From c48a22e1b18c1d40dd34520fa8f264621c073e1c Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Wed, 1 Apr 2015 15:57:10 +0300 Subject: [PATCH] Minor updates to the DynamicNodeIDAllocation message --- .../protocol/559.DynamicNodeIDAllocation.uavcan | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/dsdl/uavcan/protocol/559.DynamicNodeIDAllocation.uavcan b/dsdl/uavcan/protocol/559.DynamicNodeIDAllocation.uavcan index 1f2430ff32..28dc90697c 100644 --- a/dsdl/uavcan/protocol/559.DynamicNodeIDAllocation.uavcan +++ b/dsdl/uavcan/protocol/559.DynamicNodeIDAllocation.uavcan @@ -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 #