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Merged
PonomarevDA merged 1 commit into from
Aug 20, 2026
Merged

feat(fw_update): add customisable firmware update handlers #70

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18 changes: 18 additions & 0 deletions include/libdcnode/dronecan.h
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,17 @@ extern "C"
const void *payload,
uint16_t payload_len);

/**
* @brief Send an RPC request to a remote node.
*/
int16_t uavcanRequest(uint8_t destination_node_id,
uint64_t data_type_signature,
uint16_t data_type_id,
uint8_t *inout_transfer_id,
uint8_t priority,
const void *payload,
uint16_t payload_len);

/**
* @brief Respond on RPC-request.
*/
Expand All @@ -79,6 +90,13 @@ extern "C"
const uint8_t *payload,
uint16_t len);

/**
* @brief Override the default BeginFirmwareUpdate behavior.
* @note Passing NULL restores the default behavior, which requests a restart.
*/
typedef void (*UavcanBeginFirmwareUpdateHandler)(CanardRxTransfer *transfer);
void uavcanSetBeginFirmwareUpdateHandler(UavcanBeginFirmwareUpdateHandler handler);

/**
* @brief NodeInfo API
*/
Expand Down
34 changes: 32 additions & 2 deletions src/dronecan.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,7 @@ static_assert(sizeof(DronecanNodeInstance) == INSTANCE_SIZE);
static DronecanNodeInstance node = {};
static ParamsApi params = {};
static PlatformApi platform = {};
static UavcanBeginFirmwareUpdateHandler begin_firmware_update_handler = NULL;

static bool shouldAcceptTransfer(const CanardInstance *ins,
uint64_t *out_data_type_signature,
Expand Down Expand Up @@ -124,6 +125,25 @@ int16_t uavcanPublish(uint64_t data_type_signature,
payload_len);
}

int16_t uavcanRequest(uint8_t destination_node_id,
uint64_t data_type_signature,
uint16_t data_type_id,
uint8_t *inout_transfer_id,
uint8_t priority,
const void *payload,
uint16_t payload_len)
{
return canardRequestOrRespond(&node.g_canard,
destination_node_id,
data_type_signature,
data_type_id,
inout_transfer_id,
priority,
CanardRequest,
payload,
payload_len);
}

void uavcanRespond(CanardRxTransfer *transfer,
uint64_t data_type_signature,
uint16_t data_type_id,
Expand All @@ -146,6 +166,11 @@ void uavcanRespond(CanardRxTransfer *transfer,
len);
}

void uavcanSetBeginFirmwareUpdateHandler(UavcanBeginFirmwareUpdateHandler handler)
{
begin_firmware_update_handler = handler;
}

void uavcanConfigure(const SoftwareVersion *new_sw_vers, const HardwareVersion *new_hw_vers)
{
node.sw_version.major = new_sw_vers->major;
Expand Down Expand Up @@ -463,8 +488,13 @@ static void uavcanProtocolBeginFirmwareUpdateHandle(CanardRxTransfer *transfer)
return;
}

// Do not send a response intentionally; just force a reboot so the bootloader takes over.
(void)platform.requestRestart();
if (begin_firmware_update_handler != NULL)
{
begin_firmware_update_handler(transfer);
} else {
// Do not send a response intentionally; just force a reboot so the bootloader takes over.
(void)platform.requestRestart();
}
}

int16_t uavcanInitApplication(ParamsApi params_api, PlatformApi platform_api, const AppInfo *app_info)
Expand Down