Readjusted default DTID values

dsdl/uavcan/README.md

@@ -0,0 +1,33 @@
+Standard DSDL definitions
+=========================
+
+For details, please refer to the [UAVCAN specification](http://uavcan.org/).
+
+## Standard DTID ranges
+
+- Messages: [256, 1791)
+- Services: [64, 447)
+
+Rest are reserved for vendor-specific data types.
+
+## Standard ID grouping
+
+Note that all unallocated space can be claimed later.
+
+### Messages
+
+| ID                   | Types                                    | Note                                     |
+| -------------------- | ---------------------------------------- | ---------------------------------------- |
+| [256, 260)           | protocol.*                               | Highest priority                         |
+| [260, 900)           | equipment.*                              | High priority                            |
+| [1000, 1050)         | protocol.*                               |                                          |
+| [1400, 1700)         | equipment.*                              | Low priority                             |
+| 1780                 | mavlink.Message                          |                                          |
+| [1785, 1791)         | protocol.debug.*                         | Lowest priority                          |
+
+### Services
+
+| ID                   | Types                                    | Note                                     |
+| -------------------- | ---------------------------------------- | ---------------------------------------- |
+| [100, 110)           | equipment.*                              |                                          |
+| [200, 250)           | protocol.*                               |                                          |

dsdl/uavcan/equipment/100.PerformAutomaticSelfTest.uavcan

@@ -3,6 +3,8 @@
 # http://uavcan.org/Standard_data_types_and_application_level_functions#Pre-operational_checks
 #
 
+int48 argument
+
 ---
 
 # Amount of extra time the node needs to finish the procedure.

dsdl/uavcan/equipment/101.PerformAutomaticCalibration.uavcan

@@ -3,6 +3,8 @@
 # http://uavcan.org/Standard_data_types_and_application_level_functions#Pre-operational_checks
 #
 
+int48 argument
+
 ---
 
 # Amount of extra time the node needs to finish the procedure.

dsdl/uavcan/protocol/202.ComputeAggregateTypeSignature.uavcan

@@ -0,0 +1,18 @@
+#
+# This service allows to detect type compatibility between two nodes in one request.
+# Number of items in the ID mask depends on the data type kind:
+#  - 512 for services
+#  - 2048 for messages
+#  - All other lengths are invalid
+# If the server encounters invalid length, missing bits will be assumed zero, excessive bits will be ignored.
+#
+
+DataTypeKind kind
+uint4 alignment
+bool[<=2048] known_ids
+
+---
+
+uint64 aggregate_signature
+uint4 alignment
+bool[<=2048] mutually_known_ids

dsdl/uavcan/protocol/554.ComputeAggregateTypeSignature.uavcan

@@ -1,11 +0,0 @@
-#
-# This service allows to detect type compatibility between two nodes in one request.
-#
-
-bool[1024] known_ids
-DataTypeKind kind
-
----
-
-bool[1024] mutually_known_ids
-uint64 aggregate_signature

dsdl/uavcan/ranges

@@ -1,9 +0,0 @@
-All the unallocated space can be claimed later.
-
-256..449 - high priority equipment
-
-550..599 - protocol
-
-600..749 - low priority eqipment
-
-767 - MAVLink