Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal

Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp

src/drivers/cyphal/ParamManager.cpp

@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ParamManager.cpp
+ *
+ * Implements basic functionality of UAVCAN parameter management class
+ *
+ * @author Jacob Crabill <jacob@flyvoly.com>
+ */
+
+#include "ParamManager.hpp"
+#include <px4_platform_common/defines.h>
+
+bool UavcanParamManager::GetParamByName(const char *param_name, uavcan_register_Value_1_0 &value)
+{
+	for (auto &param : _uavcan_params) {
+		if (strcmp(param_name, param.uavcan_name) == 0) {
+			param_t param_handle = param_find(param.px4_name);
+
+			if (param_handle == PARAM_INVALID) {
+				return false;
+			}
+
+			return param.px4_param_to_register_value(param_handle, value);
+		}
+	}
+
+	return false;
+}
+
+bool UavcanParamManager::GetParamByName(const uavcan_register_Name_1_0 &name, uavcan_register_Value_1_0 &value)
+{
+	for (auto &param : _uavcan_params) {
+		if (strncmp((char *)name.name.elements, param.uavcan_name, name.name.count) == 0) {
+			param_t param_handle = param_find(param.px4_name);
+
+			if (param_handle == PARAM_INVALID) {
+				return false;
+			}
+
+			return param.px4_param_to_register_value(param_handle, value);
+		}
+	}
+
+	return false;
+}
+
+bool UavcanParamManager::GetParamName(uint32_t id, uavcan_register_Name_1_0 &name)
+{
+	if (id >= sizeof(_uavcan_params) / sizeof(UavcanParamBinder)) {
+		return false;
+	}
+
+	strncpy((char *)name.name.elements, _uavcan_params[id].uavcan_name, uavcan_register_Name_1_0_name_ARRAY_CAPACITY_);
+
+	name.name.count = strlen(_uavcan_params[id].uavcan_name);
+
+	return true;
+}
+
+bool UavcanParamManager::SetParamByName(const uavcan_register_Name_1_0 &name, const uavcan_register_Value_1_0 &value)
+{
+	for (auto &param : _uavcan_params) {
+		if (strncmp((char *)name.name.elements, param.uavcan_name, name.name.count) == 0) {
+			param_t param_handle = param_find(param.px4_name);
+
+			if (param_handle == PARAM_INVALID) {
+				return false;
+			}
+
+			return param.register_value_to_px4_param(value, param_handle);
+		}
+	}
+
+	return false;
+}