Merge pull request iNavFlight#11313 from daijoubu/add-libcanard

Add support for dronecan and initial GPS driver

Author: sensei-hacker

.gitmodules

@@ -4,19 +4,19 @@
     "version": "2.0.0",
     "tasks": [
         {
-            "label": "Build AOCODARCH7DUAL",
+            "label": "Build MATEKH743",
             "type": "shell",
-            "command": "make AOCODARCH7DUAL",
+            "command": "ninja MATEKH743",
             "group": "build",
             "problemMatcher": [],
             "options": {
                 "cwd": "${workspaceFolder}/build"
             }
         },
         {
-            "label": "Build AOCODARCH7DUAL",
+            "label": "Build MATEKH743",
             "type": "shell",
-            "command": "make AOCODARCH7DUAL",
+            "command": "ninja MATEKH743",
             "group": {
                 "kind": "build",
                 "isDefault": true

.vscode/tasks.json

@@ -37,6 +37,7 @@ get_git_head_revision(GIT_REFSPEC GIT_SHA1)
 string(SUBSTRING ${GIT_SHA1} 0 8 GIT_REV)
 
 # Load settings related functions, so the tests can use them
+include(dsdlc_generated)
 include(main)
 include(settings)
 

CMakeLists.txt

@@ -0,0 +1,132 @@
+
+set(DSDLC_GENERATED_DIR "${MAIN_LIB_DIR}/main/Dronecan/dsdlc_generated")
+
+set(DSDLC_GENERATED_SRC
+    dronecan.protocol.CanStats.c                                
+    dronecan.protocol.FlexDebug.c                               
+    dronecan.protocol.GlobalTime.c                              
+    dronecan.protocol.Stats.c                                   
+    dronecan.remoteid.ArmStatus.c                               
+    dronecan.remoteid.BasicID.c                                 
+    dronecan.remoteid.Location.c                                
+    dronecan.remoteid.OperatorID.c                              
+    dronecan.remoteid.SecureCommand_req.c                       
+    dronecan.remoteid.SecureCommand_res.c                       
+    dronecan.remoteid.SelfID.c                                  
+    dronecan.remoteid.System.c                                  
+    dronecan.sensors.hygrometer.Hygrometer.c                    
+    dronecan.sensors.magnetometer.MagneticFieldStrengthHiRes.c  
+    dronecan.sensors.rc.RCInput.c                               
+    dronecan.sensors.rpm.RPM.c                                                                                 
+    uavcan.CoarseOrientation.c                                  
+    uavcan.equipment.actuator.ArrayCommand.c                    
+    uavcan.equipment.actuator.Command.c                         
+    uavcan.equipment.actuator.Status.c                          
+    uavcan.equipment.ahrs.MagneticFieldStrength2.c              
+    uavcan.equipment.ahrs.MagneticFieldStrength.c               
+    uavcan.equipment.ahrs.RawIMU.c                              
+    uavcan.equipment.ahrs.Solution.c                            
+    uavcan.equipment.air_data.AngleOfAttack.c                   
+    uavcan.equipment.air_data.IndicatedAirspeed.c               
+    uavcan.equipment.air_data.RawAirData.c                      
+    uavcan.equipment.air_data.Sideslip.c                        
+    uavcan.equipment.air_data.StaticPressure.c                  
+    uavcan.equipment.air_data.StaticTemperature.c               
+    uavcan.equipment.air_data.TrueAirspeed.c                    
+    uavcan.equipment.camera_gimbal.AngularCommand.c             
+    uavcan.equipment.camera_gimbal.GEOPOICommand.c              
+    uavcan.equipment.camera_gimbal.Mode.c                       
+    uavcan.equipment.camera_gimbal.Status.c                     
+    uavcan.equipment.device.Temperature.c                       
+    uavcan.equipment.esc.RawCommand.c                           
+    uavcan.equipment.esc.RPMCommand.c                           
+    uavcan.equipment.esc.Status.c                               
+    uavcan.equipment.esc.StatusExtended.c                       
+    uavcan.equipment.gnss.Auxiliary.c                           
+    uavcan.equipment.gnss.ECEFPositionVelocity.c                
+    uavcan.equipment.gnss.Fix2.c                                
+    uavcan.equipment.gnss.Fix.c                                 
+    uavcan.equipment.gnss.RTCMStream.c                          
+    uavcan.equipment.hardpoint.Command.c                        
+    uavcan.equipment.hardpoint.Status.c                         
+    uavcan.equipment.ice.FuelTankStatus.c                       
+    uavcan.equipment.ice.reciprocating.CylinderStatus.c         
+    uavcan.equipment.ice.reciprocating.Status.c                 
+    uavcan.equipment.indication.BeepCommand.c                   
+    uavcan.equipment.indication.LightsCommand.c                 
+    uavcan.equipment.indication.RGB565.c                        
+    uavcan.equipment.indication.SingleLightCommand.c            
+    uavcan.equipment.power.BatteryInfo.c                        
+    uavcan.equipment.power.CircuitStatus.c                      
+    uavcan.equipment.power.PrimaryPowerSupplyStatus.c           
+    uavcan.equipment.range_sensor.Measurement.c                 
+    uavcan.equipment.safety.ArmingStatus.c 
+    uavcan.navigation.GlobalNavigationSolution.c
+    uavcan.protocol.AccessCommandShell_req.c
+    uavcan.protocol.AccessCommandShell_res.c
+    uavcan.protocol.CANIfaceStats.c
+    uavcan.protocol.DataTypeKind.c
+    uavcan.protocol.debug.KeyValue.c
+    uavcan.protocol.debug.LogLevel.c
+    uavcan.protocol.debug.LogMessage.c
+    uavcan.protocol.dynamic_node_id.Allocation.c
+    uavcan.protocol.dynamic_node_id.server.AppendEntries_req.c
+    uavcan.protocol.dynamic_node_id.server.AppendEntries_res.c
+    uavcan.protocol.dynamic_node_id.server.Discovery.c
+    uavcan.protocol.dynamic_node_id.server.Entry.c
+    uavcan.protocol.dynamic_node_id.server.RequestVote_req.c
+    uavcan.protocol.dynamic_node_id.server.RequestVote_res.c
+    uavcan.protocol.enumeration.Begin_req.c
+    uavcan.protocol.enumeration.Begin_res.c
+    uavcan.protocol.enumeration.Indication.c
+    uavcan.protocol.file.BeginFirmwareUpdate_req.c
+    uavcan.protocol.file.BeginFirmwareUpdate_res.c
+    uavcan.protocol.file.Delete_req.c
+    uavcan.protocol.file.Delete_res.c
+    uavcan.protocol.file.EntryType.c
+    uavcan.protocol.file.Error.c
+    uavcan.protocol.file.GetDirectoryEntryInfo_req.c
+    uavcan.protocol.file.GetDirectoryEntryInfo_res.c
+    uavcan.protocol.file.GetInfo_req.c
+    uavcan.protocol.file.GetInfo_res.c
+    uavcan.protocol.file.Path.c
+    uavcan.protocol.file.Read_req.c
+    uavcan.protocol.file.Read_res.c
+    uavcan.protocol.file.Write_req.c
+    uavcan.protocol.file.Write_res.c
+    uavcan.protocol.GetDataTypeInfo_req.c
+    uavcan.protocol.GetDataTypeInfo_res.c
+    uavcan.protocol.GetNodeInfo_req.c
+    uavcan.protocol.GetNodeInfo_res.c
+    uavcan.protocol.GetTransportStats_req.c
+    uavcan.protocol.GetTransportStats_res.c
+    uavcan.protocol.GlobalTimeSync.c
+    uavcan.protocol.HardwareVersion.c
+    uavcan.protocol.NodeStatus.c
+    uavcan.protocol.Panic.c
+    uavcan.protocol.param.Empty.c
+    uavcan.protocol.param.ExecuteOpcode_req.c
+    uavcan.protocol.param.ExecuteOpcode_res.c
+    uavcan.protocol.param.GetSet_req.c
+    uavcan.protocol.param.GetSet_res.c
+    uavcan.protocol.param.NumericValue.c
+    uavcan.protocol.param.Value.c
+    uavcan.protocol.RestartNode_req.c
+    uavcan.protocol.RestartNode_res.c
+    uavcan.protocol.SoftwareVersion.c
+    uavcan.Timestamp.c
+    uavcan.tunnel.Broadcast.c
+    uavcan.tunnel.Call_req.c
+    uavcan.tunnel.Call_res.c
+    uavcan.tunnel.Protocol.c
+    uavcan.tunnel.SerialConfig.c
+    uavcan.tunnel.Targetted.c
+)
+
+list(TRANSFORM DSDLC_GENERATED_SRC PREPEND "${DSDLC_GENERATED_DIR}/src/")
+
+set(DSDLC_GENERATED_DIRS
+    ${DSDLC_GENERATED_DIR}/include
+)
+
+

cmake/dsdlc_generated.cmake

@@ -2,6 +2,8 @@ set(MAIN_INCLUDE_DIRS
     "${MAIN_LIB_DIR}"
     "${MAIN_SRC_DIR}"
     "${MAIN_LIB_DIR}/main/MAVLink"
+    "${MAIN_SRC_DIR}/drivers/dronecan/libcanard"
+    "${DSDLC_GENERATED_DIRS}"
 )
 
 set(MAIN_DEFINITIONS

cmake/main.cmake

@@ -13,6 +13,7 @@ main_sources(SITL_COMMON_SRC_EXCLUDES
 
 main_sources(SITL_SRC
     config/config_streamer_file.c
+    drivers/dronecan/libcanard/canard_sitl_driver.c
     drivers/serial_tcp.c
     drivers/serial_tcp.h
     target/SITL/sim/realFlight.c
@@ -64,6 +65,7 @@ if(NOT MACOSX)
         -Wno-error=maybe-uninitialized
         -fsingle-precision-constant
     )
+
     include(CheckLinkerFlag OPTIONAL)
     if(COMMAND check_linker_flag)
         check_linker_flag(C "-Wl,--no-warn-rwx-segments" LINKER_SUPPORTS_NO_RWX_WARNING)

cmake/sitl.cmake

@@ -7,6 +7,7 @@ set(STM32F7_HAL_SRC
     stm32f7xx_hal.c
     stm32f7xx_hal_adc.c
     stm32f7xx_hal_adc_ex.c
+    stm32f7xx_hal_can.c
     stm32f7xx_hal_cortex.c
     stm32f7xx_hal_dac.c
     stm32f7xx_hal_dac_ex.c
@@ -77,6 +78,8 @@ main_sources(STM32F7_SRC
     drivers/serial_uart_stm32f7xx.c
     drivers/serial_uart_hal.c
     drivers/sdcard/sdmmc_sdio_hal.c
+    drivers/dronecan/libcanard/canard_stm32f7xx_driver.c
+
 )
 
 main_sources(STM32F7_MSC_SRC

cmake/stm32f7.cmake

@@ -28,7 +28,7 @@ set(STM32H7_HAL_SRC
 #    stm32h7xx_hal_eth.c
 #    stm32h7xx_hal_eth_ex.c
     stm32h7xx_hal_exti.c
-#    stm32h7xx_hal_fdcan.c
+    stm32h7xx_hal_fdcan.c
     stm32h7xx_hal_flash.c
     stm32h7xx_hal_flash_ex.c
     stm32h7xx_hal_gfxmmu.c
@@ -162,6 +162,8 @@ main_sources(STM32H7_SRC
     drivers/serial_uart_hal.c
     drivers/sdio.h
     drivers/sdcard/sdmmc_sdio_hal.c
+    drivers/dronecan/libcanard/canard_stm32h7xx_driver.c
+
 )
 
 main_sources(STM32H7_MSC_SRC

cmake/stm32h7.cmake

@@ -91,9 +91,15 @@ Configure the current meter type using the `current_meter_type` settings here:
 
 | Value | Sensor Type            |
 | ----- | ---------------------- |
-| 0     | None                   |
-| 1     | ADC/hardware sensor    |
-| 2     | Virtual sensor         |
+| NONE  | Disabled               |
+| ADC   | ADC/hardware sensor    |
+| VIRTUAL | Virtual sensor (estimated from throttle) |
+| FAKE  | Fake sensor (for testing) |
+| ESC   | ESC telemetry          |
+| SMARTPORT | SmartPort telemetry |
+| CAN   | DroneCAN battery monitor |
+
+See [DroneCAN](DroneCAN.md) for information on using DroneCAN battery monitors.
 
 Configure capacity using the `battery_capacity` setting, in mAh units.