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CyphalPicoBase-CAN-firmware.ino
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CyphalPicoBase-CAN-firmware.ino
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/**
* Default firmware for the CyphalPicoBase-CAN (https://github.com/generationmake/CyphalPicoBase-CAN)
*
* This software is distributed under the terms of the MIT License.
* Copyright (c) 2023 LXRobotics.
* Author: Alexander Entinger <[email protected]>
* Contributors: https://github.com/107-systems/CyphalPicoBase-CAN-firmware/graphs/contributors.
*/
/**************************************************************************************
* INCLUDE
**************************************************************************************/
#include <SPI.h>
#include <Wire.h>
#include <Servo.h>
#include <107-Arduino-Cyphal.h>
#include <107-Arduino-Cyphal-Support.h>
#include <107-Arduino-MCP2515.h>
#include <107-Arduino-littlefs.h>
#include <107-Arduino-24LCxx.hpp>
#define DBG_ENABLE_ERROR
#define DBG_ENABLE_WARNING
#define DBG_ENABLE_INFO
#define DBG_ENABLE_DEBUG
//#define DBG_ENABLE_VERBOSE
#include <107-Arduino-Debug.hpp>
#undef max
#undef min
#include <algorithm>
#include "src/NeoPixelControl.h"
/**************************************************************************************
* NAMESPACE
**************************************************************************************/
using namespace uavcan::node;
/**************************************************************************************
* CONSTANTS
**************************************************************************************/
static uint8_t const EEPROM_I2C_DEV_ADDR = 0x50;
static int const INPUT_0_PIN = 6;
static int const INPUT_1_PIN = 7;
static int const INPUT_2_PIN = 8;
static int const INPUT_3_PIN = 9;
static int const OUTPUT_0_PIN = 10;
static int const OUTPUT_1_PIN = 11;
static int const NEOPIXEL_PIN = 13; /* Raspberry Pi Pico */
static int const SERVO_0_PIN = 14;
static int const SERVO_1_PIN = 15;
static int const MCP2515_CS_PIN = 17;
static int const MCP2515_INT_PIN = 20;
static int const LED_2_PIN = 21; /* GP21 */
static int const LED_3_PIN = 22; /* GP22 */
static int const ANALOG_PIN = 26;
static int const ANALOG_INPUT_0_PIN = 27;
static int const ANALOG_INPUT_1_PIN = 28;
static int const NEOPIXEL_NUM_PIXELS = 8; /* Popular NeoPixel ring size */
static SPISettings const MCP2515x_SPI_SETTING{10*1000*1000UL, MSBFIRST, SPI_MODE0};
static uint16_t const UPDATE_PERIOD_HEARTBEAT_ms = 1000;
static uint32_t const WATCHDOG_DELAY_ms = 1000;
static int8_t const LIGHT_MODE_RED = 1;
static int8_t const LIGHT_MODE_GREEN = 2;
static int8_t const LIGHT_MODE_BLUE = 3;
static int8_t const LIGHT_MODE_WHITE = 4;
static int8_t const LIGHT_MODE_AMBER = 5;
static int8_t const LIGHT_MODE_BLINK_RED = 11;
static int8_t const LIGHT_MODE_BLINK_GREEN = 12;
static int8_t const LIGHT_MODE_BLINK_BLUE = 13;
static int8_t const LIGHT_MODE_BLINK_WHITE = 14;
static int8_t const LIGHT_MODE_BLINK_AMBER = 15;
static int8_t const LIGHT_MODE_RUN_RED = 101;
static int8_t const LIGHT_MODE_RUN_GREEN = 102;
static int8_t const LIGHT_MODE_RUN_BLUE = 103;
static int8_t const LIGHT_MODE_RUN_WHITE = 104;
static int8_t const LIGHT_MODE_RUN_AMBER = 105;
/**************************************************************************************
* FUNCTION DECLARATION
**************************************************************************************/
void onReceiveBufferFull(CanardFrame const & frame);
ExecuteCommand::Response_1_1 onExecuteCommand_1_1_Request_Received(ExecuteCommand::Request_1_1 const &);
/**************************************************************************************
* GLOBAL VARIABLES
**************************************************************************************/
DEBUG_INSTANCE(80, Serial);
ArduinoMCP2515 mcp2515([]() { digitalWrite(MCP2515_CS_PIN, LOW); },
[]() { digitalWrite(MCP2515_CS_PIN, HIGH); },
[](uint8_t const d) { return SPI.transfer(d); },
micros,
onReceiveBufferFull,
nullptr,
[](MCP2515::EFLG const err_flag) { DBG_ERROR("MCP2515::OnError, error code = \"%s\"", MCP2515::toStr(err_flag)); },
[](MCP2515::EFLG const err_flag) { DBG_ERROR("MCP2515::OnWarning, warning code = \"%s\"", MCP2515::toStr(err_flag)); });
cyphal::Node::Heap<cyphal::Node::DEFAULT_O1HEAP_SIZE> node_heap;
cyphal::Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
cyphal::Publisher<Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0>(1*1000*1000UL /* = 1 sec in usecs. */);
cyphal::Publisher<uavcan::primitive::scalar::Real32_1_0> input_voltage_pub;
cyphal::Publisher<uavcan::primitive::scalar::Real32_1_0> internal_temperature_pub;
cyphal::Publisher<uavcan::primitive::scalar::Bit_1_0> input_0_pub;
cyphal::Publisher<uavcan::primitive::scalar::Bit_1_0> input_1_pub;
cyphal::Publisher<uavcan::primitive::scalar::Bit_1_0> input_2_pub;
cyphal::Publisher<uavcan::primitive::scalar::Bit_1_0> input_3_pub;
cyphal::Publisher<uavcan::primitive::scalar::Integer16_1_0> analog_input_0_pub;
cyphal::Publisher<uavcan::primitive::scalar::Integer16_1_0> analog_input_1_pub;
cyphal::Subscription led_subscription;
uavcan::primitive::scalar::Integer8_1_0 light_mode_msg{LIGHT_MODE_WHITE};
cyphal::Subscription light_mode_subscription;
cyphal::Subscription output_0_subscription, output_1_subscription;
Servo servo_0, servo_1;
cyphal::Subscription servo_0_subscription, servo_1_subscription;
cyphal::ServiceServer execute_command_srv = node_hdl.create_service_server<ExecuteCommand::Request_1_1, ExecuteCommand::Response_1_1>(2*1000*1000UL, onExecuteCommand_1_1_Request_Received);
NeoPixelControl neo_pixel_ctrl(NEOPIXEL_PIN, NEOPIXEL_NUM_PIXELS);
/* LITTLEFS/EEPROM ********************************************************************/
static EEPROM_24LCxx eeprom(EEPROM_24LCxx_Type::LC64,
EEPROM_I2C_DEV_ADDR,
[](size_t const dev_addr) { Wire.beginTransmission(dev_addr); },
[](uint8_t const data) { Wire.write(data); },
[]() { return Wire.endTransmission(); },
[](uint8_t const dev_addr, size_t const len) -> size_t { return Wire.requestFrom(dev_addr, len); },
[]() { return Wire.available(); },
[]() { return Wire.read(); });
static littlefs::FilesystemConfig filesystem_config
(
+[](const struct lfs_config *c, lfs_block_t block, lfs_off_t off, void *buffer, lfs_size_t size) -> int
{
eeprom.read_page((block * c->block_size) + off, (uint8_t *)buffer, size);
return LFS_ERR_OK;
},
+[](const struct lfs_config *c, lfs_block_t block, lfs_off_t off, const void *buffer, lfs_size_t size) -> int
{
eeprom.write_page((block * c->block_size) + off, (uint8_t const *)buffer, size);
return LFS_ERR_OK;
},
+[](const struct lfs_config *c, lfs_block_t block) -> int
{
for(size_t off = 0; off < c->block_size; off += eeprom.page_size())
eeprom.fill_page((block * c->block_size) + off, 0xFF);
return LFS_ERR_OK;
},
+[](const struct lfs_config *c) -> int
{
return LFS_ERR_OK;
},
eeprom.page_size(),
eeprom.page_size(),
(eeprom.page_size() * 4), /* littlefs demands (erase) block size to exceed read/prog size. */
eeprom.device_size() / (eeprom.page_size() * 4),
500,
eeprom.page_size(),
eeprom.page_size()
);
static littlefs::Filesystem filesystem(filesystem_config);
#if __GNUC__ >= 11
cyphal::support::platform::storage::littlefs::KeyValueStorage kv_storage(filesystem);
#endif /* __GNUC__ >= 11 */
/* REGISTER ***************************************************************************/
static uint16_t node_id = std::numeric_limits<uint16_t>::max();
static CanardPortID port_id_input_voltage = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_led1 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_internal_temperature = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_input0 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_input1 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_input2 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_input3 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_output0 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_output1 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_servo0 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_servo1 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_analog_input0 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_analog_input1 = std::numeric_limits<CanardPortID>::max();
static CanardPortID port_id_light_mode = std::numeric_limits<CanardPortID>::max();
static uint16_t update_period_ms_inputvoltage = 3*1000;
static uint16_t update_period_ms_internaltemperature = 10*1000;
static uint16_t update_period_ms_input0 = 500;
static uint16_t update_period_ms_input1 = 500;
static uint16_t update_period_ms_input2 = 500;
static uint16_t update_period_ms_input3 = 500;
static uint16_t update_period_ms_analoginput0 = 500;
static uint16_t update_period_ms_analoginput1 = 500;
static uint16_t update_period_ms_light = 250;
static std::string node_description{"CyphalPicoBase/CAN"};
#if __GNUC__ >= 11
const auto node_registry = node_hdl.create_registry();
const auto reg_rw_cyphal_node_id = node_registry->expose("cyphal.node.id", {true}, node_id);
const auto reg_rw_cyphal_node_description = node_registry->expose("cyphal.node.description", {true}, node_description);
const auto reg_rw_cyphal_pub_inputvoltage_id = node_registry->expose("cyphal.pub.inputvoltage.id", {true}, port_id_input_voltage);
const auto reg_ro_cyphal_pub_inputvoltage_type = node_registry->route ("cyphal.pub.inputvoltage.type", {true}, []() { return "uavcan.primitive.scalar.Real32.1.0"; });
const auto reg_rw_cyphal_pub_internaltemperature_id = node_registry->expose("cyphal.pub.internaltemperature.id", {true}, port_id_internal_temperature);
const auto reg_ro_cyphal_pub_internaltemperature_type = node_registry->route ("cyphal.pub.internaltemperature.type", {true}, []() { return "uavcan.primitive.scalar.Real32.1.0"; });
const auto reg_rw_cyphal_pub_input0_id = node_registry->expose("cyphal.pub.input0.id", {true}, port_id_input0);
const auto reg_ro_cyphal_pub_input0_type = node_registry->route ("cyphal.pub.input0.type", {true}, []() { return "uavcan.primitive.scalar.Bit.1.0"; });
const auto reg_rw_cyphal_pub_input1_id = node_registry->expose("cyphal.pub.input1.id", {true}, port_id_input1);
const auto reg_ro_cyphal_pub_input1_type = node_registry->route ("cyphal.pub.input1.type", {true}, []() { return "uavcan.primitive.scalar.Bit.1.0"; });
const auto reg_rw_cyphal_pub_input2_id = node_registry->expose("cyphal.pub.input2.id", {true}, port_id_input2);
const auto reg_ro_cyphal_pub_input2_type = node_registry->route ("cyphal.pub.input2.type", {true}, []() { return "uavcan.primitive.scalar.Bit.1.0"; });
const auto reg_rw_cyphal_pub_input3_id = node_registry->expose("cyphal.pub.input3.id", {true}, port_id_input3);
const auto reg_ro_cyphal_pub_input3_type = node_registry->route ("cyphal.pub.input3.type", {true}, []() { return "uavcan.primitive.scalar.Bit.1.0"; });
const auto reg_rw_cyphal_pub_analoginput0_id = node_registry->expose("cyphal.pub.analoginput0.id", {true}, port_id_analog_input0);
const auto reg_ro_cyphal_pub_analoginput0_type = node_registry->route ("cyphal.pub.analoginput0.type", {true}, []() { return "uavcan.primitive.scalar.Integer16.1.0"; });
const auto reg_rw_cyphal_pub_analoginput1_id = node_registry->expose("cyphal.pub.analoginput1.id", {true}, port_id_analog_input1);
const auto reg_ro_cyphal_pub_analoginput1_type = node_registry->route ("cyphal.pub.analoginput1.type", {true}, []() { return "uavcan.primitive.scalar.Integer16.1.0"; });
const auto reg_rw_cyphal_sub_led1_id = node_registry->expose("cyphal.sub.led1.id", {true}, port_id_led1);
const auto reg_ro_cyphal_sub_led1_type = node_registry->route ("cyphal.sub.led1.type", {true}, []() { return "uavcan.primitive.scalar.Bit.1.0"; });
const auto reg_rw_cyphal_sub_output0_id = node_registry->expose("cyphal.sub.output0.id", {true}, port_id_output0);
const auto reg_ro_cyphal_sub_output0_type = node_registry->route ("cyphal.sub.output0.type", {true}, []() { return "uavcan.primitive.scalar.Bit.1.0"; });
const auto reg_rw_cyphal_sub_output1_id = node_registry->expose("cyphal.sub.output1.id", {true}, port_id_output1);
const auto reg_ro_cyphal_sub_output1_type = node_registry->route ("cyphal.sub.output1.type", {true}, []() { return "uavcan.primitive.scalar.Bit.1.0"; });
const auto reg_rw_cyphal_sub_servo0_id = node_registry->expose("cyphal.sub.servo0.id", {true}, port_id_servo0);
const auto reg_ro_cyphal_sub_servo0_type = node_registry->route ("cyphal.sub.servo0.type", {true}, []() { return "uavcan.primitive.scalar.Integer16.1.0"; });
const auto reg_rw_cyphal_sub_servo1_id = node_registry->expose("cyphal.sub.servo1.id", {true}, port_id_servo1);
const auto reg_ro_cyphal_sub_servo1_type = node_registry->route ("cyphal.sub.servo1.type", {true}, []() { return "uavcan.primitive.scalar.Integer16.1.0"; });
const auto reg_rw_cyphal_sub_lightmode_id = node_registry->expose("cyphal.sub.lightmode.id", {true}, port_id_light_mode);
const auto reg_ro_cyphal_sub_lightmode_type = node_registry->route ("cyphal.sub.lightmode.type", {true}, []() { return "uavcan.primitive.scalar.Integer8.1.0"; });
const auto reg_rw_pico_update_period_ms_inputvoltage = node_registry->expose("pico.update_period_ms.inputvoltage", {true}, update_period_ms_inputvoltage);
const auto reg_rw_pico_update_period_ms_internaltemperature = node_registry->expose("pico.update_period_ms.internaltemperature", {true}, update_period_ms_internaltemperature);
const auto reg_rw_pico_update_period_ms_input0 = node_registry->expose("pico.update_period_ms.input0", {true}, update_period_ms_input0);
const auto reg_rw_pico_update_period_ms_input1 = node_registry->expose("pico.update_period_ms.input1", {true}, update_period_ms_input1);
const auto reg_rw_pico_update_period_ms_input2 = node_registry->expose("pico.update_period_ms.input2", {true}, update_period_ms_input2);
const auto reg_rw_pico_update_period_ms_input3 = node_registry->expose("pico.update_period_ms.input3", {true}, update_period_ms_input3);
const auto reg_rw_pico_update_period_ms_analoginput0 = node_registry->expose("pico.update_period_ms.analoginput0", {true}, update_period_ms_analoginput0);
const auto reg_rw_pico_update_period_ms_analoginput1 = node_registry->expose("pico.update_period_ms.analoginput1", {true}, update_period_ms_analoginput1);
const auto reg_rw_pico_update_period_ms_light = node_registry->expose("pico.update_period_ms.light", {true}, update_period_ms_light);
#endif /* __GNUC__ >= 11 */
/**************************************************************************************
* SETUP/LOOP
**************************************************************************************/
void setup()
{
Serial.begin(115200);
// while(!Serial) { } /* only for debug */
delay(1000);
Debug.prettyPrintOn(); /* Enable pretty printing on a shell. */
/* LITTLEFS/EEPROM ********************************************************************/
Wire.begin();
Wire.setClock(400*1000UL); /* Set fast mode. */
if (!eeprom.isConnected()) {
DBG_ERROR("Connecting to EEPROM failed.");
return;
}
Serial.println(eeprom);
if (auto const err_mount = filesystem.mount(); err_mount.has_value()) {
DBG_ERROR("Mounting failed with error code %d", static_cast<int>(err_mount.value()));
(void)filesystem.format();
}
if (auto const err_mount = filesystem.mount(); err_mount.has_value()) {
DBG_ERROR("Mounting failed again with error code %d", static_cast<int>(err_mount.value()));
return;
}
#if __GNUC__ >= 11
auto const rc_load = cyphal::support::load(kv_storage, *node_registry);
if (rc_load.has_value()) {
DBG_ERROR("cyphal::support::load failed with %d", static_cast<int>(rc_load.value()));
return;
}
#endif /* __GNUC__ >= 11 */
(void)filesystem.unmount();
/* If the node ID contained in the register points to an undefined
* node ID, assign node ID 0 to this node.
*/
if (node_id > CANARD_NODE_ID_MAX)
node_id = 0;
node_hdl.setNodeId(static_cast<CanardNodeID>(node_id));
if (port_id_input_voltage != std::numeric_limits<CanardPortID>::max())
input_voltage_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_input_voltage, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_led1 != std::numeric_limits<CanardPortID>::max())
led_subscription = node_hdl.create_subscription<uavcan::primitive::scalar::Bit_1_0>(
port_id_led1,
[] (uavcan::primitive::scalar::Bit_1_0 const & msg)
{
if(msg.value)
digitalWrite(LED_BUILTIN, HIGH);
else
digitalWrite(LED_BUILTIN, LOW);
});
if (port_id_internal_temperature != std::numeric_limits<CanardPortID>::max())
internal_temperature_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Real32_1_0>(port_id_internal_temperature, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_output0 != std::numeric_limits<CanardPortID>::max())
output_0_subscription = node_hdl.create_subscription<uavcan::primitive::scalar::Bit_1_0>(
port_id_output0,
[](uavcan::primitive::scalar::Bit_1_0 const & msg)
{
if(msg.value)
digitalWrite(OUTPUT_0_PIN, HIGH);
else
digitalWrite(OUTPUT_0_PIN, LOW);
});
if (port_id_output1 != std::numeric_limits<CanardPortID>::max())
output_1_subscription = node_hdl.create_subscription<uavcan::primitive::scalar::Bit_1_0>(
port_id_output1,
[](uavcan::primitive::scalar::Bit_1_0 const & msg)
{
if(msg.value)
digitalWrite(OUTPUT_1_PIN, HIGH);
else
digitalWrite(OUTPUT_1_PIN, LOW);
});
if (port_id_servo0 != std::numeric_limits<CanardPortID>::max())
servo_0_subscription = node_hdl.create_subscription<uavcan::primitive::scalar::Integer16_1_0>(
port_id_servo0,
[](uavcan::primitive::scalar::Integer16_1_0 const & msg) -> void
{
servo_0.writeMicroseconds(msg.value);
});
if (port_id_servo1 != std::numeric_limits<CanardPortID>::max())
servo_1_subscription = node_hdl.create_subscription<uavcan::primitive::scalar::Integer16_1_0>(
port_id_servo1,
[](uavcan::primitive::scalar::Integer16_1_0 const & msg) -> void
{
servo_1.writeMicroseconds(msg.value);
});
if (port_id_input0 != std::numeric_limits<CanardPortID>::max())
input_0_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Bit_1_0>(port_id_input0, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_input1 != std::numeric_limits<CanardPortID>::max())
input_1_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Bit_1_0>(port_id_input1, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_input2 != std::numeric_limits<CanardPortID>::max())
input_2_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Bit_1_0>(port_id_input2, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_input3 != std::numeric_limits<CanardPortID>::max())
input_3_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Bit_1_0>(port_id_input3, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_analog_input0 != std::numeric_limits<CanardPortID>::max())
analog_input_0_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Integer16_1_0>(port_id_analog_input0, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_analog_input1 != std::numeric_limits<CanardPortID>::max())
analog_input_1_pub = node_hdl.create_publisher<uavcan::primitive::scalar::Integer16_1_0>(port_id_analog_input1, 1*1000*1000UL /* = 1 sec in usecs. */);
if (port_id_light_mode != std::numeric_limits<CanardPortID>::max())
light_mode_subscription = node_hdl.create_subscription<uavcan::primitive::scalar::Integer8_1_0>(
port_id_light_mode,
[](uavcan::primitive::scalar::Integer8_1_0 const & msg)
{
light_mode_msg = msg;
});
/* set factory settings */
if(update_period_ms_inputvoltage==0xFFFF) update_period_ms_inputvoltage=3*1000;
if(update_period_ms_internaltemperature==0xFFFF) update_period_ms_internaltemperature=10*1000;
if(update_period_ms_input0==0xFFFF) update_period_ms_input0=500;
if(update_period_ms_input1==0xFFFF) update_period_ms_input1=500;
if(update_period_ms_input2==0xFFFF) update_period_ms_input2=500;
if(update_period_ms_input3==0xFFFF) update_period_ms_input3=500;
if(update_period_ms_analoginput0==0xFFFF) update_period_ms_analoginput0=500;
if(update_period_ms_analoginput1==0xFFFF) update_period_ms_analoginput1=500;
if(update_period_ms_light==0xFFFF) update_period_ms_light=250;
/* NODE INFO **************************************************************************/
static const auto node_info = node_hdl.create_node_info
(
/* cyphal.node.Version.1.0 protocol_version */
1, 0,
/* cyphal.node.Version.1.0 hardware_version */
1, 0,
/* cyphal.node.Version.1.0 software_version */
0, 1,
/* saturated uint64 software_vcs_revision_id */
#ifdef CYPHAL_NODE_INFO_GIT_VERSION
CYPHAL_NODE_INFO_GIT_VERSION,
#else
0,
#endif
/* saturated uint8[16] unique_id */
cyphal::support::UniqueId::instance().value(),
/* saturated uint8[<=50] name */
"107-systems.CyphalPicoBase/CAN"
);
/* Setup LED pins and initialize */
pinMode(LED_2_PIN, OUTPUT);
pinMode(LED_3_PIN, OUTPUT);
pinMode(LED_BUILTIN, OUTPUT);
digitalWrite(LED_2_PIN, LOW);
digitalWrite(LED_3_PIN, LOW);
digitalWrite(LED_BUILTIN, LOW);
pinMode(INPUT_0_PIN, INPUT_PULLUP);
pinMode(INPUT_1_PIN, INPUT_PULLUP);
pinMode(INPUT_2_PIN, INPUT_PULLUP);
pinMode(INPUT_3_PIN, INPUT_PULLUP);
/* Setup OUT0/OUT1. */
pinMode(OUTPUT_0_PIN, OUTPUT);
pinMode(OUTPUT_1_PIN, OUTPUT);
digitalWrite(OUTPUT_0_PIN, LOW);
digitalWrite(OUTPUT_1_PIN, LOW);
/* Setup SERVO0/SERVO1. */
servo_0.attach(SERVO_0_PIN, 800, 2200);
servo_1.attach(SERVO_1_PIN, 800, 2200);
servo_0.writeMicroseconds(1500);
servo_1.writeMicroseconds(1500);
neo_pixel_ctrl.begin();
/* Setup SPI access */
SPI.begin();
SPI.beginTransaction(MCP2515x_SPI_SETTING);
pinMode(MCP2515_INT_PIN, INPUT_PULLUP);
pinMode(MCP2515_CS_PIN, OUTPUT);
digitalWrite(MCP2515_CS_PIN, HIGH);
/* Initialize MCP2515 */
mcp2515.begin();
mcp2515.setBitRate(CanBitRate::BR_250kBPS_16MHZ);
/* Only pass service requests/responses for this node ID through to receive buffer #0. */
CanardFilter const CAN_FILTER_SERVICES = canardMakeFilterForServices(node_id);
DBG_INFO("CAN Filter #1\n\r\tExt. Mask : %8X\n\r\tExt. ID : %8X",
CAN_FILTER_SERVICES.extended_mask,
CAN_FILTER_SERVICES.extended_can_id);
uint32_t const RXMB0_MASK = CAN_FILTER_SERVICES.extended_mask;
size_t const RXMB0_FILTER_SIZE = 2;
uint32_t const RXMB0_FILTER[RXMB0_FILTER_SIZE] =
{
MCP2515::CAN_EFF_BITMASK | CAN_FILTER_SERVICES.extended_can_id,
MCP2515::CAN_EFF_BITMASK | 0
};
mcp2515.enableFilter(MCP2515::RxB::RxB0, RXMB0_MASK, RXMB0_FILTER, RXMB0_FILTER_SIZE);
/* Only pass messages with subscribed port IDs. */
CanardFilter const CAN_FILTER_OUT_0 = canardMakeFilterForSubject(port_id_output0);
CanardFilter const CAN_FILTER_OUT_1 = canardMakeFilterForSubject(port_id_output1);
CanardFilter const CAN_FILTER_SERVO_0 = canardMakeFilterForSubject(port_id_servo0);
CanardFilter const CAN_FILTER_SERVO_1 = canardMakeFilterForSubject(port_id_servo1);
CanardFilter const CAN_FILTER_LIGHT = canardMakeFilterForSubject(port_id_light_mode);
CanardFilter const CAN_FILTER_LED = canardMakeFilterForSubject(port_id_led1);
CanardFilter consolidated_filter = canardConsolidateFilters(&CAN_FILTER_OUT_0, &CAN_FILTER_OUT_1);
consolidated_filter = canardConsolidateFilters(&consolidated_filter, &CAN_FILTER_SERVO_0);
consolidated_filter = canardConsolidateFilters(&consolidated_filter, &CAN_FILTER_SERVO_1);
consolidated_filter = canardConsolidateFilters(&consolidated_filter, &CAN_FILTER_LIGHT);
consolidated_filter = canardConsolidateFilters(&consolidated_filter, &CAN_FILTER_LED);
DBG_INFO("CAN Filter #2\n\r\tExt. Mask : %8X\n\r\tExt. ID : %8X",
consolidated_filter.extended_mask,
consolidated_filter.extended_can_id);
uint32_t const RXMB1_MASK = consolidated_filter.extended_mask;
size_t const RXMB1_FILTER_SIZE = 4;
uint32_t const RXMB1_FILTER[RXMB1_FILTER_SIZE] =
{
MCP2515::CAN_EFF_BITMASK | consolidated_filter.extended_can_id,
MCP2515::CAN_EFF_BITMASK | 0,
MCP2515::CAN_EFF_BITMASK | 0,
MCP2515::CAN_EFF_BITMASK | 0
};
mcp2515.enableFilter(MCP2515::RxB::RxB1, RXMB1_MASK, RXMB1_FILTER, RXMB1_FILTER_SIZE);
/* Leave configuration and enable MCP2515. */
mcp2515.setNormalMode();
/* Configure initial heartbeat */
light_mode_msg.value = LIGHT_MODE_RUN_BLUE;
neo_pixel_ctrl.light_red();
delay(100);
neo_pixel_ctrl.light_amber();
delay(100);
neo_pixel_ctrl.light_green();
delay(100);
neo_pixel_ctrl.light_blue();
delay(100);
neo_pixel_ctrl.light_white();
delay(100);
neo_pixel_ctrl.light_off();
/* Enable watchdog. */
rp2040.wdt_begin(WATCHDOG_DELAY_ms);
rp2040.wdt_reset();
DBG_INFO("Init complete.");
}
void loop()
{
/* Deal with all pending events of the MCP2515 -
* signaled by the INT pin being driven LOW.
*/
while(digitalRead(MCP2515_INT_PIN) == LOW)
mcp2515.onExternalEventHandler();
/* Process all pending Cyphal actions.
*/
node_hdl.spinSome();
/* Publish all the gathered data, although at various
* different intervals.
*/
static unsigned long prev_led = 0;
static unsigned long prev_heartbeat = 0;
static unsigned long prev_battery_voltage = 0;
static unsigned long prev_internal_temperature = 0;
static unsigned long prev_input0 = 0;
static unsigned long prev_input1 = 0;
static unsigned long prev_input2 = 0;
static unsigned long prev_input3 = 0;
static unsigned long prev_analog_input0 = 0;
static unsigned long prev_analog_input1 = 0;
unsigned long const now = millis();
/* light mode for neopixels */
if((now - prev_led) > update_period_ms_light)
{
static bool is_light_on = false;
is_light_on = !is_light_on;
static int running_light_counter = 0;
running_light_counter ++;
if(running_light_counter>=8) running_light_counter=0;
if (light_mode_msg.value == LIGHT_MODE_RED)
neo_pixel_ctrl.light_red();
else if (light_mode_msg.value == LIGHT_MODE_GREEN)
neo_pixel_ctrl.light_green();
else if (light_mode_msg.value == LIGHT_MODE_BLUE)
neo_pixel_ctrl.light_blue();
else if (light_mode_msg.value == LIGHT_MODE_WHITE)
neo_pixel_ctrl.light_white();
else if (light_mode_msg.value == LIGHT_MODE_AMBER)
neo_pixel_ctrl.light_amber();
else if (light_mode_msg.value == LIGHT_MODE_RUN_RED||light_mode_msg.value == LIGHT_MODE_RUN_GREEN||light_mode_msg.value == LIGHT_MODE_RUN_BLUE||light_mode_msg.value == LIGHT_MODE_RUN_WHITE||light_mode_msg.value == LIGHT_MODE_RUN_AMBER)
{
if (light_mode_msg.value == LIGHT_MODE_RUN_RED)
{
neo_pixel_ctrl.pixels().setPixelColor(running_light_counter, neo_pixel_ctrl.pixels().Color(55, 0, 0));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+7)%8, neo_pixel_ctrl.pixels().Color(27, 0, 0));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+6)%8, neo_pixel_ctrl.pixels().Color(14, 0, 0));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+5)%8, neo_pixel_ctrl.pixels().Color(7, 0, 0));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+4)%8, neo_pixel_ctrl.pixels().Color(0, 0, 0));
neo_pixel_ctrl.pixels().show();
}
else if (light_mode_msg.value == LIGHT_MODE_RUN_GREEN)
{
neo_pixel_ctrl.pixels().setPixelColor(running_light_counter, neo_pixel_ctrl.pixels().Color(0, 55, 0));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+7)%8, neo_pixel_ctrl.pixels().Color(0, 27, 0));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+6)%8, neo_pixel_ctrl.pixels().Color(0, 14, 0));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+5)%8, neo_pixel_ctrl.pixels().Color(0, 7, 0));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+4)%8, neo_pixel_ctrl.pixels().Color(0, 0, 0));
neo_pixel_ctrl.pixels().show();
}
else if (light_mode_msg.value == LIGHT_MODE_RUN_BLUE)
{
neo_pixel_ctrl.pixels().setPixelColor(running_light_counter, neo_pixel_ctrl.pixels().Color(0, 0, 55));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+7)%8, neo_pixel_ctrl.pixels().Color(0, 0, 27));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+6)%8, neo_pixel_ctrl.pixels().Color(0, 0, 14));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+5)%8, neo_pixel_ctrl.pixels().Color(0, 0, 7));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+4)%8, neo_pixel_ctrl.pixels().Color(0, 0, 0));
neo_pixel_ctrl.pixels().show();
}
else if (light_mode_msg.value == LIGHT_MODE_RUN_WHITE)
{
neo_pixel_ctrl.pixels().setPixelColor(running_light_counter, neo_pixel_ctrl.pixels().Color(55, 55, 55));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+7)%8, neo_pixel_ctrl.pixels().Color(27, 27, 27));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+6)%8, neo_pixel_ctrl.pixels().Color(14, 14, 14));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+5)%8, neo_pixel_ctrl.pixels().Color(7, 7, 7));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+4)%8, neo_pixel_ctrl.pixels().Color(0, 0, 0));
neo_pixel_ctrl.pixels().show();
}
else if (light_mode_msg.value == LIGHT_MODE_RUN_AMBER)
{
neo_pixel_ctrl.pixels().setPixelColor(running_light_counter, neo_pixel_ctrl.pixels().Color(55, 40, 0));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+7)%8, neo_pixel_ctrl.pixels().Color(27, 20, 0));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+6)%8, neo_pixel_ctrl.pixels().Color(14, 10, 0));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+5)%8, neo_pixel_ctrl.pixels().Color(7, 5, 0));
neo_pixel_ctrl.pixels().setPixelColor((running_light_counter+4)%8, neo_pixel_ctrl.pixels().Color(0, 0, 0));
neo_pixel_ctrl.pixels().show();
}
}
else if (is_light_on&&(light_mode_msg.value == LIGHT_MODE_BLINK_RED||light_mode_msg.value == LIGHT_MODE_BLINK_GREEN||light_mode_msg.value == LIGHT_MODE_BLINK_BLUE||light_mode_msg.value == LIGHT_MODE_BLINK_WHITE||light_mode_msg.value == LIGHT_MODE_BLINK_AMBER))
{
if (light_mode_msg.value == LIGHT_MODE_BLINK_GREEN)
neo_pixel_ctrl.light_green();
else if (light_mode_msg.value == LIGHT_MODE_BLINK_BLUE)
neo_pixel_ctrl.light_blue();
else if (light_mode_msg.value == LIGHT_MODE_BLINK_WHITE)
neo_pixel_ctrl.light_white();
else if (light_mode_msg.value == LIGHT_MODE_BLINK_AMBER)
neo_pixel_ctrl.light_amber();
else
neo_pixel_ctrl.light_red();
}
else
neo_pixel_ctrl.light_off();
prev_led = now;
}
/* Publish the heartbeat once/second */
if((now - prev_heartbeat) > UPDATE_PERIOD_HEARTBEAT_ms)
{
prev_heartbeat = now;
Heartbeat_1_0 msg;
msg.uptime = millis() / 1000;
msg.health.value = uavcan::node::Health_1_0::NOMINAL;
msg.mode.value = uavcan::node::Mode_1_0::OPERATIONAL;
msg.vendor_specific_status_code = 0;
heartbeat_pub->publish(msg);
digitalWrite(LED_2_PIN, !digitalRead(LED_2_PIN));
}
if((now - prev_battery_voltage) > (update_period_ms_inputvoltage))
{
float const analog = analogRead(ANALOG_PIN)*3.3*11.0/1023.0;
Serial.print("Analog Pin: ");
Serial.println(analog);
uavcan::primitive::scalar::Real32_1_0 uavcan_input_voltage;
uavcan_input_voltage.value = analog;
if(input_voltage_pub) input_voltage_pub->publish(uavcan_input_voltage);
prev_battery_voltage = now;
}
if((now - prev_internal_temperature) > (update_period_ms_internaltemperature))
{
float const temperature = analogReadTemp();
Serial.print("Temperature: ");
Serial.println(temperature);
uavcan::primitive::scalar::Real32_1_0 uavcan_internal_temperature;
uavcan_internal_temperature.value = temperature;
if(internal_temperature_pub) internal_temperature_pub->publish(uavcan_internal_temperature);
prev_internal_temperature = now;
}
/* Handling of inputs */
if((now - prev_input0) > update_period_ms_input0)
{
uavcan::primitive::scalar::Bit_1_0 uavcan_input0;
uavcan_input0.value = digitalRead(INPUT_0_PIN);
if(input_0_pub) input_0_pub->publish(uavcan_input0);
prev_input0 = now;
}
if((now - prev_input1) > update_period_ms_input1)
{
uavcan::primitive::scalar::Bit_1_0 uavcan_input1;
uavcan_input1.value = digitalRead(INPUT_1_PIN);
if(input_1_pub) input_1_pub->publish(uavcan_input1);
prev_input1 = now;
}
if((now - prev_input2) > update_period_ms_input2)
{
uavcan::primitive::scalar::Bit_1_0 uavcan_input2;
uavcan_input2.value = digitalRead(INPUT_2_PIN);
if(input_2_pub) input_2_pub->publish(uavcan_input2);
prev_input2 = now;
}
if((now - prev_input3) > update_period_ms_input3)
{
uavcan::primitive::scalar::Bit_1_0 uavcan_input3;
uavcan_input3.value = digitalRead(INPUT_3_PIN);
if(input_3_pub) input_3_pub->publish(uavcan_input3);
prev_input3 = now;
}
if((now - prev_analog_input0) > update_period_ms_analoginput0)
{
uavcan::primitive::scalar::Integer16_1_0 uavcan_analog_input0;
uavcan_analog_input0.value = analogRead(ANALOG_INPUT_0_PIN);
if(analog_input_0_pub) analog_input_0_pub->publish(uavcan_analog_input0);
prev_analog_input0 = now;
}
if((now - prev_analog_input1) > update_period_ms_analoginput1)
{
uavcan::primitive::scalar::Integer16_1_0 uavcan_analog_input1;
uavcan_analog_input1.value = analogRead(ANALOG_INPUT_1_PIN);
if(analog_input_1_pub) analog_input_1_pub->publish(uavcan_analog_input1);
prev_analog_input1 = now;
}
/* Feed the watchdog only if not an async reset is
* pending because we want to restart via yakut.
*/
if (!cyphal::support::platform::is_async_reset_pending())
rp2040.wdt_reset();
}
/**************************************************************************************
* FUNCTION DEFINITION
**************************************************************************************/
void onReceiveBufferFull(CanardFrame const & frame)
{
digitalWrite(LED_3_PIN, !digitalRead(LED_3_PIN));
node_hdl.onCanFrameReceived(frame);
}
ExecuteCommand::Response_1_1 onExecuteCommand_1_1_Request_Received(ExecuteCommand::Request_1_1 const & req)
{
ExecuteCommand::Response_1_1 rsp;
if (req.command == ExecuteCommand::Request_1_1::COMMAND_RESTART)
{
if (auto const opt_err = cyphal::support::platform::reset_async(std::chrono::milliseconds(1000)); opt_err.has_value())
{
DBG_ERROR("reset_async failed with error code %d", static_cast<int>(opt_err.value()));
rsp.status = ExecuteCommand::Response_1_1::STATUS_FAILURE;
return rsp;
}
rsp.status = ExecuteCommand::Response_1_1::STATUS_SUCCESS;
}
else if (req.command == ExecuteCommand::Request_1_1::COMMAND_STORE_PERSISTENT_STATES)
{
if (auto const err_mount = filesystem.mount(); err_mount.has_value())
{
DBG_ERROR("Mounting failed with error code %d", static_cast<int>(err_mount.value()));
rsp.status = ExecuteCommand::Response_1_1::STATUS_FAILURE;
return rsp;
}
/* Feed the watchdog. */
rp2040.wdt_reset();
#if __GNUC__ >= 11
auto const rc_save = cyphal::support::save(kv_storage, *node_registry, []() { rp2040.wdt_reset(); });
if (rc_save.has_value())
{
DBG_ERROR("cyphal::support::save failed with %d", static_cast<int>(rc_save.value()));
rsp.status = ExecuteCommand::Response_1_1::STATUS_FAILURE;
return rsp;
}
/* Feed the watchdog. */
rp2040.wdt_reset();
rsp.status = ExecuteCommand::Response_1_1::STATUS_SUCCESS;
#endif /* __GNUC__ >= 11 */
(void)filesystem.unmount();
rsp.status = ExecuteCommand::Response_1_1::STATUS_SUCCESS;
}
else if (req.command == ExecuteCommand::Request_1_1::COMMAND_POWER_OFF)
{
/* Send the response. */
rsp.status = ExecuteCommand::Response_1_1::STATUS_SUCCESS;
digitalWrite(LED_2_PIN, HIGH);
digitalWrite(LED_3_PIN, HIGH);
neo_pixel_ctrl.light_off();
}
else if (req.command == ExecuteCommand::Request_1_1::COMMAND_BEGIN_SOFTWARE_UPDATE)
{
/* Send the response. */
rsp.status = ExecuteCommand::Response_1_1::STATUS_BAD_COMMAND;
/* not implemented yet */
}
else if (req.command == ExecuteCommand::Request_1_1::COMMAND_FACTORY_RESET)
{
/* erasing eeprom by writing FF in every cell */
size_t const NUM_PAGES = eeprom.device_size() / eeprom.page_size();
for(size_t page = 0; page < NUM_PAGES; page++)
{
uint16_t const page_addr = page * eeprom.page_size();
eeprom.fill_page(page_addr, 0xFF);
rp2040.wdt_reset();
}
/* Send the response. */
rsp.status = ExecuteCommand::Response_1_1::STATUS_SUCCESS;
}
else if (req.command == ExecuteCommand::Request_1_1::COMMAND_EMERGENCY_STOP)
{
/* Send the response. */
rsp.status = ExecuteCommand::Response_1_1::STATUS_BAD_COMMAND;
/* not implemented yet */
}
else {
rsp.status = ExecuteCommand::Response_1_1::STATUS_BAD_COMMAND;
}
return rsp;
}