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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Pavel Kirienko
65 lines
2.7 KiB
Plaintext
65 lines
2.7 KiB
Plaintext
#
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# This message is used for dynamic Node ID allocation. This algorithm is an optional extension to the UAVCAN
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# specification, and it is not mandatory to support it.
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#
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# On the client's side the protocol is defined through the following set of rules:
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#
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# Rule A. On initialization:
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# 1. The client subscribes to this message.
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# 2. The client starts the Request Timer with interval of DEFAULT_REQUEST_INTERVAL_MS.
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#
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# Rule B. On expiration of Request Timer:
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# 1. Request Timer restarts.
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# 2. The client broadcasts a first-stage Allocation request message, where the fields are assigned following values:
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# node_id - preferred node ID, or zero if the client doesn't have any preference
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# first_part_of_unique_id - true
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# unique_id - first MAX_LENGTH_OF_UNIQUE_ID_IN_REQUEST bytes of unique ID
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#
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# Rule C. On any Allocation message, even if other rules also match:
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# 1. Request Timer restarts.
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#
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# Rule D. On an Allocation message WHERE (source node ID is non-anonymous) AND (client's unique ID starts with the
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# bytes available in the field unique_id) AND (unique_id is less than 16 bytes long):
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# 1. The client broadcasts a second-stage Allocation request message, where the fields are assigned following values:
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# node_id - same value as in the first-stage
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# first_part_of_unique_id - false
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# unique_id - at most MAX_LENGTH_OF_UNIQUE_ID_IN_REQUEST bytes of local unique ID with an offset
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# equal to number of bytes in the received unique ID
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#
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# Rule E. On an Allocation message WHERE (source node ID is non-anonymous) AND (unique_id fully matches client's
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# unique ID) AND (node_id in the received message is not zero):
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# 1. Request Timer stops.
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# 2. The client initializes its node_id with the received value.
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# 3. The client terminates subscription to Allocation messages.
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# 4. Exit.
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#
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#
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# Recommended request transmission period.
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#
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uint16 DEFAULT_REQUEST_PERIOD_MS = 1000
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#
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# Any request message can accommodate no more than this number of bytes of unique ID.
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# This limitation is needed to ensure that all request transfers are single-frame.
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#
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uint8 MAX_LENGTH_OF_UNIQUE_ID_IN_REQUEST = 7
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#
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# If transfer is anonymous, this is the preferred ID.
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# If transfer is non-anonymous, this is allocated ID.
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#
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uint7 node_id
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#
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# If transfer is anonymous, this field indicates first-stage request.
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# If transfer is non-anonymous, this field should be ignored.
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#
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bool first_part_of_unique_id
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#
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# If transfer is anonymous, this array must not contain more than MAX_LENGTH_OF_UNIQUE_ID_IN_REQUEST items.
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# Note that array is tail-optimized, i.e. it will not be prepended with length field.
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#
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uint8[<=16] unique_id
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