Merge branch 'master' into dsdl_review

dsdl/uavcan/protocol/552.GetDataTypeInfo.uavcan

@@ -1,13 +1,23 @@
 #
 # Get the implementation details of a given data type.
 #
+# Request is interpreted as follows:
+#  - If the field 'name' is empty, the fields 'kind' and 'id' will be used to identify the data type.
+#  - If the field 'name' is non-empty, it will be used to identify the data type; the
+#    fields 'kind' and 'id' will be ignored.
+#
 
-uint16 id
-DataTypeKind kind
+uint16 id                   # Ignored if 'name' is non-empty
+DataTypeKind kind           # Ignored if 'name' is non-empty
+
+uint8[<=80] name            # Full data type name, e.g. "uavcan.protocol.GetDataTypeInfo"
 
 ---
 
-uint64 signature            # Data type signature
+uint64 signature            # Data type signature; valid only if the data type is known (see MASK_KNOWN)
+
+uint16 id                   # Valid only if the data type is known (see MASK_KNOWN)
+DataTypeKind kind           # Ditto
 
 uint8 MASK_KNOWN      = 1   # This data type is defined
 uint8 MASK_SUBSCRIBED = 2   # Subscribed to messages of this type
@@ -15,4 +25,4 @@ uint8 MASK_PUBLISHING = 4   # Publishing messages of this type
 uint8 MASK_SERVING    = 8   # Providing service of this type
 uint8 mask
 
-uint8[<=80] name            # Full data type name, e.g. "uavcan.protocol.GetDataTypeInfo"
+uint8[<=80] name            # Full data type name; valid only if the data type is known (see MASK_KNOWN)

dsdl/uavcan/protocol/DataTypeKind.uavcan

@@ -2,6 +2,6 @@
 # Data type kind (message or service).
 #
 
-uint2 SERVICE = 0
-uint2 MESSAGE = 1
-uint2 value
+uint8 SERVICE = 0
+uint8 MESSAGE = 1
+uint8 value