diff --git a/images/icons/cf_icon_dronecan_grey.svg b/images/icons/cf_icon_dronecan_grey.svg new file mode 100644 index 000000000..7083b22fe --- /dev/null +++ b/images/icons/cf_icon_dronecan_grey.svg @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/images/icons/cf_icon_dronecan_white.svg b/images/icons/cf_icon_dronecan_white.svg new file mode 100644 index 000000000..2f38ad71e --- /dev/null +++ b/images/icons/cf_icon_dronecan_white.svg @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/index.html b/index.html index d95578b9f..2682e4b4c 100644 --- a/index.html +++ b/index.html @@ -347,9 +347,13 @@

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    diff --git a/tabs/configuration.js b/tabs/configuration.js index 07b70bbbc..ff5f2db7c 100644 --- a/tabs/configuration.js +++ b/tabs/configuration.js @@ -14,6 +14,14 @@ import features from './../js/feature_framework'; const configurationTab = {}; +// vbat_meter_type and current_meter_type are separate firmware settings tables +// (voltage_sensor / current_sensor) with different enum values, so "CAN" isn't +// at the same ordinal in each - comparing the rendered option label instead of +// a hardcoded index avoids two different magic numbers that would silently go +// stale if either table is ever reordered in firmware. Safe today: no locale +// file defines an i18n key literally named "CAN" (checked all 5 locales). +const CAN_SOURCE_LABEL = 'CAN'; + configurationTab.initialize = function (callback, scrollPosition) { if (GUI.active_tab !== this) { @@ -261,9 +269,21 @@ configurationTab.initialize = function (callback, scrollPosition) { }); + function updateBatterySourceFields() { + const vbatIsCan = $('#vbat_meter_type option:selected').text() === CAN_SOURCE_LABEL; + const currentIsCan = $('#current_meter_type option:selected').text() === CAN_SOURCE_LABEL; + $('#voltagescale-row').toggle(!vbatIsCan); + $('#currentscale-row').toggle(!currentIsCan); + $('#currentoffset-row').toggle(!currentIsCan); + $('#dronecan-battery-id-row').toggle(vbatIsCan || currentIsCan); + } + + $('#vbat_meter_type, #current_meter_type').on('change', updateBatterySourceFields); + // Wait for settings to load before triggering change event settingsPromise.then(function() { $i2cSpeed.trigger('change'); + updateBatterySourceFields(); }).catch(function(error) { console.error('Settings load failed, I2C speed change not triggered:', error); }); @@ -278,7 +298,9 @@ configurationTab.initialize = function (callback, scrollPosition) { FC.MISC.vbatmincellvoltage = parseFloat($('#mincellvoltage').val()); FC.MISC.vbatmaxcellvoltage = parseFloat($('#maxcellvoltage').val()); FC.MISC.vbatwarningcellvoltage = parseFloat($('#warningcellvoltage').val()); - FC.MISC.vbatscale = parseInt($('#voltagescale').val()); + if ($('#vbat_meter_type option:selected').text() !== CAN_SOURCE_LABEL) { + FC.MISC.vbatscale = parseInt($('#voltagescale').val()); + } FC.MISC.battery_capacity = parseInt($('#battery_capacity').val()); FC.MISC.battery_capacity_warning = parseInt($('#battery_capacity_warning').val() * FC.MISC.battery_capacity / 100); @@ -288,8 +310,10 @@ configurationTab.initialize = function (callback, scrollPosition) { features.reset(); features.fromUI($('.tab-configuration')); features.execute(function () { - FC.CURRENT_METER_CONFIG.scale = parseInt($('#currentscale').val()); - FC.CURRENT_METER_CONFIG.offset = Math.round(parseFloat($('#currentoffset').val()) * 10); + if ($('#current_meter_type option:selected').text() !== CAN_SOURCE_LABEL) { + FC.CURRENT_METER_CONFIG.scale = parseInt($('#currentscale').val()); + FC.CURRENT_METER_CONFIG.offset = Math.round(parseFloat($('#currentoffset').val()) * 10); + } saveChainer.execute(); }); }); diff --git a/tabs/dronecan.html b/tabs/dronecan.html new file mode 100644 index 000000000..6c65e6444 --- /dev/null +++ b/tabs/dronecan.html @@ -0,0 +1,78 @@ +
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    diff --git a/tabs/dronecan.js b/tabs/dronecan.js new file mode 100644 index 000000000..c7a955704 --- /dev/null +++ b/tabs/dronecan.js @@ -0,0 +1,468 @@ +'use strict'; + +import MSPCodes from './../js/msp/MSPCodes'; +import MSP from './../js/msp'; +import mspHelper from './../js/msp/MSPHelper'; +import GUI from './../js/gui'; +import FC from './../js/fc'; +import i18n from './../js/localization'; +import interval from './../js/intervals'; + +const HEALTH_LABELS = ['OK', 'WARNING', 'ERROR', 'CRITICAL']; +const HEALTH_CLASSES = ['health-ok', 'health-warning', 'health-error', 'health-critical']; +const esc = s => String(s).replaceAll('&', '&').replaceAll('<', '<').replaceAll('>', '>').replaceAll('"', '"'); +const POLL_INTERVAL_MS = 75; +const POLL_MAX_ATTEMPTS = 34; // 34 polls × 75 ms ≈ 2.5 s total window +const MODE_LABELS = ['OPERATIONAL', 'INITIALIZATION', 'MAINTENANCE', 'SOFTWARE_UPDATE', 'UNKNOWN_4', 'UNKNOWN_5', 'UNKNOWN_6', 'OFFLINE']; // modes 0-3 per DroneCAN NodeStatus; 4-6 reserved by spec +const PARAM_TYPE_INT = 1; +const PARAM_TYPE_FLOAT = 2; +const PARAM_TYPE_BOOL = 3; +const PARAM_TYPE_STRING = 4; +const DRONECAN_SERVICE_GETNODEINFO = 1; +const DRONECAN_SERVICE_RESTART_NODE = 5; +const DRONECAN_SERVICE_EXECUTE_OPCODE = 10; +const DRONECAN_SERVICE_PARAM_GETSET = 11; +const DRONECAN_ASYNC_STATE_READY = 2; +const DRONECAN_ASYNC_STATE_ERROR = 3; +const DRONECAN_ASYNC_REQUEST_STATUS_OK = 0; +const DRONECAN_ASYNC_REQUEST_STATUS_BUSY = 1; +const DRONECAN_EXECUTE_OPCODE_SAVE = 0; + +function getModeLabel(mode) { + return (mode < MODE_LABELS.length && MODE_LABELS[mode]) ? MODE_LABELS[mode] : `MODE_${mode}`; +} + +const dronecanTab = {}; +let nameCache = {}; +let currentDetailNodeId = null; + +function encodeParamValueBytes(value_type, value) { + switch (value_type) { + case PARAM_TYPE_INT: { + const v = typeof value === 'bigint' ? value : BigInt(Math.trunc(value)); + const bytes = []; + for (let i = 0; i < 8; i++) bytes.push(Number((v >> BigInt(i * 8)) & 0xFFn)); + return bytes; + } + case PARAM_TYPE_FLOAT: + return Array.from(new Uint8Array(new Float32Array([value]).buffer)); + case PARAM_TYPE_BOOL: + return [value ? 1 : 0]; + case PARAM_TYPE_STRING: { + const enc = new TextEncoder().encode(String(value).slice(0, 63)); + return [enc.length, ...enc]; + } + default: + return []; + } +} + +function buildParamGetSetPayload(params) { + const payload = [params.index & 0xFF, (params.index >> 8) & 0xFF, params.is_write ? 1 : 0]; + if (!params.is_write) return payload; + + payload.push(params.value_type, ...encodeParamValueBytes(params.value_type, params.value)); + const nameEnc = new TextEncoder().encode(String(params.name || '').slice(0, 92)); + payload.push(nameEnc.length, ...nameEnc); + return payload; +} + +function buildAsyncRequestPayload(service_id, node_id, params) { + const payload = [service_id & 0xFF, (service_id >> 8) & 0xFF, node_id]; + if (service_id === DRONECAN_SERVICE_PARAM_GETSET && params) { + payload.push(...buildParamGetSetPayload(params)); + } else if (service_id === DRONECAN_SERVICE_EXECUTE_OPCODE && params) { + payload.push(params.opcode); + } + return payload; +} + +function dronecanAsyncPoll(service_id, node_id, params, onDone) { + const reqPayload = buildAsyncRequestPayload(service_id, node_id, params); + + MSP.send_message(MSPCodes.MSP2_INAV_DRONECAN_ASYNC_REQUEST, reqPayload, false, () => { + const req = FC.DRONECAN_ASYNC_REQUEST; + if (req?.status !== DRONECAN_ASYNC_REQUEST_STATUS_OK) { + onDone(req?.status === DRONECAN_ASYNC_REQUEST_STATUS_BUSY ? new Error('busy') : new Error('not_ready'), null); + return; + } + const expectedSeq = req.seq; + let attempts = 0; + const poll = () => { + MSP.send_message(MSPCodes.MSP2_INAV_DRONECAN_ASYNC_RESULT, false, false, () => { + const r = FC.DRONECAN_ASYNC_RESULT; + if (!r || r.seq !== expectedSeq || + r.service_id !== service_id || r.node_id !== node_id) { + if (++attempts < POLL_MAX_ATTEMPTS) { setTimeout(poll, POLL_INTERVAL_MS); } + else { onDone(new Error('stale'), null); } + return; + } + if (r.state === DRONECAN_ASYNC_STATE_READY) { onDone(null, r); } + else if (r.state === DRONECAN_ASYNC_STATE_ERROR) { onDone(new Error('error'), null); } + else if (++attempts < POLL_MAX_ATTEMPTS) { setTimeout(poll, POLL_INTERVAL_MS); } + else { onDone(new Error('timeout'), null); } + }); + }; + setTimeout(poll, POLL_INTERVAL_MS); + }); +} + +function fetchNamesSequentially(nodes, index, tbody) { + if (index >= nodes.length) return; + const node = nodes[index]; + dronecanAsyncPoll(DRONECAN_SERVICE_GETNODEINFO, node.nodeID, null, (err, result) => { + if (!err && result) { + nameCache[node.nodeID] = result.name; + const r = tbody.querySelector(`tr[data-node-id="${node.nodeID}"]`); + if (r) r.cells[1].textContent = result.name; + } + fetchNamesSequentially(nodes, index + 1, tbody); + }); +} + +dronecanTab.initialize = function (callback) { + GUI.active_tab = this; + + import('./dronecan.html?raw').then(({default: html}) => { + GUI.load(html, () => { + i18n.localize(); + mspHelper.getSetting('dronecan_bitrate_kbps').then(data => { + if (data) { + const val = data.setting.table ? data.setting.table.values[data.value] : data.value; + $('#dronecan-bitrate').val(val); + } + return mspHelper.getSetting('dronecan_node_id'); + }).then(data => { + if (data) $('#dronecan-node-id').val(data.value); + }); + $('#dronecan-save').on('click', dronecanTab.saveConfig); + dronecanTab.refresh(); + interval.add('dronecan_refresh', () => dronecanTab.refresh(), 2000); + GUI.content_ready(callback); + }); + }); +}; + +dronecanTab.refresh = function () { + MSP.send_message(MSPCodes.MSP2_INAV_DRONECAN_NODES, false, false, () => { + dronecanTab.render(); + }); +}; + +dronecanTab.render = function () { + const nodes = FC.DRONECAN_NODES; + const status = document.getElementById('dronecan-status'); + const table = document.getElementById('dronecan-node-wrapper'); + const tbody = document.getElementById('dronecan-node-tbody'); + + if (!nodes || nodes.length === 0) { + status.style.display = ''; + table.style.display = 'none'; + document.getElementById('dronecan-node-detail').style.display = 'none'; + currentDetailNodeId = null; + + return; + } + + status.style.display = 'none'; + table.style.display = ''; + tbody.innerHTML = ''; + + const nodesToFetch = []; + nodes.forEach(node => { + const health = node.health < HEALTH_LABELS.length ? node.health : 3; + const modeLabel = getModeLabel(node.mode); + const lastSeen = i18n.getMessage('dronecanSecondsAgo', [(node.last_seen_ms / 1000).toFixed(1)]); + + const row = document.createElement('tr'); + row.dataset.nodeId = node.nodeID; + row.innerHTML = ` + ${esc(node.nodeID)} + — + ${HEALTH_LABELS[health]} + ${esc(modeLabel)} + ${lastSeen} + `; + if (nameCache[node.nodeID] !== undefined) { + row.cells[1].textContent = nameCache[node.nodeID]; + } else { + nodesToFetch.push(node); + } + + row.addEventListener('click', () => dronecanTab.showDetail(node.nodeID)); + tbody.appendChild(row); + }); + + fetchNamesSequentially(nodesToFetch, 0, tbody); + if (currentDetailNodeId !== null) { + const liveNode = nodes.find(n => n.nodeID === currentDetailNodeId); + if (liveNode) { + const detail = document.getElementById('dronecan-node-detail'); + const health = liveNode.health < HEALTH_LABELS.length ? liveNode.health : 3; + const uptime = `${Math.floor(liveNode.uptime_sec / 3600)}h ${Math.floor((liveNode.uptime_sec % 3600) / 60)}m ${liveNode.uptime_sec % 60}s`; + const modeLabel = getModeLabel(liveNode.mode); + const set = (attr, val) => { const el = detail.querySelector(`[data-detail="${attr}"]`); if (el) el.textContent = val; }; + set('health', HEALTH_LABELS[health]); + set('mode', modeLabel); + set('last-seen', i18n.getMessage('dronecanSecondsAgo', [(liveNode.last_seen_ms / 1000).toFixed(1)])); + set('uptime', uptime); + set('vendor-status', liveNode.vendor_status_code); + } else { + document.getElementById('dronecan-node-detail').style.display = 'none'; + currentDetailNodeId = null; + } + } +}; + +dronecanTab.showDetail = function (nodeId) { + currentDetailNodeId = nodeId; + const node = FC.DRONECAN_NODES.find(n => n.nodeID === nodeId); + if (!node) return; + + dronecanAsyncPoll(DRONECAN_SERVICE_GETNODEINFO, nodeId, null, (err, result) => { + if (nodeId !== currentDetailNodeId) return; + const detail = document.getElementById('dronecan-node-detail'); + const tbody = document.getElementById('dronecan-detail-tbody'); + const health = node.health < HEALTH_LABELS.length ? node.health : 3; + const uptime = result ? `${Math.floor(node.uptime_sec / 3600)}h ${Math.floor((node.uptime_sec % 3600) / 60)}m ${node.uptime_sec % 60}s` : '—'; + const modeLabel = getModeLabel(node.mode); + + let nameCell = '—'; + if (result) { + nameCell = esc(result.name); + } else if (err) { + nameCell = i18n.getMessage('dronecanNameError'); + } + + let versionRows = ''; + if (result) { + const swCommitSuffix = (result.sw_optional_field_flags & 1) + ? ` (${result.sw_vcs_commit.toString(16).padStart(8, '0')})` + : ''; + versionRows = ` + SW Version${esc(result.sw_major)}.${esc(result.sw_minor)}${swCommitSuffix} + HW Version${esc(result.hw_major)}.${esc(result.hw_minor)} + Unique ID${Array.from(result.hw_unique_id).map(b => b.toString(16).padStart(2, '0')).join(':')} + `; + } + + tbody.innerHTML = ` + Node ID${esc(nodeId)} + Name${nameCell} + Health${HEALTH_LABELS[health]} + Mode${esc(modeLabel)} + Last Seen${i18n.getMessage('dronecanSecondsAgo', [(node.last_seen_ms / 1000).toFixed(1)])} + Uptime${uptime} + Vendor Status${esc(node.vendor_status_code)} + ${versionRows} + `; + detail.style.display = ''; + dronecanTab.showParams(nodeId); + }); +}; + +function paramValueToString(value_type, value) { + if (value_type === PARAM_TYPE_BOOL) { + return value ? 'true' : 'false'; + } + return String(value); +} + +function convertParamValue(value_type, writeValue) { + switch (value_type) { + case PARAM_TYPE_INT: + try { return BigInt(writeValue); } catch { return Number.NaN; } + case PARAM_TYPE_FLOAT: return Number.parseFloat(writeValue); + case PARAM_TYPE_BOOL: return writeValue === 'true' || writeValue === '1'; + case PARAM_TYPE_STRING: + default: return writeValue; + } +} + +function validateNumericParam(param, value) { + const isInt = param.value_type === PARAM_TYPE_INT; + if (isInt ? typeof value !== 'bigint' : Number.isNaN(value)) { + return { ok: false, message: i18n.getMessage('dronecanParamOutOfRange') }; + } + const toBig = b => typeof b === 'bigint' ? b : BigInt(Math.round(b)); + const tooLow = param.min !== undefined && (isInt ? value < toBig(param.min) : value < Number(param.min)); + const tooHigh = param.max !== undefined && (isInt ? value > toBig(param.max) : value > Number(param.max)); + if (tooLow || tooHigh) { + const lo = param.min !== undefined ? param.min : '—'; + const hi = param.max !== undefined ? param.max : '—'; + return { ok: false, message: i18n.getMessage('dronecanParamRangeMustBeBetween', [lo, hi]) }; + } + return { ok: true }; +} + +function flagParamInputError(input, btn, message) { + input.style.outline = '2px solid #cc0000'; + input.title = message; + btn.textContent = i18n.getMessage('dronecanParamOutOfRange'); + setTimeout(() => { btn.textContent = i18n.getMessage('dronecanParamWrite'); }, 2000); +} + +function submitParamWrite(btn, nodeId, payload, param, input) { + btn.disabled = true; + btn.textContent = '...'; + dronecanAsyncPoll(DRONECAN_SERVICE_PARAM_GETSET, nodeId, payload, (err, result) => { + if (!err && result) { + param.value = result.value; + input.value = paramValueToString(param.value_type, result.value); + btn.textContent = i18n.getMessage('OK'); + } else { + btn.textContent = i18n.getMessage('dronecanParamError'); + } + btn.disabled = false; + setTimeout(() => { btn.textContent = i18n.getMessage('dronecanParamWrite'); }, 2000); + }); +} + +function handleParamWriteClick(btn, container, params, nodeId) { + const idx = Number.parseInt(btn.dataset.index, 10); + const input = container.querySelector(`.param-input[data-index="${idx}"]`); + const param = params.find(p => p.index === idx); + if (!input || !param) return; + + const payload = { + index: idx, is_write: true, value_type: param.value_type, name: param.name, + value: convertParamValue(param.value_type, input.value), + }; + + if (param.value_type === PARAM_TYPE_INT || param.value_type === PARAM_TYPE_FLOAT) { + const validation = validateNumericParam(param, payload.value); + if (!validation.ok) { + flagParamInputError(input, btn, validation.message); + return; + } + } + + input.style.outline = ''; + input.title = ''; + submitParamWrite(btn, nodeId, payload, param, input); +} + +function handleSaveToEeprom(btn, nodeId) { + btn.disabled = true; + btn.textContent = '...'; + dronecanAsyncPoll(DRONECAN_SERVICE_EXECUTE_OPCODE, nodeId, { opcode: DRONECAN_EXECUTE_OPCODE_SAVE }, (err, result) => { + btn.textContent = (!err && result?.ok) ? i18n.getMessage('dronecanSaved') : i18n.getMessage('dronecanFailed'); + btn.disabled = false; + setTimeout(() => { btn.textContent = i18n.getMessage('dronecanSaveToEeprom'); }, 2000); + }); +} + +function handleRestartNode(btn, nodeId) { + btn.disabled = true; + btn.textContent = '...'; + dronecanAsyncPoll(DRONECAN_SERVICE_RESTART_NODE, nodeId, null, (err, result) => { + btn.textContent = (!err && result?.ok) ? i18n.getMessage('dronecanRestarting') : i18n.getMessage('dronecanFailed'); + btn.disabled = false; + setTimeout(() => { btn.textContent = i18n.getMessage('dronecanRestartNode'); }, 3000); + }); +} + +dronecanTab.showParams = function (nodeId) { + const container = document.getElementById('dronecan-params'); + if (!container) return; + container.innerHTML = `

    ${i18n.getMessage('dronecanParamsLoading')}

    `; + + const params = []; + + function fetchParam(index) { + if (index > 8191) { renderParams(); return; } // UAVCAN v0 GetSet.Request uses a uint13 index (max 8191); firmware reads uint16 + if (nodeId !== currentDetailNodeId) return; + dronecanAsyncPoll(DRONECAN_SERVICE_PARAM_GETSET, nodeId, { index, is_write: false }, (err, result) => { + if (nodeId !== currentDetailNodeId) return; + if (err || !result?.name) { + renderParams(); + return; + } + params.push({ index, name: result.name, value_type: result.value_type, value: result.value, + min: result.min, max: result.max }); + fetchParam(index + 1); + }); + } + + function renderParams() { + if (params.length === 0) { + container.innerHTML = `

    ${i18n.getMessage('dronecanNoParams')}

    `; + return; + } + const TYPE_LABELS = ['', 'INT', 'FLOAT', 'BOOL', 'STRING']; + const fmtNumeric = (v, type) => { + if (v === undefined) return '—'; + return type === PARAM_TYPE_FLOAT ? Number(v).toFixed(3) : String(v); + }; + const lblWrite = i18n.getMessage('dronecanParamWrite'); + const lblSaveEeprom = i18n.getMessage('dronecanSaveToEeprom'); + const lblRestartNode = i18n.getMessage('dronecanRestartNode'); + const thIndex = i18n.getMessage('dronecanParamColIndex'); + const thName = i18n.getMessage('dronecanParamColName'); + const thType = i18n.getMessage('dronecanParamColType'); + const thValue = i18n.getMessage('dronecanParamColValue'); + const thRange = i18n.getMessage('dronecanParamColRange'); + let html = ``; + params.forEach(p => { + const valStr = paramValueToString(p.value_type, p.value); + const hasRange = (p.value_type === PARAM_TYPE_INT || p.value_type === PARAM_TYPE_FLOAT) && (p.min !== undefined || p.max !== undefined); + const rangeStr = hasRange + ? `${fmtNumeric(p.min, p.value_type)} … ${fmtNumeric(p.max, p.value_type)}` + : '—'; + html += ` + + + + + + + `; + }); + html += '
    ${thIndex}${thName}${thType}${thValue}${thRange}
    ${p.index}${esc(p.name)}${TYPE_LABELS[p.value_type] || esc(String(p.value_type))}${esc(rangeStr)}
    '; + html += `
    `; + container.innerHTML = html; + + const saveBtn = container.querySelector('.param-save-eeprom'); + saveBtn.addEventListener('click', () => handleSaveToEeprom(saveBtn, nodeId)); + + const restartBtn = container.querySelector('.param-restart-node'); + restartBtn.addEventListener('click', () => handleRestartNode(restartBtn, nodeId)); + + container.querySelectorAll('.param-write').forEach(btn => { + btn.addEventListener('click', () => handleParamWriteClick(btn, container, params, nodeId)); + }); + } + + fetchParam(0); +}; + +function finishSaveConfigAndReboot() { + GUI.log(i18n.getMessage('configurationEepromSaved')); + MSP.send_message(MSPCodes.MSP_SET_REBOOT, false, false, () => { + GUI.log(i18n.getMessage('deviceRebooting')); + GUI.handleReconnect($('.tab_dronecan a')); + }); +} + +function saveNodeIdAndReboot(nodeId) { + mspHelper.setSetting('dronecan_node_id', nodeId, () => { + mspHelper.saveToEeprom(finishSaveConfigAndReboot); + }); +} + +dronecanTab.saveConfig = function () { + const bitrate = $('#dronecan-bitrate').val(); + const nodeId = Number.parseInt($('#dronecan-node-id').val(), 10); + if (Number.isNaN(nodeId) || nodeId < 1 || nodeId > 127) return; + if (nodeId >= 126 && !confirm(i18n.getMessage('dronecanNodeIdReservedWarning'))) return; + mspHelper.setSetting('dronecan_bitrate_kbps', bitrate, () => saveNodeIdAndReboot(nodeId)); +}; + +dronecanTab.cleanup = function (callback) { + interval.remove('dronecan_refresh'); + currentDetailNodeId = null; + nameCache = {}; // prevent stale names from a previous vehicle appearing on reconnect + if (callback) callback(); +}; + +export default dronecanTab; diff --git a/tabs/gps.html b/tabs/gps.html index a81c76e78..90164330a 100644 --- a/tabs/gps.html +++ b/tabs/gps.html @@ -14,6 +14,15 @@
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