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Optimized messages in uavcan.protocol.*

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Pavel Kirienko
2014-03-14 13:18:31 +04:00
parent 8889a52e63
commit ce0174a734
3 changed files with 8 additions and 7 deletions
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dsdl/uavcan/protocol/550.NodeStatus.uavcan
+1 -1
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@@ -9,7 +9,7 @@ uint16 PUBLICATION_PERIOD_MS = 1000
uint16 OFFLINE_TIMEOUT_MS = 4000
# Uptime counter should never overflow.
uint24 uptime_sec
uint28 uptime_sec
# Status code should be used to reflect the node status in the most abstract way.
# Use cases: top-level onboard computer should not allow the UAV to begin normal operation
dsdl/uavcan/protocol/552.GetDataTypeInfo.uavcan
+2 -1
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@@ -8,10 +8,11 @@ DataTypeKind kind
---
uint64 signature # Data type signature
uint8[<=80] name # Full data type name, e.g. "uavcan.protocol.GetDataTypeInfo"
uint8 MASK_KNOWN = 1 # This data type is defined
uint8 MASK_SUBSCRIBED = 2 # Subscribed to messages of this type
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"
dsdl/uavcan/protocol/553.GetProtocolStatistics.uavcan
+5 -5
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@@ -4,12 +4,12 @@
---
# CAN bus statistics, for each interface independently
uint64[<=3] can_frames_tx
uint64[<=3] can_frames_rx
uint64[<=3] can_frames_errors
# UAVCAN transport layer statistics
uint64 transfers_tx
uint64 transfers_rx
uint32 transfers_rx_errors
# CAN bus statistics, for each interface independently
uint64[<=3] can_frames_tx
uint64[<=3] can_frames_rx
uint64[<=3] can_frames_errors