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code cleaning

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Fabien-B
2025-08-25 10:53:01 +02:00
parent eb5dd25cc5
commit 2e504ff524
2 changed files with 22 additions and 19 deletions
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sw/airborne/modules/uavcan/uavcan_allocator.c
+14 -17
View File
@@ -1,3 +1,12 @@
/*
* Copyright (C) 2025 Fabien-B <fabien-b@github.com>
* This file is part of paparazzi. See LICENCE file.
*/
/**
* Dynamic node ID allocation.
* See https://dronecan.github.io/Specification/6._Application_level_functions/#dynamic-node-id-allocation
*/
#include "uavcan/uavcan.h"
#include "uavcan/uavcan_allocator.h"
@@ -7,14 +16,8 @@
#include "mcu_periph/gpio.h"
/**
* Dynamic node ID allocation.
* See https://dronecan.github.io/Specification/6._Application_level_functions/#dynamic-node-id-allocation
*/
#ifndef UAVCAN_DYN_NODE_NB
#define UAVCAN_DYN_NODE_NB 10
#ifndef UAVCAN_MAX_NODES
#define UAVCAN_MAX_NODES 50
#endif
#define INVALID_STAGE -1
@@ -32,7 +35,7 @@ static uavcan_event node_info_ev;
// keep the correspondance between node id and unique IDs. (even or the fixed ids)
static struct uavcan_node_mapping_t uavcan_node_ids[UAVCAN_DYN_NODE_NB] = {0};
static struct uavcan_node_mapping_t uavcan_node_ids[UAVCAN_MAX_NODES] = {0};
@@ -41,7 +44,7 @@ uint32_t last_message_timestamp = 0;
struct uavcan_node_mapping_t* uavcan_get_node_id_mapping(const uint8_t id) {
for(int i=0; i<UAVCAN_DYN_NODE_NB; i++) {
for(int i=0; i<UAVCAN_MAX_NODES; i++) {
if(uavcan_node_ids[i].allocated_id == id) {
return &uavcan_node_ids[i];
}
@@ -111,7 +114,7 @@ static bool unique_id_identical(int index) {
static void handleAllocationRequest(struct uavcan_iface_t *iface, uint8_t preferred_node_id) {
uint8_t allocated_id = 0;
for(int i=0; i<UAVCAN_DYN_NODE_NB; i++) {
for(int i=0; i<UAVCAN_MAX_NODES; i++) {
if(uavcan_node_ids[i].allocated_id != 0) {
// allocation slot taken, check if unique id matches
@@ -261,9 +264,3 @@ void uavcan_allocator_init(void) {
uavcan_bind(UAVCAN_PROTOCOL_GETNODEINFO_RESPONSE_ID, UAVCAN_PROTOCOL_GETNODEINFO_RESPONSE_SIGNATURE,
&node_info_ev, &node_info_resp_cb);
}
void uavcan_allocator_periodic(void) {
}
sw/airborne/modules/uavcan/uavcan_allocator.h
+8 -2
View File
@@ -1,10 +1,16 @@
#pragma once
#include "inttypes.h"
/*
* Copyright (C) 2025 Fabien-B <fabien-b@github.com>
* This file is part of paparazzi. See LICENCE file.
*/
/**
* Dynamic node ID allocation.
* See https://dronecan.github.io/Specification/6._Application_level_functions/#dynamic-node-id-allocation
*/
#pragma once
#include "inttypes.h"
struct uavcan_iface_t;
struct uavcan_unique_id_t {