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Extract node info into separate header file in order to reduce code d…
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…ensity in main file.
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@aentinger
aentinger committed Sep 14, 2022
1 parent 48d4d74 commit d5c6463
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Showing 2 changed files with 77 additions and 50 deletions.
76 changes: 76 additions & 0 deletions examples/OpenCyphal-ToF-Distance-Sensor-Node/NodeInfo.h
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Original file line number Diff line number Diff line change
@@ -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_ */
51 changes: 1 addition & 50 deletions examples/OpenCyphal-ToF-Distance-Sensor-Node/OpenCyphal-ToF-Distance-Sensor-Node.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -30,14 +30,7 @@
#undef min
#include <algorithm>

/**************************************************************************************
* 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)
#include "NodeInfo.h"

/**************************************************************************************
* NAMESPACE
Expand All @@ -50,15 +43,6 @@ using namespace uavcan::_register;
* TYPEDEF
**************************************************************************************/

union UniqueId
{
struct __attribute__((packed))
{
uint32_t w0, w1, w2, w3;
} word_buf;
uint8_t byte_buf[16];
};

typedef struct
{
Heartbeat_1_0<>::Mode mode;
Expand Down Expand Up @@ -94,46 +78,13 @@ Heartbeat_1_0<>::Mode handle_SOFTWARE_UPDATE();
* 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 int const MKRCAN_MCP2515_CS_PIN = 3;
static int const MKRCAN_MCP2515_INT_PIN = 7;
static SPISettings const MCP2515x_SPI_SETTING{1000000, MSBFIRST, SPI_MODE0};

static CanardNodeID const CYPHAL_NODE_ID = 42;
static CanardPortID const OPEN_CYPHAL_ID_DISTANCE_DATA = 1001U;

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")
},
};

static const uavcan_register_List_Response_1_0 register_list1 = {
{ "uavcan.node.id", strlen("uavcan.node.id") },
};
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