Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal

Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp

.gitmodules

@@ -36,14 +36,14 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/uavcan_v1/libcanard"]
-	path = src/drivers/uavcan_v1/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
-[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
-	path = src/drivers/uavcan_v1/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcan_v1/legacy_data_types"]
-	path = src/drivers/uavcan_v1/legacy_data_types
+[submodule "src/drivers/cyphal/libcanard"]
+	path = src/drivers/cyphal/libcanard
+	url = https://github.com/opencyphal/libcanard.git
+[submodule "src/drivers/cyphal/public_regulated_data_types"]
+	path = src/drivers/cyphal/public_regulated_data_types
+	url = https://github.com/opencyphal/public_regulated_data_types.git
+[submodule "src/drivers/cyphal/legacy_data_types"]
+	path = src/drivers/cyphal/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
 [submodule "src/lib/crypto/monocypher"]

ROMFS/px4fmu_common/init.d/rcS

@@ -298,9 +298,9 @@ else
 			tune_control play error
 		fi
 	else
-		if param greater -s UAVCAN_V1_ENABLE 0
+		if param greater -s CYPHAL_ENABLE 0
 		then
-			uavcan_v1 start
+			cyphal start
 		fi
 	fi
 

Tools/astyle/files_to_check_code_style.sh

@@ -13,8 +13,7 @@ exec find boards msg src platforms test \
     -path platforms/qurt/dspal -prune -o \
     -path src/drivers/uavcan/libuavcan -prune -o \
     -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-    -path src/drivers/uavcan_v1/libcanard -prune -o \
-    -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
+    -path src/drivers/cyphal/libcanard -prune -o \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
     -path src/lib/parameters/uthash -prune -o \

boards/nxp/fmuk66-e/socketcan.px4board

@@ -1,4 +1,4 @@
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_DRIVERS_UAVCAN_V1=y
-CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
+CONFIG_DRIVERS_CYPHAL=y
+CONFIG_CYPHAL_BMS_SUBSCRIBER=y
+CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y

boards/nxp/fmuk66-v3/socketcan.px4board

@@ -1,9 +1,9 @@
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_DRIVERS_UAVCAN_V1=y
-CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
-CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
-CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
+CONFIG_DRIVERS_CYPHAL=y
+CONFIG_CYPHAL_BMS_SUBSCRIBER=y
+CONFIG_CYPHAL_ESC_SUBSCRIBER=y
+CONFIG_CYPHAL_GNSS_SUBSCRIBER_0=y
+CONFIG_CYPHAL_GNSS_SUBSCRIBER_1=y
+CONFIG_CYPHAL_READINESS_PUBLISHER=y
+CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
+CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y

boards/nxp/ucans32k146/default.px4board

@@ -7,10 +7,10 @@ CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_UAVCAN_V1=y
-CONFIG_UAVCAN_V1_CLIENT=y
-CONFIG_UAVCAN_V1_APP_DESCRIPTOR=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
+CONFIG_DRIVERS_CYPHAL=y
+CONFIG_CYPHAL_CLIENT=y
+CONFIG_CYPHAL_APP_DESCRIPTOR=y
+CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y

boards/nxp/ucans32k146/init/rc.board_defaults

@@ -6,4 +6,4 @@
 pwm_out mode_pwm1 start
 
 ifup can0
-uavcan_v1 start
+cyphal start

boards/px4/fmu-v5/uavcanv1.px4board → boards/px4/fmu-v5/cyphal.px4board

@@ -2,6 +2,6 @@
 CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_DRIVERS_UAVCAN_V1=y
-CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
+CONFIG_DRIVERS_CYPHAL=y
+CONFIG_CYPHAL_BMS_SUBSCRIBER=y
+CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y

src/drivers/uavcan_v1/Actuators/EscClient.hpp → src/drivers/cyphal/Actuators/EscClient.hpp

@@ -34,13 +34,13 @@
 /**
  * @file EscClient.hpp
  *
- * Client-side implementation of DS-15 specification ESC service
+ * Client-side implementation of UDRAL specification ESC service
  *
- * Publishes the following UAVCAN v1 messages:
+ * Publishes the following Cyphal messages:
  *   reg.drone.service.actuator.common.sp.Value8.0.1
  *   reg.drone.service.common.Readiness.0.1
  *
- * Subscribes to the following UAVCAN v1 messages:
+ * Subscribes to the following Cyphal messages:
  *   reg.drone.service.actuator.common.Feedback.0.1
  *   reg.drone.service.actuator.common.Status.0.1
  *
@@ -57,18 +57,18 @@
 #include <drivers/drv_hrt.h>
 #include <lib/mixer_module/mixer_module.hpp>
 
-// DS-15 Specification Messages
-#include <reg/drone/service/actuator/common/sp/Vector31_0_1.h>
-#include <reg/drone/service/common/Readiness_0_1.h>
+// UDRAL Specification Messages
+#include <reg/udral/service/actuator/common/sp/Vector31_0_1.h>
+#include <reg/udral/service/common/Readiness_0_1.h>
 
 /// TODO: Allow derived class of Subscription at same time, to handle ESC Feedback/Status
 class UavcanEscController : public UavcanPublisher
 {
 public:
 	static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS;
 
-	UavcanEscController(CanardInstance &ins, UavcanParamManager &pmgr) :
-		UavcanPublisher(ins, pmgr, "ds_015", "esc") { };
+	UavcanEscController(CanardHandle &handle, UavcanParamManager &pmgr) :
+		UavcanPublisher(handle, pmgr, "udral", "esc") { };
 
 	~UavcanEscController() {};
 
@@ -80,45 +80,47 @@ class UavcanEscController : public UavcanPublisher
 
 			if (new_arming.armed != _armed.armed) {
 				_armed = new_arming;
+				size_t payload_size = reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_;
 
 				// Only publish if we have a valid publication ID set
 				if (_port_id == 0) {
 					return;
 				}
 
-				reg_drone_service_common_Readiness_0_1 msg_arming {};
+				reg_udral_service_common_Readiness_0_1 msg_arming {};
 
 				if (_armed.armed) {
-					msg_arming.value = reg_drone_service_common_Readiness_0_1_ENGAGED;
+					msg_arming.value = reg_udral_service_common_Readiness_0_1_ENGAGED;
 
 				} else if (_armed.prearmed) {
-					msg_arming.value = reg_drone_service_common_Readiness_0_1_STANDBY;
+					msg_arming.value = reg_udral_service_common_Readiness_0_1_STANDBY;
 
 				} else {
-					msg_arming.value = reg_drone_service_common_Readiness_0_1_SLEEP;
+					msg_arming.value = reg_udral_service_common_Readiness_0_1_SLEEP;
 				}
 
-				uint8_t arming_payload_buffer[reg_drone_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
+				uint8_t arming_payload_buffer[reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
 
 				CanardPortID arming_pid = static_cast<CanardPortID>(static_cast<uint32_t>(_port_id) + 1);
-				CanardTransfer transfer = {
-					.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+				const CanardTransferMetadata transfer_metadata = {
 					.priority       = CanardPriorityNominal,
 					.transfer_kind  = CanardTransferKindMessage,
 					.port_id        = arming_pid,                // This is the subject-ID.
 					.remote_node_id = CANARD_NODE_ID_UNSET,      // Messages cannot be unicast, so use UNSET.
 					.transfer_id    = _arming_transfer_id,
-					.payload_size   = reg_drone_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_,
-					.payload        = &arming_payload_buffer,
 				};
 
-				int result = reg_drone_service_common_Readiness_0_1_serialize_(&msg_arming, arming_payload_buffer,
-						&transfer.payload_size);
+				int result = reg_udral_service_common_Readiness_0_1_serialize_(&msg_arming, arming_payload_buffer,
+						&payload_size);
 
 				if (result == 0) {
 					// set the data ready in the buffer and chop if needed
 					++_arming_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
-					result = canardTxPush(&_canard_instance, &transfer);
+					result = _canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+								       &transfer_metadata,
+								       payload_size,
+								       &arming_payload_buffer
+								      );
 				}
 			}
 		}
@@ -127,7 +129,8 @@ class UavcanEscController : public UavcanPublisher
 	void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
 	{
 		if (_port_id > 0) {
-			reg_drone_service_actuator_common_sp_Vector31_0_1 msg_sp {0};
+			reg_udral_service_actuator_common_sp_Vector31_0_1 msg_sp {0};
+			size_t payload_size = reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_;
 
 			for (uint8_t i = 0; i < MAX_ACTUATORS; i++) {
 				if (i < num_outputs) {
@@ -139,29 +142,30 @@ class UavcanEscController : public UavcanPublisher
 				}
 			}
 
+
 			PX4_INFO("Publish %d values %f, %f, %f, %f", num_outputs, (double)msg_sp.value[0], (double)msg_sp.value[1],
 				 (double)msg_sp.value[2], (double)msg_sp.value[3]);
 
-			uint8_t esc_sp_payload_buffer[reg_drone_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
+			uint8_t esc_sp_payload_buffer[reg_udral_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
 
-			CanardTransfer transfer = {
-				.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+			const CanardTransferMetadata transfer_metadata = {
 				.priority       = CanardPriorityNominal,
 				.transfer_kind  = CanardTransferKindMessage,
 				.port_id        = _port_id,                // This is the subject-ID.
 				.remote_node_id = CANARD_NODE_ID_UNSET,       // Messages cannot be unicast, so use UNSET.
 				.transfer_id    = _transfer_id,
-				.payload_size   = reg_drone_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_,
-				.payload        = &esc_sp_payload_buffer,
 			};
 
-			int result = reg_drone_service_actuator_common_sp_Vector31_0_1_serialize_(&msg_sp, esc_sp_payload_buffer,
-					&transfer.payload_size);
+			int result = reg_udral_service_actuator_common_sp_Vector31_0_1_serialize_(&msg_sp, esc_sp_payload_buffer,
+					&payload_size);
 
 			if (result == 0) {
 				// set the data ready in the buffer and chop if needed
 				++_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
-				result = canardTxPush(&_canard_instance, &transfer);
+				result = _canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+							       &transfer_metadata,
+							       payload_size,
+							       &esc_sp_payload_buffer);
 			}
 		}
 	};
@@ -175,7 +179,7 @@ class UavcanEscController : public UavcanPublisher
 	/**
 	 * ESC status message reception will be reported via this callback.
 	 */
-	void esc_status_sub_cb(const CanardTransfer &msg);
+	void esc_status_sub_cb(const CanardRxTransfer &msg);
 
 	uint8_t _rotor_count {0};
 

src/drivers/uavcan_v1/Actuators/EscServer.hpp → src/drivers/cyphal/Actuators/EscServer.hpp

@@ -34,14 +34,14 @@
 /**
  * @file EscServer.hpp
  *
- * Server-side implementation of DS-15 specification ESC service
+ * Server-side implementation of UDRAL specification ESC service
  * (Used for CANNode control of an ESC via PWM output)
  *
- * Subscribes to the following UAVCAN v1 messages:
+ * Subscribes to the following Cyphal messages:
  *   reg.drone.service.actuator.common.sp.Value8.0.1
  *   reg.drone.service.common.Readiness.0.1
  *
- * Publishes to the following UAVCAN v1 messages:
+ * Publishes to the following Cyphal messages:
  *   reg.drone.service.actuator.common.Feedback.0.1
  *   reg.drone.service.actuator.common.Status.0.1
  *
@@ -62,7 +62,7 @@
 #include <drivers/drv_hrt.h>
 #include <lib/mixer_module/mixer_module.hpp>
 
-// DS-15 Specification Messages
+// UDRAL Specification Messages
 #include <reg/drone/service/actuator/common/sp/Vector31_0_1.h>
 #include <reg/drone/service/common/Readiness_0_1.h>
 

src/drivers/uavcan_v1/CMakeLists.txt → src/drivers/cyphal/CMakeLists.txt

@@ -41,7 +41,7 @@ px4_add_git_submodule(TARGET git_legacy_data_types PATH ${LEGACY_DSDL_DIR})
 
 find_program(NNVG_PATH nnvg)
 if(NNVG_PATH)
-	message("Generating UAVCANv1 DSDL headers using Nunavut")
+	message("Generating Cyphal DSDL headers using Nunavut")
 	execute_process(COMMAND ${NNVG_PATH} --outdir ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated --target-language c -I ${DSDL_DIR}/uavcan ${DSDL_DIR}/reg)
 	execute_process(COMMAND ${NNVG_PATH} --outdir ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated --target-language c -I ${LEGACY_DSDL_DIR}/uavcan ${LEGACY_DSDL_DIR}/legacy)
 	execute_process(COMMAND ${NNVG_PATH} --outdir ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated --target-language c ${DSDL_DIR}/uavcan)
@@ -66,14 +66,14 @@ if(${PX4_PLATFORM} MATCHES "nuttx")
 	endif()
 endif()
 
-if(CONFIG_UAVCAN_V1_NODE_MANAGER)
+if(CONFIG_CYPHAL_NODE_MANAGER)
     list(APPEND SRCS
 		NodeManager.hpp
 		NodeManager.cpp
     )
 endif()
 
-if(CONFIG_UAVCAN_V1_NODE_CLIENT)
+if(CONFIG_CYPHAL_NODE_CLIENT)
     list(APPEND SRCS
 		NodeClient.hpp
 		NodeClient.cpp
@@ -86,29 +86,31 @@ endif()
 # Temporary measure to get Kconfig option as defines into this application
 # Ideally we want nicely decouple and define this in kconfig.cmake
 # But then we need to overhaul the src modules naming convention
-set(DRIVERS_UAVCAN_V1_OPTIONS)
+set(DRIVERS_CYPHAL_OPTIONS)
 get_cmake_property(_variableNames VARIABLES)
 foreach (_variableName ${_variableNames})
-    string(REGEX MATCH "^CONFIG_UAVCAN_V1_" UAVCAN_V1_OPTION ${_variableName})
+    string(REGEX MATCH "^CONFIG_CYPHAL_" CYPHAL_OPTION ${_variableName})
 
-    if(UAVCAN_V1_OPTION)
+    if(CYPHAL_OPTION)
         if(${${_variableName}} STREQUAL "y")
-            list(APPEND DRIVERS_UAVCAN_V1_OPTIONS "-D${_variableName}=1")
+            list(APPEND DRIVERS_CYPHAL_OPTIONS "-D${_variableName}=1")
         else()
-            list(APPEND DRIVERS_UAVCAN_V1_OPTIONS "-D${_variableName}=${${_variableName}}")
+            list(APPEND DRIVERS_CYPHAL_OPTIONS "-D${_variableName}=${${_variableName}}")
         endif()
     endif()
 endforeach()
 
+remove_definitions(-Werror)
+
 px4_add_module(
-	MODULE drivers__uavcan_v1
-	MAIN uavcan_v1
+	MODULE drivers__cyphal
+	MAIN cyphal
 	STACK_MAIN 4096
 	COMPILE_FLAGS
 		#-DCANARD_ASSERT
 		-DUINT32_C\(x\)=__UINT32_C\(x\)
 		-O0
-		${DRIVERS_UAVCAN_V1_OPTIONS}
+		${DRIVERS_CYPHAL_OPTIONS}
 	INCLUDES
 		${LIBCANARD_DIR}/libcanard/
 		${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated
@@ -119,8 +121,9 @@ px4_add_module(
 		SubscriptionManager.hpp
 		ParamManager.hpp
 		ParamManager.cpp
-		Uavcan.cpp
-		Uavcan.hpp
+		Cyphal.cpp
+		Cyphal.hpp
+		CanardHandle.cpp
 		Publishers/uORB/uorb_publisher.cpp
 		Subscribers/uORB/uorb_subscriber.cpp
 		${SRCS}
@@ -137,3 +140,6 @@ px4_add_module(
 		version
 		${DPNDS}
 	)
+
+# libcanard 3.0 introduces this warning, for now no intention to fix it thus we ignore this warning
+set_source_files_properties(${LIBCANARD_DIR}/libcanard/canard.c PROPERTIES COMPILE_FLAGS -Wno-cast-align)