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STM32 example extended with dynamic node ID allocation

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This commit is contained in:
Pavel Kirienko 2015-10-09 02:06:45 +03:00
parent 67ee9d567f
commit d773db4ffc
1 changed files with 33 additions and 1 deletions
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34
libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
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@ -6,6 +6,7 @@
#include <zubax_chibios/sys/sys.h>
#include <uavcan_stm32/uavcan_stm32.hpp>
#include <uavcan/protocol/global_time_sync_slave.hpp>
#include <uavcan/protocol/dynamic_node_id_client.hpp>
#include "board/board.hpp"
namespace app
@ -47,7 +48,6 @@ class : public chibios_rt::BaseStaticThread<8192>
{
void configureNodeInfo()
{
getNode().setNodeID(64);
getNode().setName("org.uavcan.stm32_test_stm32f107");
/*
@ -83,6 +83,33 @@ class : public chibios_rt::BaseStaticThread<8192>
lowsyslog("\n");
}
void performDynamicNodeIDAllocation()
{
uavcan::DynamicNodeIDClient client(getNode());
const int client_start_res = client.start(getNode().getHardwareVersion().unique_id);
if (client_start_res < 0)
{
board::die(client_start_res);
}
lowsyslog("Waiting for dynamic node ID allocation...\n");
while (!client.isAllocationComplete())
{
const int spin_res = getNode().spin(uavcan::MonotonicDuration::fromMSec(100));
if (spin_res < 0)
{
lowsyslog("Spin failure: %i\n", spin_res);
}
}
lowsyslog("Dynamic node ID %d allocated by %d\n",
int(client.getAllocatedNodeID().get()),
int(client.getAllocatorNodeID().get()));
getNode().setNodeID(client.getAllocatedNodeID());
}
public:
msg_t main()
{
@ -100,6 +127,11 @@ public:
board::die(node_init_res);
}
/*
* Waiting for a dynamic node ID allocation
*/
performDynamicNodeIDAllocation();
/*
* Time synchronizer
*/