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AP_Periph: Restore setting node_id from CAN_NODE parameter

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Reverts part of commit: 584bcbac0d
This commit is contained in:
Mateusz Mróz 2020-10-14 09:59:01 +02:00 committed by Peter Barker
parent ef505df78a
commit 2e85ba6f51
1 changed files with 4 additions and 0 deletions
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4
Tools/AP_Periph/can.cpp
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@ -1016,6 +1016,10 @@ void AP_Periph_FW::can_start()
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_INITIALIZATION; node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_INITIALIZATION;
node_status.uptime_sec = AP_HAL::millis() / 1000U; node_status.uptime_sec = AP_HAL::millis() / 1000U;
if (g.can_node >= 0 && g.can_node < 128) {
PreferredNodeID = g.can_node;
}
can_iface.init(1000000, AP_HAL::CANIface::NormalMode); can_iface.init(1000000, AP_HAL::CANIface::NormalMode);
canardInit(&canard, (uint8_t *)canard_memory_pool, sizeof(canard_memory_pool), canardInit(&canard, (uint8_t *)canard_memory_pool, sizeof(canard_memory_pool),