uavcan_allocator.c File Reference

#include "uavcan/uavcan.h"
#include "uavcan/uavcan_allocator.h"
#include "uavcan.protocol.dynamic_node_id.Allocation.h"
#include "uavcan.protocol.GetNodeInfo.h"

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Macros
#define	UAVCAN_MAX_NODES   50
	Dynamic node ID allocation.
#define	INVALID_STAGE   -1

Functions
static int	detectRequestStage (struct uavcan_protocol_dynamic_node_id_Allocation *msg)
static int	getExpectedStage (void)
static int	findFreeNodeID (const uint8_t preferred)
static bool	unique_id_identical (int index)
static void	handleAllocationRequest (struct uavcan_iface_t *iface, uint8_t preferred_node_id)
static void	id_alloc_uavcan_cb (struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
struct uavcan_node_mapping_t *	uavcan_get_node_id_mapping (const uint8_t id)
static struct uavcan_node_mapping_t *	get_free_id_mapping (void)
static void	node_info_resp_cb (struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
void	request_node_info (struct uavcan_iface_t *iface, uint8_t destination_node_id)
void	uavcan_allocator_init (void)

Variables
static uavcan_event	id_alloc_ev
static uavcan_event	node_info_ev
static struct uavcan_node_mapping_t	uavcan_node_ids [UAVCAN_MAX_NODES] = {0}
struct uavcan_unique_id_t	current_unique_id = {0}
uint32_t	last_message_timestamp = 0

Macro Definition Documentation

INVALID_STAGE

#define INVALID_STAGE   -1

Definition at line 20 of file uavcan_allocator.c.

UAVCAN_MAX_NODES

#define UAVCAN_MAX_NODES   50

Dynamic node ID allocation.

See https://dronecan.github.io/Specification/6._Application_level_functions/#dynamic-node-id-allocation

Definition at line 17 of file uavcan_allocator.c.

Function Documentation

detectRequestStage()

static int detectRequestStage ( struct uavcan_protocol_dynamic_node_id_Allocation *  msg )

static

Definition at line 79 of file uavcan_allocator.c.

References foo, INVALID_STAGE, and msg.

Referenced by id_alloc_uavcan_cb().

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findFreeNodeID()

static int findFreeNodeID ( const uint8_t  preferred )

static

Definition at line 56 of file uavcan_allocator.c.

References foo, and uavcan_get_node_id_mapping().

Referenced by handleAllocationRequest().

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get_free_id_mapping()

static struct uavcan_node_mapping_t * get_free_id_mapping ( void  )

static

Definition at line 51 of file uavcan_allocator.c.

References uavcan_get_node_id_mapping().

Referenced by node_info_resp_cb().

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getExpectedStage()

static int getExpectedStage ( void  )

static

Definition at line 92 of file uavcan_allocator.c.

References current_unique_id, foo, INVALID_STAGE, and uavcan_unique_id_t::len.

Referenced by id_alloc_uavcan_cb().

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handleAllocationRequest()

static void handleAllocationRequest ( struct uavcan_iface_t *  iface, uint8_t  preferred_node_id  )

static

Definition at line 110 of file uavcan_allocator.c.

References uavcan_node_mapping_t::allocated_id, current_unique_id, uavcan_unique_id_t::data, findFreeNodeID(), foo, uavcan_unique_id_t::len, uavcan_broadcast(), UAVCAN_MAX_NODES, uavcan_node_ids, uavcan_node_mapping_t::unique_id, and unique_id_identical().

Referenced by id_alloc_uavcan_cb().

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id_alloc_uavcan_cb()

static void id_alloc_uavcan_cb ( struct uavcan_iface_t *  iface, CanardRxTransfer *  transfer  )

static

Definition at line 163 of file uavcan_allocator.c.

References current_unique_id, uavcan_unique_id_t::data, detectRequestStage(), foo, getExpectedStage(), handleAllocationRequest(), INVALID_STAGE, last_message_timestamp, uavcan_unique_id_t::len, msg, uavcan_iface_t::node_id, transfer(), and uavcan_broadcast().

Referenced by uavcan_allocator_init().

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node_info_resp_cb()

static void node_info_resp_cb ( struct uavcan_iface_t *  iface, CanardRxTransfer *  transfer  )

static

Definition at line 222 of file uavcan_allocator.c.

References foo, get_free_id_mapping(), msg, transfer(), and uavcan_get_node_id_mapping().

Referenced by uavcan_allocator_init().

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request_node_info()

void request_node_info	(	struct uavcan_iface_t *	iface,
		uint8_t	destination_node_id
	)

Definition at line 244 of file uavcan_allocator.c.

References foo, transfer(), and uavcan_request().

Referenced by node_status_cb().

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uavcan_allocator_init()

void uavcan_allocator_init

(

void

)

Definition at line 256 of file uavcan_allocator.c.

References foo, id_alloc_ev, id_alloc_uavcan_cb(), node_info_ev, node_info_resp_cb(), and uavcan_bind().

Referenced by uavcan_init().

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uavcan_get_node_id_mapping()

struct uavcan_node_mapping_t * uavcan_get_node_id_mapping

(

const uint8_t

id

)

Definition at line 42 of file uavcan_allocator.c.

References uavcan_node_mapping_t::allocated_id, foo, UAVCAN_MAX_NODES, and uavcan_node_ids.

Referenced by findFreeNodeID(), get_free_id_mapping(), node_info_resp_cb(), and node_status_cb().

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unique_id_identical()

static bool unique_id_identical ( int  index )

static

Definition at line 105 of file uavcan_allocator.c.

References current_unique_id, uavcan_unique_id_t::data, foo, uavcan_unique_id_t::len, uavcan_node_ids, and uavcan_node_mapping_t::unique_id.

Referenced by handleAllocationRequest().

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Variable Documentation

current_unique_id

struct uavcan_unique_id_t current_unique_id = {0}

Definition at line 38 of file uavcan_allocator.c.

Referenced by getExpectedStage(), handleAllocationRequest(), id_alloc_uavcan_cb(), and unique_id_identical().

id_alloc_ev

uavcan_event id_alloc_ev

static

Definition at line 30 of file uavcan_allocator.c.

Referenced by uavcan_allocator_init().

last_message_timestamp

uint32_t last_message_timestamp = 0

Definition at line 39 of file uavcan_allocator.c.

Referenced by id_alloc_uavcan_cb().

node_info_ev

uavcan_event node_info_ev

static

Definition at line 31 of file uavcan_allocator.c.

Referenced by uavcan_allocator_init().

uavcan_node_ids

struct uavcan_node_mapping_t uavcan_node_ids[UAVCAN_MAX_NODES] = {0}

static

Definition at line 35 of file uavcan_allocator.c.

Referenced by handleAllocationRequest(), uavcan_get_node_id_mapping(), and unique_id_identical().