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Minor updates to the DynamicNodeIDAllocation message

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Pavel Kirienko
2015-04-01 15:57:10 +03:00
parent 8bb90afb0f
commit c48a22e1b1
1 changed files with 8 additions and 3 deletions
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dsdl/uavcan/protocol/559.DynamicNodeIDAllocation.uavcan
+8 -3
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@@ -97,10 +97,10 @@
uint8 ALLOCATOR_INITIALIZATION_DELAY_SEC = 30
#
# This is the maximum frequency at which the Allocatee can broadcast
# allocation requests.
# This is the minimum interval (maximum frequency) at which the Allocatee can
# broadcast allocation requests.
#
uint8 ALLOCATEE_MAX_BROADCAST_INTERVAL_SEC = 1
uint8 ALLOCATEE_MIN_BROADCAST_INTERVAL_SEC = 2
#
# It is recommended to pick Node IDs from this range only, even if the
@@ -129,6 +129,11 @@ uint7 RECOMMENDED_DYNAMIC_NODE_ID_RANGE_MAX = 125
# A node is not allowed to use this algorithm if it doesn't have a unique ID
# that is 57 or more bits long.
#
# Regarding the collision probability: the birthday paradox suggests that a
# network with n=30 nodes will experience a short unique ID collision with
# approximate probability of (n^2)/(2*(2^57-1)) = 3.1e-15, assuming that
# the ID reduction function is perfect.
#
truncated uint57 short_unique_id
#