#define UAVCAN_READ_CRC 0x2921u
+
+#define UAVCAN_FILE_ERROR_OK 0u
+/* Left the others out for now because we don't really care why it failed */
+
+
+#define UAVCAN_ALLOCATION_CRC 0x7BAAu
+
+
+size_t uavcan_pack_nodestatus(
+ uint8_t *data,
+ const uavcan_nodestatus_t *payload
+);
+size_t uavcan_pack_logmessage(
+ uint8_t *data,
+ const uavcan_logmessage_t *payload
+);
+uint32_t uavcan_make_message_id(const uavcan_frame_id_t *frame_id);
+int uavcan_parse_message_id(uavcan_frame_id_t *frame_id, uint32_t message_id,
+ uint16_t expected_id);
+void uavcan_tx_nodestatus(
+ uint8_t node_id,
+ uint32_t uptime_sec,
+ uint8_t status_code
+);
+void uavcan_tx_allocation_message(
+ uint8_t requested_node_id,
+ size_t unique_id_length,
+ const uint8_t *unique_id,
+ uint8_t unique_id_offset,
+ uint8_t transfer_id
+);
+void uavcan_tx_getnodeinfo_response(
+ uint8_t node_id,
+ uavcan_getnodeinfo_response_t *response,
+ uint8_t dest_node_id,
+ uint8_t transfer_id
+);
+can_error_t uavcan_rx_beginfirmwareupdate_request(
+ uint8_t node_id,
+ uavcan_beginfirmwareupdate_request_t *request,
+ uavcan_frame_id_t *out_frame_id
+);
+void uavcan_tx_read_request(
+ uint8_t node_id,
+ const uavcan_read_request_t *request,
+ uint8_t dest_node_id,
+ uint8_t transfer_id
+);
+can_error_t uavcan_rx_read_response(
+ uint8_t node_id,
+ uavcan_read_response_t *response,
+ uint8_t dest_node_id,
+ uint8_t transfer_id,
+ uint32_t timeout_ticks
+);
+void uavcan_tx_getinfo_request(
+ uint8_t node_id,
+ const uavcan_getinfo_request_t *request,
+ uint8_t dest_node_id,
+ uint8_t transfer_id
+);
+can_error_t uavcan_rx_getinfo_response(
+ uint8_t node_id,
+ uavcan_getinfo_response_t *response,
+ uint8_t dest_node_id,
+ uint8_t transfer_id,
+ uint32_t timeout_ticks
+);
generated by cgit v1.2.3 (git 2.39.1) at 2024-06-28 01:35:09 +0000