Add support for dronecan and initial GPS driver

.vscode/tasks.json

@@ -4,19 +4,19 @@
     "version": "2.0.0",
     "tasks": [
         {
-            "label": "Build AOCODARCH7DUAL",
+            "label": "Build MATEKH743",
             "type": "shell",
-            "command": "make AOCODARCH7DUAL",
+            "command": "ninja MATEKH743",
             "group": "build",
             "problemMatcher": [],
             "options": {
                 "cwd": "${workspaceFolder}/build"
             }
         },
         {
-            "label": "Build AOCODARCH7DUAL",
+            "label": "Build MATEKH743",
             "type": "shell",
-            "command": "make AOCODARCH7DUAL",
+            "command": "ninja MATEKH743",
             "group": {
                 "kind": "build",
                 "isDefault": true

cmake/dsdlc_generated.cmake

@@ -0,0 +1,132 @@
+
+set(DSDLC_GENERATED_DIR "${MAIN_LIB_DIR}/main/dsdlc_generated")
+
+set(DSDLC_GENERATED_SRC
+    dronecan.protocol.CanStats.c                                
+    dronecan.protocol.FlexDebug.c                               
+    dronecan.protocol.GlobalTime.c                              
+    dronecan.protocol.Stats.c                                   
+    dronecan.remoteid.ArmStatus.c                               
+    dronecan.remoteid.BasicID.c                                 
+    dronecan.remoteid.Location.c                                
+    dronecan.remoteid.OperatorID.c                              
+    dronecan.remoteid.SecureCommand_req.c                       
+    dronecan.remoteid.SecureCommand_res.c                       
+    dronecan.remoteid.SelfID.c                                  
+    dronecan.remoteid.System.c                                  
+    dronecan.sensors.hygrometer.Hygrometer.c                    
+    dronecan.sensors.magnetometer.MagneticFieldStrengthHiRes.c  
+    dronecan.sensors.rc.RCInput.c                               
+    dronecan.sensors.rpm.RPM.c                                                                                 
+    uavcan.CoarseOrientation.c                                  
+    uavcan.equipment.actuator.ArrayCommand.c                    
+    uavcan.equipment.actuator.Command.c                         
+    uavcan.equipment.actuator.Status.c                          
+    uavcan.equipment.ahrs.MagneticFieldStrength2.c              
+    uavcan.equipment.ahrs.MagneticFieldStrength.c               
+    uavcan.equipment.ahrs.RawIMU.c                              
+    uavcan.equipment.ahrs.Solution.c                            
+    uavcan.equipment.air_data.AngleOfAttack.c                   
+    uavcan.equipment.air_data.IndicatedAirspeed.c               
+    uavcan.equipment.air_data.RawAirData.c                      
+    uavcan.equipment.air_data.Sideslip.c                        
+    uavcan.equipment.air_data.StaticPressure.c                  
+    uavcan.equipment.air_data.StaticTemperature.c               
+    uavcan.equipment.air_data.TrueAirspeed.c                    
+    uavcan.equipment.camera_gimbal.AngularCommand.c             
+    uavcan.equipment.camera_gimbal.GEOPOICommand.c              
+    uavcan.equipment.camera_gimbal.Mode.c                       
+    uavcan.equipment.camera_gimbal.Status.c                     
+    uavcan.equipment.device.Temperature.c                       
+    uavcan.equipment.esc.RawCommand.c                           
+    uavcan.equipment.esc.RPMCommand.c                           
+    uavcan.equipment.esc.Status.c                               
+    uavcan.equipment.esc.StatusExtended.c                       
+    uavcan.equipment.gnss.Auxiliary.c                           
+    uavcan.equipment.gnss.ECEFPositionVelocity.c                
+    uavcan.equipment.gnss.Fix2.c                                
+    uavcan.equipment.gnss.Fix.c                                 
+    uavcan.equipment.gnss.RTCMStream.c                          
+    uavcan.equipment.hardpoint.Command.c                        
+    uavcan.equipment.hardpoint.Status.c                         
+    uavcan.equipment.ice.FuelTankStatus.c                       
+    uavcan.equipment.ice.reciprocating.CylinderStatus.c         
+    uavcan.equipment.ice.reciprocating.Status.c                 
+    uavcan.equipment.indication.BeepCommand.c                   
+    uavcan.equipment.indication.LightsCommand.c                 
+    uavcan.equipment.indication.RGB565.c                        
+    uavcan.equipment.indication.SingleLightCommand.c            
+    uavcan.equipment.power.BatteryInfo.c                        
+    uavcan.equipment.power.CircuitStatus.c                      
+    uavcan.equipment.power.PrimaryPowerSupplyStatus.c           
+    uavcan.equipment.range_sensor.Measurement.c                 
+    uavcan.equipment.safety.ArmingStatus.c 
+    uavcan.navigation.GlobalNavigationSolution.c
+    uavcan.protocol.AccessCommandShell_req.c
+    uavcan.protocol.AccessCommandShell_res.c
+    uavcan.protocol.CANIfaceStats.c
+    uavcan.protocol.DataTypeKind.c
+    uavcan.protocol.debug.KeyValue.c
+    uavcan.protocol.debug.LogLevel.c
+    uavcan.protocol.debug.LogMessage.c
+    uavcan.protocol.dynamic_node_id.Allocation.c
+    uavcan.protocol.dynamic_node_id.server.AppendEntries_req.c
+    uavcan.protocol.dynamic_node_id.server.AppendEntries_res.c
+    uavcan.protocol.dynamic_node_id.server.Discovery.c
+    uavcan.protocol.dynamic_node_id.server.Entry.c
+    uavcan.protocol.dynamic_node_id.server.RequestVote_req.c
+    uavcan.protocol.dynamic_node_id.server.RequestVote_res.c
+    uavcan.protocol.enumeration.Begin_req.c
+    uavcan.protocol.enumeration.Begin_res.c
+    uavcan.protocol.enumeration.Indication.c
+    uavcan.protocol.file.BeginFirmwareUpdate_req.c
+    uavcan.protocol.file.BeginFirmwareUpdate_res.c
+    uavcan.protocol.file.Delete_req.c
+    uavcan.protocol.file.Delete_res.c
+    uavcan.protocol.file.EntryType.c
+    uavcan.protocol.file.Error.c
+    uavcan.protocol.file.GetDirectoryEntryInfo_req.c
+    uavcan.protocol.file.GetDirectoryEntryInfo_res.c
+    uavcan.protocol.file.GetInfo_req.c
+    uavcan.protocol.file.GetInfo_res.c
+    uavcan.protocol.file.Path.c
+    uavcan.protocol.file.Read_req.c
+    uavcan.protocol.file.Read_res.c
+    uavcan.protocol.file.Write_req.c
+    uavcan.protocol.file.Write_res.c
+    uavcan.protocol.GetDataTypeInfo_req.c
+    uavcan.protocol.GetDataTypeInfo_res.c
+    uavcan.protocol.GetNodeInfo_req.c
+    uavcan.protocol.GetNodeInfo_res.c
+    uavcan.protocol.GetTransportStats_req.c
+    uavcan.protocol.GetTransportStats_res.c
+    uavcan.protocol.GlobalTimeSync.c
+    uavcan.protocol.HardwareVersion.c
+    uavcan.protocol.NodeStatus.c
+    uavcan.protocol.Panic.c
+    uavcan.protocol.param.Empty.c
+    uavcan.protocol.param.ExecuteOpcode_req.c
+    uavcan.protocol.param.ExecuteOpcode_res.c
+    uavcan.protocol.param.GetSet_req.c
+    uavcan.protocol.param.GetSet_res.c
+    uavcan.protocol.param.NumericValue.c
+    uavcan.protocol.param.Value.c
+    uavcan.protocol.RestartNode_req.c
+    uavcan.protocol.RestartNode_res.c
+    uavcan.protocol.SoftwareVersion.c
+    uavcan.Timestamp.c
+    uavcan.tunnel.Broadcast.c
+    uavcan.tunnel.Call_req.c
+    uavcan.tunnel.Call_res.c
+    uavcan.tunnel.Protocol.c
+    uavcan.tunnel.SerialConfig.c
+    uavcan.tunnel.Targetted.c
+)
+
+list(TRANSFORM DSDLC_GENERATED_SRC PREPEND "${DSDLC_GENERATED_DIR}/Src/")
+
+set(DSDLC_GENERATED_DIRS
+    ${DSDLC_GENERATED_DIR}/Include
+)
+
+

cmake/main.cmake

@@ -2,6 +2,8 @@ set(MAIN_INCLUDE_DIRS
     "${MAIN_LIB_DIR}"
     "${MAIN_SRC_DIR}"
     "${MAIN_LIB_DIR}/main/MAVLink"
+    "${MAIN_SRC_DIR}/drivers/dronecan/libcanard"
+    "${MAIN_SRC_DIR}/drivers/dronecan/dsdlc_generated/include"
 )
 
 set(MAIN_DEFINITIONS

cmake/stm32f7.cmake

@@ -7,6 +7,7 @@ set(STM32F7_HAL_SRC
     stm32f7xx_hal.c
     stm32f7xx_hal_adc.c
     stm32f7xx_hal_adc_ex.c
+    stm32f7xx_hal_can.c
     stm32f7xx_hal_cortex.c
     stm32f7xx_hal_dac.c
     stm32f7xx_hal_dac_ex.c
@@ -77,6 +78,8 @@ main_sources(STM32F7_SRC
     drivers/serial_uart_stm32f7xx.c
     drivers/serial_uart_hal.c
     drivers/sdcard/sdmmc_sdio_hal.c
+    drivers/dronecan/libcanard/canard_stm32f7xx_driver.c
+
 )
 
 main_sources(STM32F7_MSC_SRC

cmake/stm32h7.cmake

@@ -28,7 +28,7 @@ set(STM32H7_HAL_SRC
 #    stm32h7xx_hal_eth.c
 #    stm32h7xx_hal_eth_ex.c
     stm32h7xx_hal_exti.c
-#    stm32h7xx_hal_fdcan.c
+    stm32h7xx_hal_fdcan.c
     stm32h7xx_hal_flash.c
     stm32h7xx_hal_flash_ex.c
     stm32h7xx_hal_gfxmmu.c
@@ -162,6 +162,8 @@ main_sources(STM32H7_SRC
     drivers/serial_uart_hal.c
     drivers/sdio.h
     drivers/sdcard/sdmmc_sdio_hal.c
+    drivers/dronecan/libcanard/canard_stm32h7xx_driver.c
+
 )
 
 main_sources(STM32H7_MSC_SRC

docs/Battery.md

@@ -91,9 +91,15 @@ Configure the current meter type using the `current_meter_type` settings here:
 
 | Value | Sensor Type            |
 | ----- | ---------------------- |
-| 0     | None                   |
-| 1     | ADC/hardware sensor    |
-| 2     | Virtual sensor         |
+| NONE  | Disabled               |
+| ADC   | ADC/hardware sensor    |
+| VIRTUAL | Virtual sensor (estimated from throttle) |
+| FAKE  | Fake sensor (for testing) |
+| ESC   | ESC telemetry          |
+| SMARTPORT | SmartPort telemetry |
+| CAN   | DroneCAN battery monitor |
+
+See [DroneCAN](DroneCAN.md) for information on using DroneCAN battery monitors.
 
 Configure capacity using the `battery_capacity` setting, in mAh units.
 

docs/DroneCAN.md

@@ -0,0 +1,145 @@
+# DroneCAN
+
+DroneCAN (formerly UAVCAN v0) is a lightweight protocol designed for reliable communication in aerospace and robotic applications over CAN bus. INAV supports DroneCAN for connecting external sensors and peripherals.
+
+## Supported Features
+
+| Feature | Status | Description |
+|---------|--------|-------------|
+| GPS | Supported | GNSS receivers via DroneCAN |
+| Battery Voltage | Supported | Voltage sensing from DroneCAN battery monitors |
+| Battery Current | Supported | Current sensing from DroneCAN battery monitors |
+| Parameter Get/Set | Planned | Remote parameter configuration |
+| ESC Control | Planned | Motor control via DroneCAN ESCs |
+| Dynamic Node Assignment | Planned | Manage node IDs dynamically to minimize first time configuration |
+
+## Supported Hardware
+
+DroneCAN requires a flight controller with CAN bus hardware:
+
+- **STM32H7** boards with FDCAN peripheral
+- **STM32F7** boards with bxCAN peripheral
+
+Check your board's documentation to confirm CAN bus availability.
+
+## Configuration
+
+### Enabling DroneCAN
+
+DroneCAN settings are configured via CLI:
+
+```
+set dronecan_node_id = 10
+set dronecan_bitrate = 1000KBPS
+save
+```
+
+### Settings
+
+| Setting | Values | Default | Description |
+|---------|--------|---------|-------------|
+| `dronecan_node_id` | 1-127 | 10 | CAN node ID for the flight controller |
+| `dronecan_bitrate` | 125KBPS, 250KBPS, 500KBPS, 1000KBPS | 1000KBPS | CAN bus bitrate |
+
+All peripherals need to have the node ID and the bitrate set manually through the dronecan_gui for now.  You can use your flight controller as a CAN interface by loading an Ardupilot image on it.  Once the set up is complete, you can reflash it to Inav.
+
+### GPS via DroneCAN
+
+To use a DroneCAN GPS receiver:
+
+```
+set gps_provider = DRONECAN
+save
+```
+
+The flight controller will automatically receive GPS data from any DroneCAN GNSS device on the bus.  GPS configuration needs to be set using dronecan_gui to enable additional satellite networks.
+
+### Battery Monitoring via DroneCAN
+
+DroneCAN battery monitors send both voltage and current data using the `BatteryInfo` message type.
+
+**Voltage sensing:**
+```
+set bat_voltage_src = CAN
+save
+```
+
+**Current sensing:**
+```
+feature CURRENT_METER
+set current_meter_type = CAN
+save
+```
+
+Both voltage and current come from the same DroneCAN BatteryInfo message, so they update together when using a DroneCAN battery monitor.
+
+## Hardware Setup
+
+### Wiring
+
+Connect the CAN bus lines between your flight controller and DroneCAN peripherals:
+
+| Signal | Description |
+|--------|-------------|
+| 4v5 | Power supply for peripheral (see dronecan specification for limitations) |
+| CAN_H | CAN High (dominant high) |
+| CAN_L | CAN Low (dominant low) |
+| GND | Ground reference |
+
+**Important:** CAN bus requires 120 ohm termination resistors at each end of the bus. Many DroneCAN devices include built-in termination that can be enabled via jumper or configuration.
+
+### Typical Setup
+
+```
+[FC CAN Port] ----CAN_H/CAN_L---- [DroneCAN GPS] ----CAN_H/CAN_L---- [DroneCAN Battery Monitor]
+     |                                  |                                      |
+    120R                          (pass-through)                              120R
+```
+
+## Troubleshooting
+
+### No data from DroneCAN devices
+
+1. **Check wiring** - Ensure CAN_H and CAN_L are not swapped
+2. **Check termination** - Bus requires 120 ohm termination at both ends
+3. **Check bitrate** - All devices must use the same bitrate
+4. **Check node IDs** - Each device must have a unique node ID
+
+### GPS not detected
+
+1. Verify `gps_provider = DRONECAN` is set
+2. Check that the GPS is broadcasting Fix2 or Fix messages
+3. Some GPS modules need external power - check power supply
+
+### Battery readings incorrect
+
+1. Verify the DroneCAN battery monitor is configured correctly
+2. Check that `bat_voltage_src = CAN` and/or `current_meter_type = CAN` are set
+3. Some battery monitors need calibration - consult device documentation
+
+## DroneCAN Message Types
+
+INAV processes the following DroneCAN message types:
+
+| Message Type | Data Type ID | Description |
+|--------------|--------------|-------------|
+| Fix2 | 1063 | GNSS fix data (preferred) |
+| Fix | 1060 | GNSS fix data (legacy) |
+| Auxiliary | 1061 | GNSS auxiliary data (HDOP, VDOP) |
+| BatteryInfo | 1092 | Battery voltage, current, temperature, SoC |
+| NodeStatus | 341 | Node health and status |
+
+## Compatibility
+
+DroneCAN devices compatible with INAV include:
+
+- **GPS:** (not tested) ARK GPS, Holybro DroneCAN GPS, mRo Location One
+- **Battery Monitors:** Matek CAN-L4-BM, Various DroneCAN-compatible power modules
+
+For the latest compatibility information, check the INAV Discord or GitHub discussions.
+
+## Resources
+
+- [DroneCAN Specification](https://dronecan.github.io/)
+- [libcanard Library](https://github.com/dronecan/libcanard)
+- [INAV Discord](https://discord.gg/peg2hhbYwN)