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AP_Periph: reject allocation of broadcast node ID 

It is technically legal to receive an "allocation" of the broadcast node
ID. Fortunately, this was already ignored by `canardSetLocalNodeID`,
though it would trigger an assertion failure if those were enabled.

Fix by rejecting that ID. There is effectively no change in behavior
(except possibly fixes using moving baseline GPSes) but the code now
correctly ignores that ID and retries the allocation as it did before.
This commit is contained in:
Thomas Watson 2024-09-08 13:03:50 -05:00 committed by Andrew Tridgell
parent 854b769cfe
commit ebcb753acc
1 changed files with 1 additions and 1 deletions
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2
Tools/AP_Periph/can.cpp
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@ -472,7 +472,7 @@ void AP_Periph_FW::handle_allocation_response(CanardInstance* canard_instance, C
dronecan.send_next_node_id_allocation_request_at_ms -= UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS; dronecan.send_next_node_id_allocation_request_at_ms -= UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS;
printf("Matching allocation response: %d\n", msg.unique_id.len); printf("Matching allocation response: %d\n", msg.unique_id.len);
} else { } else if (msg.node_id != CANARD_BROADCAST_NODE_ID) { // new ID valid? (if not we will time out and start over)
// Allocation complete - copying the allocated node ID from the message // Allocation complete - copying the allocated node ID from the message
canardSetLocalNodeID(canard_instance, 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);