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AP_Bootloader: removed use of float in can code

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This commit is contained in:
Andrew Tridgell 2019-11-18 19:16:22 +11:00
parent ebceab9aa0
commit c998f93949
1 changed files with 6 additions and 6 deletions
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12
Tools/AP_Bootloader/can.cpp
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@ -111,11 +111,11 @@ static uint16_t get_randomu16(void)
/** /**
* Returns a pseudo random float in the range [0, 1]. * Returns a pseudo random integer in a given range
*/ */
static float getRandomFloat(void) static uint32_t get_random_range(uint16_t range)
{ {
return float(get_randomu16()) / 0xFFFF; return get_randomu16() % range;
} }
/* /*
@ -297,7 +297,7 @@ static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* tr
// Rule C - updating the randomized time interval // Rule C - updating the randomized time interval
send_next_node_id_allocation_request_at_ms = send_next_node_id_allocation_request_at_ms =
AP_HAL::millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS + AP_HAL::millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS +
(uint32_t)(getRandomFloat() * UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS); get_random_range(UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS);
if (transfer->source_node_id == CANARD_BROADCAST_NODE_ID) if (transfer->source_node_id == CANARD_BROADCAST_NODE_ID)
{ {
@ -486,7 +486,7 @@ static void can_handle_DNA(void)
send_next_node_id_allocation_request_at_ms = send_next_node_id_allocation_request_at_ms =
AP_HAL::millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS + AP_HAL::millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS +
(uint32_t)(getRandomFloat() * UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS); get_random_range(UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS);
// Structure of the request is documented in the DSDL definition // Structure of the request is documented in the DSDL definition
// See http://uavcan.org/Specification/6._Application_level_functions/#dynamic-node-id-allocation // See http://uavcan.org/Specification/6._Application_level_functions/#dynamic-node-id-allocation
@ -642,7 +642,7 @@ void can_start()
send_next_node_id_allocation_request_at_ms = send_next_node_id_allocation_request_at_ms =
AP_HAL::millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS + AP_HAL::millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS +
(uint32_t)(getRandomFloat() * UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS); get_random_range(UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS);
if (stm32_was_watchdog_reset()) { if (stm32_was_watchdog_reset()) {
node_status.vendor_specific_status_code = FAIL_REASON_WATCHDOG; node_status.vendor_specific_status_code = FAIL_REASON_WATCHDOG;