Merge pull request #158 from 107-systems/register-api

Implement OpenCyphal Register API for `OpenCyphal-ToF-Distance-Sensor-Node`.
107-systems · Sep 28, 2022 · 2ead22b · 2ead22b
2 parents d95b861 + b5b7bc4
commit 2ead22b
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Showing 30 changed files with 1,596 additions and 197 deletions.
diff --git a/README.md b/README.md
@@ -38,6 +38,9 @@ Node node_hdl([](CanardFrame const & frame) { /* ... */ });
 Heartbeat_1_0 hb;
 /* ... */
 void loop() {
+  /* Process all pending OpenCyphal actions. */
+  node_hdl.spinSome();
+
   /* Update the heartbeat object */
   hb.uptime(millis() / 1000);
   hb.mode = Heartbeat_1_0::Mode::OPERATIONAL;
@@ -49,9 +52,6 @@ void loop() {
     node_hdl.publish(hb);
     prev = now;
   }
-
-  /* Transmit all enqeued CAN frames */
-  while(node_hdl.transmitCanFrame()) { }
 }
 ```
 

diff --git a/examples/OpenCyphal-Blink/OpenCyphal-Blink.ino b/examples/OpenCyphal-Blink/OpenCyphal-Blink.ino
@@ -116,6 +116,10 @@ void setup()
 
 void loop()
 {
+  /* Process all pending OpenCyphal actions.
+   */
+  node_hdl.spinSome();
+
   /* Update the heartbeat object */
   hb.data.uptime = millis() / 1000;
   hb = Heartbeat_1_0<>::Mode::OPERATIONAL;
@@ -127,9 +131,6 @@ void loop()
     node_hdl.publish(hb);
     prev = now;
   }
-
-  /* Transmit all enqeued CAN frames */
-  while(node_hdl.transmitCanFrame()) { }
 }
 
 /**************************************************************************************

diff --git a/examples/OpenCyphal-GNSS-Node/OpenCyphal-GNSS-Node.ino b/examples/OpenCyphal-GNSS-Node/OpenCyphal-GNSS-Node.ino
@@ -143,6 +143,10 @@ void setup()
 
 void loop()
 {
+  /* Process all pending OpenCyphal actions.
+   */
+  node_hdl.spinSome();
+
   /* Handle actions common to all states.
    */
   unsigned long const now = millis();
@@ -169,9 +173,6 @@ void loop()
   }
 
   node_data.mode = next_mode;
-
-  /* Transmit all enqeued CAN frames */
-  while(node_hdl.transmitCanFrame()) { }
 }
 
 /**************************************************************************************

diff --git a/examples/OpenCyphal-Heartbeat-Publish/OpenCyphal-Heartbeat-Publish.ino b/examples/OpenCyphal-Heartbeat-Publish/OpenCyphal-Heartbeat-Publish.ino
@@ -75,6 +75,10 @@ void setup()
 
 void loop()
 {
+  /* Process all pending OpenCyphal actions.
+   */
+  node_hdl.spinSome();
+
   /* Update the heartbeat object */
   hb.data.uptime = millis() / 1000;
   hb = Heartbeat_1_0<>::Mode::OPERATIONAL;
@@ -86,7 +90,4 @@ void loop()
     node_hdl.publish(hb);
     prev = now;
   }
-
-  /* Transmit all enqeued CAN frames */
-  while(node_hdl.transmitCanFrame()) { }
 }
diff --git a/examples/OpenCyphal-Heartbeat-Subscribe/OpenCyphal-Heartbeat-Subscribe.ino b/examples/OpenCyphal-Heartbeat-Subscribe/OpenCyphal-Heartbeat-Subscribe.ino
@@ -77,7 +77,9 @@ void setup()
 
 void loop()
 {
-
+  /* Process all pending OpenCyphal actions.
+   */
+  node_hdl.spinSome();
 }
 
 /**************************************************************************************

diff --git a/examples/OpenCyphal-Service-Client/OpenCyphal-Service-Client.ino b/examples/OpenCyphal-Service-Client/OpenCyphal-Service-Client.ino
@@ -86,8 +86,9 @@ void setup()
 
 void loop()
 {
-  /* Transmit all enqeued CAN frames */
-  while(node_hdl.transmitCanFrame()) { }
+  /* Process all pending OpenCyphal actions.
+   */
+  node_hdl.spinSome();
 }
 
 /**************************************************************************************

diff --git a/examples/OpenCyphal-Service-Server/OpenCyphal-Service-Server.ino b/examples/OpenCyphal-Service-Server/OpenCyphal-Service-Server.ino
@@ -78,8 +78,9 @@ void setup()
 
 void loop()
 {
-  /* Transmit all enqeued CAN frames */
-  while(node_hdl.transmitCanFrame()) { }
+  /* Process all pending OpenCyphal actions.
+   */
+  node_hdl.spinSome();
 }
 
 /**************************************************************************************

diff --git a/examples/OpenCyphal-ToF-Distance-Sensor-Node/NodeInfo.h b/examples/OpenCyphal-ToF-Distance-Sensor-Node/NodeInfo.h
@@ -0,0 +1,76 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2020 LXRobotics.
+ * Author: Alexander Entinger <alexander.entinger@lxrobotics.com>
+ * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors.
+ */
+
+#ifndef NODE_INFO_H_
+#define NODE_INFO_H_
+
+/**************************************************************************************
+ * INCLUDES
+ **************************************************************************************/
+
+#include <107-Arduino-Cyphal.h>
+
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
+#define ATSAMD21G18_SERIAL_NUMBER_WORD_0  *(volatile uint32_t*)(0x0080A00C)
+#define ATSAMD21G18_SERIAL_NUMBER_WORD_1  *(volatile uint32_t*)(0x0080A040)
+#define ATSAMD21G18_SERIAL_NUMBER_WORD_2  *(volatile uint32_t*)(0x0080A044)
+#define ATSAMD21G18_SERIAL_NUMBER_WORD_3  *(volatile uint32_t*)(0x0080A048)
+
+/**************************************************************************************
+ * TYPEDEF
+ **************************************************************************************/
+
+union UniqueId
+{
+  struct __attribute__((packed))
+  {
+    uint32_t w0, w1, w2, w3;
+  } word_buf;
+  uint8_t byte_buf[16];
+};
+
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
+UniqueId const UNIQUE_ID = []()
+{
+  UniqueId uid;
+  uid.word_buf.w0 = ATSAMD21G18_SERIAL_NUMBER_WORD_0;
+  uid.word_buf.w1 = ATSAMD21G18_SERIAL_NUMBER_WORD_1;
+  uid.word_buf.w2 = ATSAMD21G18_SERIAL_NUMBER_WORD_2;
+  uid.word_buf.w3 = ATSAMD21G18_SERIAL_NUMBER_WORD_3;
+  return uid;
+} ();
+
+static const uavcan_node_GetInfo_Response_1_0 NODE_INFO = {
+    /* uavcan.node.Version.1.0 protocol_version */
+    {1, 0},
+    /* uavcan.node.Version.1.0 hardware_version */
+    {1, 0},
+    /* uavcan.node.Version.1.0 software_version */
+    {0, 1},
+    /* saturated uint64 software_vcs_revision_id */
+    NULL,
+    /* saturated uint8[16] unique_id */
+    {
+      UNIQUE_ID.byte_buf[ 0], UNIQUE_ID.byte_buf[ 1], UNIQUE_ID.byte_buf[ 2], UNIQUE_ID.byte_buf[ 3],
+      UNIQUE_ID.byte_buf[ 4], UNIQUE_ID.byte_buf[ 5], UNIQUE_ID.byte_buf[ 6], UNIQUE_ID.byte_buf[ 7],
+      UNIQUE_ID.byte_buf[ 8], UNIQUE_ID.byte_buf[ 9], UNIQUE_ID.byte_buf[10], UNIQUE_ID.byte_buf[11],
+      UNIQUE_ID.byte_buf[12], UNIQUE_ID.byte_buf[13], UNIQUE_ID.byte_buf[14], UNIQUE_ID.byte_buf[15]
+    },
+    /* saturated uint8[<=50] name */
+    {
+        "107-systems.tof-sensor-node",
+        strlen("107-systems.tof-sensor-node")
+    },
+};
+
+#endif /* NODE_INFO_H_ */