AP_Periph: fix build with latest master and bump version to v1.14

Author: bugobliterator

AP_Periph/AP_Periph.cpp

@@ -164,7 +164,7 @@ void AP_Periph_FW::init()
 #endif
 
     if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE && enable_gps) {
-        gps.init(serial_manager);
+        gps.init();
     } else {
 #ifdef GPIO_USART1_RX
         // setup gpio passthrough
@@ -178,8 +178,6 @@ void AP_Periph_FW::init()
     }
 
 #ifdef I2C_SLAVE_ENABLED
-    i2c_event_handle.set_source(&i2c_event_source);
-    i2c_event_handle.register_event(1);
     i2c_setup();
 #endif
 

AP_Periph/AP_Periph.h

@@ -21,7 +21,6 @@
 
 #include <AP_RTC/JitterCorrection.h>
 #include <AP_HAL/CANIface.h>
-#include <AP_HAL_ChibiOS/EventSource.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <ch.h>
 #include <AP_DroneCAN/AP_Canard_iface.h>
@@ -181,9 +180,6 @@ class AP_Periph_FW {
     uint8_t i2c2_transfer_address;
     uint8_t i2c2_transfer_direction;
     bool _setup_ser_i2c_mode;
-
-    HAL_EventHandle i2c_event_handle;
-    ChibiOS::EventSource i2c_event_source;
 #endif
 
     static AP_Periph_FW *_singleton;
@@ -366,6 +362,8 @@ namespace AP
 extern AP_Periph_FW periph;
 
 extern "C" {
+void can_vprintf(uint8_t severity, const char *fmt, va_list arg);
+void can_printf_severity(uint8_t severity, const char *fmt, ...) FMT_PRINTF(2,3);
 void can_printf(const char *fmt, ...) FMT_PRINTF(1,2);
 }
 

AP_Periph/can.cpp

@@ -706,14 +706,64 @@ void AP_Periph_FW::can_update()
 
 
 // printf to CAN LogMessage for debugging
-void can_printf(const char *fmt, ...)
+void can_vprintf(uint8_t severity, const char *fmt, va_list ap)
+{
+    // map MAVLink levels to CAN levels
+    uint8_t level = UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_DEBUG;
+    switch (severity) {
+    case MAV_SEVERITY_DEBUG:
+        level = UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_DEBUG;
+        break;
+    case MAV_SEVERITY_INFO:
+        level = UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_INFO;
+        break;
+    case MAV_SEVERITY_NOTICE:
+    case MAV_SEVERITY_WARNING:
+        level = UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_WARNING;
+        break;
+    case MAV_SEVERITY_ERROR:
+    case MAV_SEVERITY_CRITICAL:
+    case MAV_SEVERITY_ALERT:
+    case MAV_SEVERITY_EMERGENCY:
+        level = UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_ERROR;
+        break;
+    }
+
+    const uint8_t packet_count_max = 4; // how many packets we're willing to break up an over-sized string into
+    const uint8_t packet_data_max = 90; // max single debug string length = sizeof(uavcan_protocol_debug_LogMessage.text.data)
+    uint8_t buffer_data[packet_count_max*packet_data_max] {};
+
+    // strip off any negative return errors by treating result as 0
+    uint32_t char_count = MAX(vsnprintf((char*)buffer_data, sizeof(buffer_data), fmt, ap), 0);
+
+    // send multiple uavcan_protocol_debug_LogMessage packets if the fmt string is too long.
+    uint16_t buffer_offset = 0;
+    for (uint8_t i=0; i<packet_count_max && char_count > 0; i++) {
+        uavcan_protocol_debug_LogMessage pkt {};
+        pkt.level.value = level;
+        pkt.text.len = MIN(char_count, sizeof(pkt.text.data));
+        char_count -= pkt.text.len;
+
+        memcpy(pkt.text.data, &buffer_data[buffer_offset], pkt.text.len);
+        buffer_offset += pkt.text.len;
+        periph.dronecan->log_pub.broadcast(pkt);
+    }
+}
+
+// printf to CAN LogMessage for debugging, with severity
+void can_printf_severity(uint8_t severity, const char *fmt, ...)
 {
-    uavcan_protocol_debug_LogMessage pkt {};
     va_list ap;
     va_start(ap, fmt);
-    uint32_t n = vsnprintf((char*)pkt.text.data, sizeof(pkt.text.data), fmt, ap);
+    can_vprintf(severity, fmt, ap);
     va_end(ap);
-    pkt.text.len = MIN(n, sizeof(pkt.text.data));
+}
 
-    periph.dronecan->log_pub.broadcast(pkt);
+// printf to CAN LogMessage for debugging, with DEBUG level
+void can_printf(const char *fmt, ...)
+{
+    va_list ap;
+    va_start(ap, fmt);
+    can_vprintf(MAV_SEVERITY_DEBUG, fmt, ap);
+    va_end(ap);
 }

AP_Periph/version.cpp

@@ -1,4 +1,4 @@
 #define FORCE_VERSION_H_INCLUDE
+#include "AP_Periph.h"
 #include "version.h"
-#include <AP_Common/AP_FWVersionDefine.h>
-#undef FORCE_VERSION_H_INCLUDE
+#undef FORCE_VERSION_H_INCLUDE

AP_Periph/version.h

@@ -1,15 +1,28 @@
 #pragma once
-#include <GCS_MAVLink/GCS_MAVLink.h>
 
-#define THISFIRMWARE "GNSSPeriph V1.13"
+#ifndef FORCE_VERSION_H_INCLUDE
+#error version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h
+#endif
+
+#include "ap_version.h"
+#include <AP_HAL/AP_HAL.h>
+
+#define THISFIRMWARE "GNSSPeriph V1.14.0"
+
+// defines needed due to lack of GCS includes
+#ifndef HAVE_ENUM_FIRMWARE_VERSION_TYPE
+#define FIRMWARE_VERSION_TYPE_DEV 0
+#define FIRMWARE_VERSION_TYPE_BETA 255
+#define FIRMWARE_VERSION_TYPE_OFFICIAL 255
+#endif
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 1,0,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 1,14,0,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 1
-#define FW_MINOR 13
+#define FW_MINOR 14
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
-
-
+#include <AP_Common/AP_FWVersionDefine.h>
+#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>