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AP_Periph: remove redundant DroneCAN packet buffer initialization 

The <msg>_encode method always zeros the buffer up to <msg>_MAX_SIZE
bytes so there is no need to do it before calling the function.

Saves at least 8 bytes per instance.
This commit is contained in:
Thomas Watson 2024-08-02 23:46:56 -05:00 committed by Andrew Tridgell
parent 308ee11ca2
commit f2f1ac39cf
16 changed files with 31 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Tools/AP_Periph/adsb.cpp
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@ -138,7 +138,7 @@ void AP_Periph_FW::can_send_ADSB(struct __mavlink_adsb_vehicle_t &msg)
pkt.vertical_velocity_valid = (msg.flags & 0x0080) != 0;
pkt.baro_valid = (msg.flags & 0x0100) != 0;
uint8_t buffer[ARDUPILOT_EQUIPMENT_TRAFFICMONITOR_TRAFFICREPORT_MAX_SIZE] {};
uint8_t buffer[ARDUPILOT_EQUIPMENT_TRAFFICMONITOR_TRAFFICREPORT_MAX_SIZE];
uint16_t total_size = ardupilot_equipment_trafficmonitor_TrafficReport_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(ARDUPILOT_EQUIPMENT_TRAFFICMONITOR_TRAFFICREPORT_SIGNATURE,

2
Tools/AP_Periph/airspeed.cpp
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@ -72,7 +72,7 @@ void AP_Periph_FW::can_airspeed_update(void)
}
#endif
uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_RAWAIRDATA_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_RAWAIRDATA_MAX_SIZE];
uint16_t total_size = uavcan_equipment_air_data_RawAirData_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_AIR_DATA_RAWAIRDATA_SIGNATURE,

4
Tools/AP_Periph/baro.cpp
View File

@ -34,7 +34,7 @@ void AP_Periph_FW::can_baro_update(void)
pkt.static_pressure = press;
pkt.static_pressure_variance = 0; // should we make this a parameter?
uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE_MAX_SIZE];
uint16_t total_size = uavcan_equipment_air_data_StaticPressure_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE_SIGNATURE,
@ -49,7 +49,7 @@ void AP_Periph_FW::can_baro_update(void)
pkt.static_temperature = C_TO_KELVIN(temp);
pkt.static_temperature_variance = 0; // should we make this a parameter?
uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_MAX_SIZE];
uint16_t total_size = uavcan_equipment_air_data_StaticTemperature_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_SIGNATURE,

2
Tools/AP_Periph/battery.cpp
View File

@ -67,7 +67,7 @@ void AP_Periph_FW::can_battery_update(void)
pkt.model_name.len = strnlen((char*)pkt.model_name.data, sizeof(pkt.model_name.data));
#endif //defined(HAL_PERIPH_BATTERY_SKIP_NAME)
uint8_t buffer[UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MAX_SIZE];
const uint16_t total_size = uavcan_equipment_power_BatteryInfo_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_POWER_BATTERYINFO_SIGNATURE,

18
Tools/AP_Periph/can.cpp
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@ -185,7 +185,7 @@ static void readUniqueID(uint8_t* out_uid)
void AP_Periph_FW::handle_get_node_info(CanardInstance* canard_instance,
CanardRxTransfer* transfer)
{
uint8_t buffer[UAVCAN_PROTOCOL_GETNODEINFO_RESPONSE_MAX_SIZE] {};
uint8_t buffer[UAVCAN_PROTOCOL_GETNODEINFO_RESPONSE_MAX_SIZE];
uavcan_protocol_GetNodeInfoResponse pkt {};
node_status.uptime_sec = AP_HAL::millis() / 1000U;
@ -324,7 +324,7 @@ void AP_Periph_FW::handle_param_getset(CanardInstance* canard_instance, CanardRx
pkt.name.len = strnlen((char *)pkt.name.data, sizeof(pkt.name.data));
}
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, !canfdout());
canard_respond(canard_instance,
@ -373,7 +373,7 @@ void AP_Periph_FW::handle_param_executeopcode(CanardInstance* canard_instance, C
pkt.ok = true;
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, !canfdout());
canard_respond(canard_instance,
@ -406,7 +406,7 @@ void AP_Periph_FW::handle_begin_firmware_update(CanardInstance* canard_instance,
memcpy(comms->path, req.image_file_remote_path.path.data, req.image_file_remote_path.path.len);
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 {};
reply.error = UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_ERROR_OK;
@ -753,7 +753,7 @@ void AP_Periph_FW::can_safety_button_update(void)
pkt.button = ARDUPILOT_INDICATION_BUTTON_BUTTON_SAFETY;
pkt.press_time = counter;
uint8_t buffer[ARDUPILOT_INDICATION_BUTTON_MAX_SIZE] {};
uint8_t buffer[ARDUPILOT_INDICATION_BUTTON_MAX_SIZE];
uint16_t total_size = ardupilot_indication_Button_encode(&pkt, buffer, !canfdout());
canard_broadcast(ARDUPILOT_INDICATION_BUTTON_SIGNATURE,
@ -1711,7 +1711,7 @@ void AP_Periph_FW::esc_telem_update()
pkt.power_rating_pct = 0;
pkt.error_count = 0;
uint8_t buffer[UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE];
uint16_t total_size = uavcan_equipment_esc_Status_encode(&pkt, buffer, !canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE,
UAVCAN_EQUIPMENT_ESC_STATUS_ID,
@ -1744,7 +1744,7 @@ void AP_Periph_FW::apd_esc_telem_update()
pkt.power_rating_pct = t.power_rating_pct;
pkt.error_count = t.error_count;
uint8_t buffer[UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE];
uint16_t total_size = uavcan_equipment_esc_Status_encode(&pkt, buffer, !canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE,
UAVCAN_EQUIPMENT_ESC_STATUS_ID,
@ -1913,7 +1913,7 @@ void can_vprintf(uint8_t severity, const char *fmt, va_list ap)
memcpy(pkt.text.data, &buffer_data[buffer_offset], pkt.text.len);
buffer_offset += pkt.text.len;
uint8_t buffer_packet[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE] {};
uint8_t buffer_packet[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE];
const uint32_t len = uavcan_protocol_debug_LogMessage_encode(&pkt, buffer_packet, !periph.canfdout());
periph.canard_broadcast(UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
@ -1925,7 +1925,7 @@ void can_vprintf(uint8_t severity, const char *fmt, va_list ap)
#else
uavcan_protocol_debug_LogMessage pkt {};
uint8_t buffer[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE] {};
uint8_t buffer[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE];
uint32_t n = vsnprintf((char*)pkt.text.data, sizeof(pkt.text.data), fmt, ap);
pkt.level.value = level;
pkt.text.len = MIN(n, sizeof(pkt.text.data));

4
Tools/AP_Periph/compass.cpp
View File

@ -70,7 +70,7 @@ void AP_Periph_FW::can_mag_update(void)
pkt.magnetic_field_ga[i] = field_Ga[i];
}
uint8_t buffer[UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_MAX_SIZE];
uint16_t total_size = uavcan_equipment_ahrs_MagneticFieldStrength_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_SIGNATURE,
@ -86,7 +86,7 @@ void AP_Periph_FW::can_mag_update(void)
pkt.magnetic_field_ga[i] = field_Ga[i];
}
uint8_t buffer[DRONECAN_SENSORS_MAGNETOMETER_MAGNETICFIELDSTRENGTHHIRES_MAX_SIZE] {};
uint8_t buffer[DRONECAN_SENSORS_MAGNETOMETER_MAGNETICFIELDSTRENGTHHIRES_MAX_SIZE];
uint16_t total_size = dronecan_sensors_magnetometer_MagneticFieldStrengthHiRes_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(DRONECAN_SENSORS_MAGNETOMETER_MAGNETICFIELDSTRENGTHHIRES_SIGNATURE,

2
Tools/AP_Periph/efi.cpp
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@ -193,7 +193,7 @@ void AP_Periph_FW::can_efi_update(void)
c.exhaust_gas_temperature = state_c.exhaust_gas_temperature;
c.lambda_coefficient = state_c.lambda_coefficient;
uint8_t buffer[UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_MAX_SIZE];
const uint16_t total_size = uavcan_equipment_ice_reciprocating_Status_encode(&pkt, buffer, !canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_ICE_RECIPROCATING_STATUS_SIGNATURE,

12
Tools/AP_Periph/gps.cpp
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@ -159,7 +159,7 @@ void AP_Periph_FW::can_gps_update(void)
check_float16_range(pkt.covariance.data, pkt.covariance.len);
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_FIX2_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_FIX2_MAX_SIZE];
uint16_t total_size = uavcan_equipment_gnss_Fix2_encode(&pkt, buffer, !canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_GNSS_FIX2_SIGNATURE,
@ -177,7 +177,7 @@ void AP_Periph_FW::can_gps_update(void)
aux.hdop = gps.get_hdop() * 0.01;
aux.vdop = gps.get_vdop() * 0.01;
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_AUXILIARY_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_AUXILIARY_MAX_SIZE];
uint16_t total_size = uavcan_equipment_gnss_Auxiliary_encode(&aux, buffer, !canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_GNSS_AUXILIARY_SIGNATURE,
UAVCAN_EQUIPMENT_GNSS_AUXILIARY_ID,
@ -204,7 +204,7 @@ void AP_Periph_FW::can_gps_update(void)
status.error_codes = error_codes;
}
uint8_t buffer[ARDUPILOT_GNSS_STATUS_MAX_SIZE] {};
uint8_t buffer[ARDUPILOT_GNSS_STATUS_MAX_SIZE];
const uint16_t total_size = ardupilot_gnss_Status_encode(&status, buffer, !canfdout());
canard_broadcast(ARDUPILOT_GNSS_STATUS_SIGNATURE,
ARDUPILOT_GNSS_STATUS_ID,
@ -226,7 +226,7 @@ void AP_Periph_FW::can_gps_update(void)
heading.heading_accuracy_valid = is_positive(yaw_acc_deg);
heading.heading_rad = radians(yaw_deg);
heading.heading_accuracy_rad = radians(yaw_acc_deg);
uint8_t buffer[ARDUPILOT_GNSS_HEADING_MAX_SIZE] {};
uint8_t buffer[ARDUPILOT_GNSS_HEADING_MAX_SIZE];
const uint16_t total_size = ardupilot_gnss_Heading_encode(&heading, buffer, !canfdout());
canard_broadcast(ARDUPILOT_GNSS_HEADING_SIGNATURE,
ARDUPILOT_GNSS_HEADING_ID,
@ -271,7 +271,7 @@ void AP_Periph_FW::send_moving_baseline_msg()
mbldata.data.len = n;
memcpy(mbldata.data.data, data, n);
uint8_t buffer[ARDUPILOT_GNSS_MOVINGBASELINEDATA_MAX_SIZE] {};
uint8_t buffer[ARDUPILOT_GNSS_MOVINGBASELINEDATA_MAX_SIZE];
const uint16_t total_size = ardupilot_gnss_MovingBaselineData_encode(&mbldata, buffer, !canfdout());
canard_broadcast(ARDUPILOT_GNSS_MOVINGBASELINEDATA_SIGNATURE,
@ -307,7 +307,7 @@ void AP_Periph_FW::send_relposheading_msg() {
relpos.relative_down_pos_m = relative_down_pos;
relpos.reported_heading_acc_deg = reported_heading_acc;
relpos.reported_heading_acc_available = !is_zero(relpos.reported_heading_acc_deg);
uint8_t buffer[ARDUPILOT_GNSS_RELPOSHEADING_MAX_SIZE] {};
uint8_t buffer[ARDUPILOT_GNSS_RELPOSHEADING_MAX_SIZE];
const uint16_t total_size = ardupilot_gnss_RelPosHeading_encode(&relpos, buffer, !canfdout());
canard_broadcast(ARDUPILOT_GNSS_RELPOSHEADING_SIGNATURE,
ARDUPILOT_GNSS_RELPOSHEADING_ID,

2
Tools/AP_Periph/hardpoint.cpp
View File

@ -53,7 +53,7 @@ void AP_Periph_FW::pwm_hardpoint_update()
cmd.hardpoint_id = g.hardpoint_id;
cmd.command = value;
uint8_t buffer[UAVCAN_EQUIPMENT_HARDPOINT_COMMAND_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_HARDPOINT_COMMAND_MAX_SIZE];
uint16_t total_size = uavcan_equipment_hardpoint_Command_encode(&cmd, buffer, !canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_HARDPOINT_COMMAND_SIGNATURE,
UAVCAN_EQUIPMENT_HARDPOINT_COMMAND_ID,

2
Tools/AP_Periph/hwing_esc.cpp
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@ -164,7 +164,7 @@ void AP_Periph_FW::hwesc_telem_update()
pkt.power_rating_pct = t.phase_current;
pkt.error_count = t.error_count;
uint8_t buffer[UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE];
uint16_t total_size = uavcan_equipment_esc_Status_encode(&pkt, buffer, !canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE,
UAVCAN_EQUIPMENT_ESC_STATUS_ID,

2
Tools/AP_Periph/proximity.cpp
View File

@ -60,7 +60,7 @@ void AP_Periph_FW::can_proximity_update()
break;
}
uint8_t buffer[ARDUPILOT_EQUIPMENT_PROXIMITY_SENSOR_PROXIMITY_MAX_SIZE] {};
uint8_t buffer[ARDUPILOT_EQUIPMENT_PROXIMITY_SENSOR_PROXIMITY_MAX_SIZE];
uint16_t total_size = ardupilot_equipment_proximity_sensor_Proximity_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(ARDUPILOT_EQUIPMENT_PROXIMITY_SENSOR_PROXIMITY_SIGNATURE,

2
Tools/AP_Periph/rangefinder.cpp
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@ -106,7 +106,7 @@ void AP_Periph_FW::can_rangefinder_update(void)
float dist_m = backend->distance();
pkt.range = dist_m;
uint8_t buffer[UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_MAX_SIZE];
uint16_t total_size = uavcan_equipment_range_sensor_Measurement_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SIGNATURE,

2
Tools/AP_Periph/rc_in.cpp
View File

@ -165,7 +165,7 @@ void AP_Periph_FW::can_send_RCInput(uint8_t quality, uint16_t *values, uint8_t n
}
// encode and send message:
uint8_t buffer[DRONECAN_SENSORS_RC_RCINPUT_MAX_SIZE] {};
uint8_t buffer[DRONECAN_SENSORS_RC_RCINPUT_MAX_SIZE];
uint16_t total_size = dronecan_sensors_rc_RCInput_encode(&pkt, buffer, !periph.canfdout());

2
Tools/AP_Periph/rpm.cpp
View File

@ -37,7 +37,7 @@ void AP_Periph_FW::rpm_sensor_send(void)
pkt.flags |= DRONECAN_SENSORS_RPM_RPM_FLAGS_UNHEALTHY;
}
uint8_t buffer[DRONECAN_SENSORS_RPM_RPM_MAX_SIZE] {};
uint8_t buffer[DRONECAN_SENSORS_RPM_RPM_MAX_SIZE];
const uint16_t total_size = dronecan_sensors_rpm_RPM_encode(&pkt, buffer, !canfdout());
canard_broadcast(DRONECAN_SENSORS_RPM_RPM_SIGNATURE,

2
Tools/AP_Periph/serial_tunnel.cpp
View File

@ -196,7 +196,7 @@ void AP_Periph_FW::send_serial_monitor_data()
pkt.serial_id = uart_monitor.uart_num;
memcpy(pkt.buffer.data, buf, n);
uint8_t buffer[UAVCAN_TUNNEL_TARGETTED_MAX_SIZE] {};
uint8_t buffer[UAVCAN_TUNNEL_TARGETTED_MAX_SIZE];
const uint16_t total_size = uavcan_tunnel_Targetted_encode(&pkt, buffer, !canfdout());
debug("read %u", unsigned(n));

2
Tools/AP_Periph/temperature.cpp
View File

@ -36,7 +36,7 @@ void AP_Periph_FW::temperature_sensor_update(void)
// Use source ID from temperature lib
pkt.device_id = temperature_sensor.get_source_id(index);
uint8_t buffer[UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_MAX_SIZE] {};
uint8_t buffer[UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_MAX_SIZE];
const uint16_t total_size = uavcan_equipment_device_Temperature_encode(&pkt, buffer, !canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_SIGNATURE,