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AP_Periph: rename ins locals to avoid conflict with ins member variable

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Peter Barker 2023-07-31 20:39:12 +10:00 committed by Andrew Tridgell
parent 17343e2228
commit 3c46db5261
3 changed files with 48 additions and 48 deletions
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2
Tools/AP_Periph/AP_Periph.h
View File

@ -345,7 +345,7 @@ public:
uint16_t payload_len); uint16_t payload_len);
#if AP_UART_MONITOR_ENABLED #if AP_UART_MONITOR_ENABLED
void handle_tunnel_Targetted(CanardInstance* ins, CanardRxTransfer* transfer); void handle_tunnel_Targetted(CanardInstance* canard_instance, CanardRxTransfer* transfer);
void send_serial_monitor_data(); void send_serial_monitor_data();
int8_t get_default_tunnel_serial_port(void) const; int8_t get_default_tunnel_serial_port(void) const;

90
Tools/AP_Periph/can.cpp
View File

@ -208,7 +208,7 @@ static void readUniqueID(uint8_t* out_uid)
/* /*
handle a GET_NODE_INFO request handle a GET_NODE_INFO request
*/ */
static void handle_get_node_info(CanardInstance* ins, static void handle_get_node_info(CanardInstance* canard_instance,
CanardRxTransfer* transfer) CanardRxTransfer* transfer)
{ {
uint8_t buffer[UAVCAN_PROTOCOL_GETNODEINFO_RESPONSE_MAX_SIZE] {}; uint8_t buffer[UAVCAN_PROTOCOL_GETNODEINFO_RESPONSE_MAX_SIZE] {};
@ -241,7 +241,7 @@ static void handle_get_node_info(CanardInstance* ins,
uint16_t total_size = uavcan_protocol_GetNodeInfoResponse_encode(&pkt, buffer, !periph.canfdout()); uint16_t total_size = uavcan_protocol_GetNodeInfoResponse_encode(&pkt, buffer, !periph.canfdout());
const int16_t resp_res = canardRequestOrRespond(ins, const int16_t resp_res = canardRequestOrRespond(canard_instance,
transfer->source_node_id, transfer->source_node_id,
UAVCAN_PROTOCOL_GETNODEINFO_SIGNATURE, UAVCAN_PROTOCOL_GETNODEINFO_SIGNATURE,
UAVCAN_PROTOCOL_GETNODEINFO_ID, UAVCAN_PROTOCOL_GETNODEINFO_ID,
@ -265,7 +265,7 @@ static void handle_get_node_info(CanardInstance* ins,
/* /*
handle parameter GetSet request handle parameter GetSet request
*/ */
static void handle_param_getset(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_param_getset(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
// param fetch all can take a long time, so pat watchdog // param fetch all can take a long time, so pat watchdog
stm32_watchdog_pat(); stm32_watchdog_pat();
@ -350,7 +350,7 @@ static void handle_param_getset(CanardInstance* ins, CanardRxTransfer* transfer)
uint8_t buffer[UAVCAN_PROTOCOL_PARAM_GETSET_RESPONSE_MAX_SIZE] {}; uint8_t buffer[UAVCAN_PROTOCOL_PARAM_GETSET_RESPONSE_MAX_SIZE] {};
uint16_t total_size = uavcan_protocol_param_GetSetResponse_encode(&pkt, buffer, !periph.canfdout()); uint16_t total_size = uavcan_protocol_param_GetSetResponse_encode(&pkt, buffer, !periph.canfdout());
canardRequestOrRespond(ins, canardRequestOrRespond(canard_instance,
transfer->source_node_id, transfer->source_node_id,
UAVCAN_PROTOCOL_PARAM_GETSET_SIGNATURE, UAVCAN_PROTOCOL_PARAM_GETSET_SIGNATURE,
UAVCAN_PROTOCOL_PARAM_GETSET_ID, UAVCAN_PROTOCOL_PARAM_GETSET_ID,
@ -372,7 +372,7 @@ static void handle_param_getset(CanardInstance* ins, CanardRxTransfer* transfer)
/* /*
handle parameter executeopcode request handle parameter executeopcode request
*/ */
static void handle_param_executeopcode(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_param_executeopcode(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
uavcan_protocol_param_ExecuteOpcodeRequest req; uavcan_protocol_param_ExecuteOpcodeRequest req;
if (uavcan_protocol_param_ExecuteOpcodeRequest_decode(transfer, &req)) { if (uavcan_protocol_param_ExecuteOpcodeRequest_decode(transfer, &req)) {
@ -410,7 +410,7 @@ static void handle_param_executeopcode(CanardInstance* ins, CanardRxTransfer* tr
uint8_t buffer[UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_RESPONSE_MAX_SIZE] {}; uint8_t buffer[UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_RESPONSE_MAX_SIZE] {};
uint16_t total_size = uavcan_protocol_param_ExecuteOpcodeResponse_encode(&pkt, buffer, !periph.canfdout()); uint16_t total_size = uavcan_protocol_param_ExecuteOpcodeResponse_encode(&pkt, buffer, !periph.canfdout());
canardRequestOrRespond(ins, canardRequestOrRespond(canard_instance,
transfer->source_node_id, transfer->source_node_id,
UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_SIGNATURE, UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_SIGNATURE,
UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID, UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID,
@ -431,7 +431,7 @@ static void handle_param_executeopcode(CanardInstance* ins, CanardRxTransfer* tr
static void processTx(void); static void processTx(void);
static void processRx(void); static void processRx(void);
static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_begin_firmware_update(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
#if HAL_RAM_RESERVE_START >= 256 #if HAL_RAM_RESERVE_START >= 256
// setup information on firmware request at start of ram // setup information on firmware request at start of ram
@ -449,14 +449,14 @@ static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer*
comms->server_node_id = transfer->source_node_id; comms->server_node_id = transfer->source_node_id;
} }
memcpy(comms->path, req.image_file_remote_path.path.data, req.image_file_remote_path.path.len); memcpy(comms->path, req.image_file_remote_path.path.data, req.image_file_remote_path.path.len);
comms->my_node_id = canardGetLocalNodeID(ins); comms->my_node_id = canardGetLocalNodeID(canard_instance);
uint8_t buffer[UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_MAX_SIZE] {}; uint8_t buffer[UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_MAX_SIZE] {};
uavcan_protocol_file_BeginFirmwareUpdateResponse reply {}; uavcan_protocol_file_BeginFirmwareUpdateResponse reply {};
reply.error = UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_ERROR_OK; reply.error = UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_ERROR_OK;
uint32_t total_size = uavcan_protocol_file_BeginFirmwareUpdateResponse_encode(&reply, buffer, !periph.canfdout()); uint32_t total_size = uavcan_protocol_file_BeginFirmwareUpdateResponse_encode(&reply, buffer, !periph.canfdout());
canardRequestOrRespond(ins, canardRequestOrRespond(canard_instance,
transfer->source_node_id, transfer->source_node_id,
UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_SIGNATURE, UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_SIGNATURE,
UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID, UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID,
@ -483,12 +483,12 @@ static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer*
// the node_id // the node_id
periph.prepare_reboot(); periph.prepare_reboot();
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
set_fast_reboot((rtc_boot_magic)(RTC_BOOT_CANBL | canardGetLocalNodeID(ins))); set_fast_reboot((rtc_boot_magic)(RTC_BOOT_CANBL | canardGetLocalNodeID(canard_instance)));
NVIC_SystemReset(); NVIC_SystemReset();
#endif #endif
} }
static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_allocation_response(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
// Rule C - updating the randomized time interval // Rule C - updating the randomized time interval
dronecan.send_next_node_id_allocation_request_at_ms = dronecan.send_next_node_id_allocation_request_at_ms =
@ -526,7 +526,7 @@ static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* tr
printf("Matching allocation response: %d\n", msg.unique_id.len); printf("Matching allocation response: %d\n", msg.unique_id.len);
} else { } else {
// Allocation complete - copying the allocated node ID from the message // Allocation complete - copying the allocated node ID from the message
canardSetLocalNodeID(ins, msg.node_id); canardSetLocalNodeID(canard_instance, msg.node_id);
printf("IF%d Node ID allocated: %d\n", dronecan.dna_interface, msg.node_id); printf("IF%d Node ID allocated: %d\n", dronecan.dna_interface, msg.node_id);
#if defined(HAL_PERIPH_ENABLE_GPS) && (HAL_NUM_CAN_IFACES >= 2) && GPS_MOVING_BASELINE #if defined(HAL_PERIPH_ENABLE_GPS) && (HAL_NUM_CAN_IFACES >= 2) && GPS_MOVING_BASELINE
@ -552,7 +552,7 @@ static uint32_t buzzer_len_ms;
/* /*
handle BeepCommand handle BeepCommand
*/ */
static void handle_beep_command(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_beep_command(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
uavcan_equipment_indication_BeepCommand req; uavcan_equipment_indication_BeepCommand req;
if (uavcan_equipment_indication_BeepCommand_decode(transfer, &req)) { if (uavcan_equipment_indication_BeepCommand_decode(transfer, &req)) {
@ -595,7 +595,7 @@ static uint8_t safety_state;
/* /*
handle SafetyState handle SafetyState
*/ */
static void handle_safety_state(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_safety_state(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
ardupilot_indication_SafetyState req; ardupilot_indication_SafetyState req;
if (ardupilot_indication_SafetyState_decode(transfer, &req)) { if (ardupilot_indication_SafetyState_decode(transfer, &req)) {
@ -611,7 +611,7 @@ static void handle_safety_state(CanardInstance* ins, CanardRxTransfer* transfer)
/* /*
handle ArmingStatus handle ArmingStatus
*/ */
static void handle_arming_status(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_arming_status(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
uavcan_equipment_safety_ArmingStatus req; uavcan_equipment_safety_ArmingStatus req;
if (uavcan_equipment_safety_ArmingStatus_decode(transfer, &req)) { if (uavcan_equipment_safety_ArmingStatus_decode(transfer, &req)) {
@ -624,7 +624,7 @@ static void handle_arming_status(CanardInstance* ins, CanardRxTransfer* transfer
/* /*
handle gnss::RTCMStream handle gnss::RTCMStream
*/ */
static void handle_RTCMStream(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_RTCMStream(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
uavcan_equipment_gnss_RTCMStream req; uavcan_equipment_gnss_RTCMStream req;
if (uavcan_equipment_gnss_RTCMStream_decode(transfer, &req)) { if (uavcan_equipment_gnss_RTCMStream_decode(transfer, &req)) {
@ -637,7 +637,7 @@ static void handle_RTCMStream(CanardInstance* ins, CanardRxTransfer* transfer)
handle gnss::MovingBaselineData handle gnss::MovingBaselineData
*/ */
#if GPS_MOVING_BASELINE #if GPS_MOVING_BASELINE
static void handle_MovingBaselineData(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_MovingBaselineData(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
ardupilot_gnss_MovingBaselineData msg; ardupilot_gnss_MovingBaselineData msg;
if (ardupilot_gnss_MovingBaselineData_decode(transfer, &msg)) { if (ardupilot_gnss_MovingBaselineData_decode(transfer, &msg)) {
@ -736,7 +736,7 @@ static void set_rgb_led(uint8_t red, uint8_t green, uint8_t blue)
/* /*
handle lightscommand handle lightscommand
*/ */
static void handle_lightscommand(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_lightscommand(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
uavcan_equipment_indication_LightsCommand req; uavcan_equipment_indication_LightsCommand req;
if (uavcan_equipment_indication_LightsCommand_decode(transfer, &req)) { if (uavcan_equipment_indication_LightsCommand_decode(transfer, &req)) {
@ -766,7 +766,7 @@ static void handle_lightscommand(CanardInstance* ins, CanardRxTransfer* transfer
#endif // AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY #endif // AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
#ifdef HAL_PERIPH_ENABLE_RC_OUT #ifdef HAL_PERIPH_ENABLE_RC_OUT
static void handle_esc_rawcommand(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_esc_rawcommand(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
uavcan_equipment_esc_RawCommand cmd; uavcan_equipment_esc_RawCommand cmd;
if (uavcan_equipment_esc_RawCommand_decode(transfer, &cmd)) { if (uavcan_equipment_esc_RawCommand_decode(transfer, &cmd)) {
@ -779,7 +779,7 @@ static void handle_esc_rawcommand(CanardInstance* ins, CanardRxTransfer* transfe
periph.last_esc_raw_command_ms = AP_HAL::millis(); periph.last_esc_raw_command_ms = AP_HAL::millis();
} }
static void handle_act_command(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_act_command(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
uavcan_equipment_actuator_ArrayCommand cmd; uavcan_equipment_actuator_ArrayCommand cmd;
if (uavcan_equipment_actuator_ArrayCommand_decode(transfer, &cmd)) { if (uavcan_equipment_actuator_ArrayCommand_decode(transfer, &cmd)) {
@ -801,7 +801,7 @@ static void handle_act_command(CanardInstance* ins, CanardRxTransfer* transfer)
#endif // HAL_PERIPH_ENABLE_RC_OUT #endif // HAL_PERIPH_ENABLE_RC_OUT
#if defined(HAL_PERIPH_ENABLE_NOTIFY) #if defined(HAL_PERIPH_ENABLE_NOTIFY)
static void handle_notify_state(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_notify_state(CanardInstance* canard_instance, CanardRxTransfer* transfer)
{ {
ardupilot_indication_NotifyState msg; ardupilot_indication_NotifyState msg;
if (ardupilot_indication_NotifyState_decode(transfer, &msg)) { if (ardupilot_indication_NotifyState_decode(transfer, &msg)) {
@ -890,7 +890,7 @@ static void can_safety_button_update(void)
/** /**
* This callback is invoked by the library when a new message or request or response is received. * This callback is invoked by the library when a new message or request or response is received.
*/ */
static void onTransferReceived(CanardInstance* ins, static void onTransferReceived(CanardInstance* canard_instance,
CanardRxTransfer* transfer) CanardRxTransfer* transfer)
{ {
#ifdef HAL_GPIO_PIN_LED_CAN1 #ifdef HAL_GPIO_PIN_LED_CAN1
@ -906,21 +906,21 @@ static void onTransferReceived(CanardInstance* ins,
* Dynamic node ID allocation protocol. * Dynamic node ID allocation protocol.
* Taking this branch only if we don't have a node ID, ignoring otherwise. * Taking this branch only if we don't have a node ID, ignoring otherwise.
*/ */
if (canardGetLocalNodeID(ins) == CANARD_BROADCAST_NODE_ID) { if (canardGetLocalNodeID(canard_instance) == CANARD_BROADCAST_NODE_ID) {
if (transfer->transfer_type == CanardTransferTypeBroadcast && if (transfer->transfer_type == CanardTransferTypeBroadcast &&
transfer->data_type_id == UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID) { transfer->data_type_id == UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID) {
handle_allocation_response(ins, transfer); handle_allocation_response(canard_instance, transfer);
} }
return; return;
} }
switch (transfer->data_type_id) { switch (transfer->data_type_id) {
case UAVCAN_PROTOCOL_GETNODEINFO_ID: case UAVCAN_PROTOCOL_GETNODEINFO_ID:
handle_get_node_info(ins, transfer); handle_get_node_info(canard_instance, transfer);
break; break;
case UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID: case UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID:
handle_begin_firmware_update(ins, transfer); handle_begin_firmware_update(canard_instance, transfer);
break; break;
case UAVCAN_PROTOCOL_RESTARTNODE_ID: case UAVCAN_PROTOCOL_RESTARTNODE_ID:
@ -935,66 +935,66 @@ static void onTransferReceived(CanardInstance* ins,
break; break;
case UAVCAN_PROTOCOL_PARAM_GETSET_ID: case UAVCAN_PROTOCOL_PARAM_GETSET_ID:
handle_param_getset(ins, transfer); handle_param_getset(canard_instance, transfer);
break; break;
case UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID: case UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID:
handle_param_executeopcode(ins, transfer); handle_param_executeopcode(canard_instance, transfer);
break; break;
#if defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || defined (HAL_PERIPH_ENABLE_NOTIFY) #if defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || defined (HAL_PERIPH_ENABLE_NOTIFY)
case UAVCAN_EQUIPMENT_INDICATION_BEEPCOMMAND_ID: case UAVCAN_EQUIPMENT_INDICATION_BEEPCOMMAND_ID:
handle_beep_command(ins, transfer); handle_beep_command(canard_instance, transfer);
break; break;
#endif #endif
#if defined(HAL_GPIO_PIN_SAFE_LED) || defined(HAL_PERIPH_ENABLE_RC_OUT) #if defined(HAL_GPIO_PIN_SAFE_LED) || defined(HAL_PERIPH_ENABLE_RC_OUT)
case ARDUPILOT_INDICATION_SAFETYSTATE_ID: case ARDUPILOT_INDICATION_SAFETYSTATE_ID:
handle_safety_state(ins, transfer); handle_safety_state(canard_instance, transfer);
break; break;
#endif #endif
case UAVCAN_EQUIPMENT_SAFETY_ARMINGSTATUS_ID: case UAVCAN_EQUIPMENT_SAFETY_ARMINGSTATUS_ID:
handle_arming_status(ins, transfer); handle_arming_status(canard_instance, transfer);
break; break;
#ifdef HAL_PERIPH_ENABLE_GPS #ifdef HAL_PERIPH_ENABLE_GPS
case UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_ID: case UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_ID:
handle_RTCMStream(ins, transfer); handle_RTCMStream(canard_instance, transfer);
break; break;
#if GPS_MOVING_BASELINE #if GPS_MOVING_BASELINE
case ARDUPILOT_GNSS_MOVINGBASELINEDATA_ID: case ARDUPILOT_GNSS_MOVINGBASELINEDATA_ID:
handle_MovingBaselineData(ins, transfer); handle_MovingBaselineData(canard_instance, transfer);
break; break;
#endif #endif
#endif // HAL_PERIPH_ENABLE_GPS #endif // HAL_PERIPH_ENABLE_GPS
#if AP_UART_MONITOR_ENABLED #if AP_UART_MONITOR_ENABLED
case UAVCAN_TUNNEL_TARGETTED_ID: case UAVCAN_TUNNEL_TARGETTED_ID:
periph.handle_tunnel_Targetted(ins, transfer); periph.handle_tunnel_Targetted(canard_instance, transfer);
break; break;
#endif #endif
#if defined(AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_NOTIFY) #if defined(AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_NOTIFY)
case UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_ID: case UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_ID:
handle_lightscommand(ins, transfer); handle_lightscommand(canard_instance, transfer);
break; break;
#endif #endif
#ifdef HAL_PERIPH_ENABLE_RC_OUT #ifdef HAL_PERIPH_ENABLE_RC_OUT
case UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID: case UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID:
handle_esc_rawcommand(ins, transfer); handle_esc_rawcommand(canard_instance, transfer);
break; break;
case UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_ID: case UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_ID:
handle_act_command(ins, transfer); handle_act_command(canard_instance, transfer);
break; break;
#endif #endif
#ifdef HAL_PERIPH_ENABLE_NOTIFY #ifdef HAL_PERIPH_ENABLE_NOTIFY
case ARDUPILOT_INDICATION_NOTIFYSTATE_ID: case ARDUPILOT_INDICATION_NOTIFYSTATE_ID:
handle_notify_state(ins, transfer); handle_notify_state(canard_instance, transfer);
break; break;
#endif #endif
} }
@ -1008,7 +1008,7 @@ static void onTransferReceived(CanardInstance* ins,
* If the callback returns false, the library will ignore the transfer. * If the callback returns false, the library will ignore the transfer.
* All transfers that are addressed to other nodes are always ignored. * All transfers that are addressed to other nodes are always ignored.
*/ */
static bool shouldAcceptTransfer(const CanardInstance* ins, static bool shouldAcceptTransfer(const CanardInstance* canard_instance,
uint64_t* out_data_type_signature, uint64_t* out_data_type_signature,
uint16_t data_type_id, uint16_t data_type_id,
CanardTransferType transfer_type, CanardTransferType transfer_type,
@ -1016,7 +1016,7 @@ static bool shouldAcceptTransfer(const CanardInstance* ins,
{ {
(void)source_node_id; (void)source_node_id;
if (canardGetLocalNodeID(ins) == CANARD_BROADCAST_NODE_ID) if (canardGetLocalNodeID(canard_instance) == CANARD_BROADCAST_NODE_ID)
{ {
/* /*
* If we're in the process of allocation of dynamic node ID, accept only relevant transfers. * If we're in the process of allocation of dynamic node ID, accept only relevant transfers.
@ -1205,21 +1205,21 @@ static void processTx(void)
bool sent = true; bool sent = true;
const uint64_t deadline = AP_HAL::native_micros64() + 1000000; const uint64_t deadline = AP_HAL::native_micros64() + 1000000;
// try sending to all interfaces // try sending to all interfaces
for (auto &ins : instances) { for (auto &_ins : instances) {
if (ins.iface == NULL) { if (_ins.iface == NULL) {
continue; continue;
} }
#if CANARD_MULTI_IFACE #if CANARD_MULTI_IFACE
if (!(txf->iface_mask & (1U<<ins.index))) { if (!(txf->iface_mask & (1U<<_ins.index))) {
continue; continue;
} }
#endif #endif
#if HAL_NUM_CAN_IFACES >= 2 #if HAL_NUM_CAN_IFACES >= 2
if (periph.can_protocol_cached[ins.index] != AP_CAN::Protocol::DroneCAN) { if (periph.can_protocol_cached[_ins.index] != AP_CAN::Protocol::DroneCAN) {
continue; continue;
} }
#endif #endif
if (ins.iface->send(txmsg, deadline, 0) <= 0) { if (_ins.iface->send(txmsg, deadline, 0) <= 0) {
sent = false; sent = false;
} }
} }

4
Tools/AP_Periph/serial_tunnel.cpp
View File

@ -69,13 +69,13 @@ int8_t AP_Periph_FW::get_default_tunnel_serial_port(void) const
/* /*
handle tunnel data handle tunnel data
*/ */
void AP_Periph_FW::handle_tunnel_Targetted(CanardInstance* ins, CanardRxTransfer* transfer) void AP_Periph_FW::handle_tunnel_Targetted(CanardInstance* canard_ins, CanardRxTransfer* transfer)
{ {
uavcan_tunnel_Targetted pkt; uavcan_tunnel_Targetted pkt;
if (uavcan_tunnel_Targetted_decode(transfer, &pkt)) { if (uavcan_tunnel_Targetted_decode(transfer, &pkt)) {
return; return;
} }
if (pkt.target_node != canardGetLocalNodeID(ins)) { if (pkt.target_node != canardGetLocalNodeID(canard_ins)) {
return; return;
} }
if (uart_monitor.buffer == nullptr) { if (uart_monitor.buffer == nullptr) {