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Fix breaking changes introduced by 107-Arduino-Cyphal:v3.4.0. #13

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Aug 11, 2023
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Fix breaking changes introduced by 107-Arduino-Cyphal:v3.4.0. #13

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10 changes: 5 additions & 5 deletions l3xz-valve-ctrl-firmware.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -79,15 +79,15 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MCP2515_CS_PIN, LOW); },
[](MCP2515::EFLG const err_flag) { DBG_ERROR("MCP2515::OnError, error code = \"%s\"", MCP2515::toStr(err_flag)); },
[](MCP2515::EFLG const err_flag) { DBG_ERROR("MCP2515::OnWarning, warning code = \"%s\"", MCP2515::toStr(err_flag)); });

Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
cyphal::Node::Heap<cyphal::Node::DEFAULT_O1HEAP_SIZE> node_heap;
cyphal::Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });

Publisher<Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0>(1*1000*1000UL /* = 1 sec in usecs. */);
cyphal::Publisher<Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0>(1*1000*1000UL /* = 1 sec in usecs. */);

Subscription servo_pulse_width_sub;
cyphal::Subscription servo_pulse_width_sub;
static unsigned long last_servo_pulse_width_msg_timestamp = 0;

ServiceServer execute_command_srv = node_hdl.create_service_server<ExecuteCommand::Request_1_1, ExecuteCommand::Response_1_1>(2*1000*1000UL, onExecuteCommand_1_1_Request_Received);
cyphal::ServiceServer execute_command_srv = node_hdl.create_service_server<ExecuteCommand::Request_1_1, ExecuteCommand::Response_1_1>(2*1000*1000UL, onExecuteCommand_1_1_Request_Received);

/* SERVOS *****************************************************************************/

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