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drivers/cyphal: incremental fixes for fmu-v5 (#20671)

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* Cyphal: fix comparing floating-point issue

* Cyphal: fix setpoint serialization

* Cyphal: fix bug with wrong comparasion of param name and pub/sub name: remove prefix from UavcanPublisher::updateParam and UavcanDynamicPortSubscriber::updateParam and PublicationManager::updateDynamicPublications

* Cyphal: integrate UavcanEscController with PublicationManager, remove second instance of UavcanEscController from CyphalNode

* Cyphal: publish readiness with minimal frequency because according to UDRAL The drive shall enter STANDBY state automatically if the readiness subject is not updated for CONTROL_TIMEOUT

* Cyphal: increase setpoint publish rate from ~75 to 200 by removing PX4_INFO (it really significantly react on the the output rate) and changing the mixing output rate and the shedule interval

* Cyphal: restore prefix because we need it for uorb over uavcan/cyphal and add udral prefix for non uorb pub/sub

* Cyphal: fix DynamicPortSubscriber subscription: if it has multiple subscribers, it should call subscription only after updating of all port subscribers port identifiers

* Cyphal: fix SubscriptionManager: we should take care about prefix

* Cyphal: fix readiness for test motor mode

* [Cyphal] Fix dynamicsubscription, improve printinfo, enable MR-CANHUBK3 config

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Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>
This commit is contained in:
Dmitry Ponomarev
2023-02-23 18:57:50 +03:00
committed by GitHub
parent 013365d6c8
commit a1efafc42b
15 changed files with 163 additions and 93 deletions
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5
src/drivers/cyphal/SubscriptionManager.cpp
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@@ -78,10 +78,13 @@ void SubscriptionManager::updateDynamicSubscriptions()
while (dynsub != nullptr) {
// Check if subscriber has already been created
const char *subj_prefix = dynsub->getSubjectPrefix();
const char *subj_name = dynsub->getSubjectName();
const uint8_t instance = dynsub->getInstance();
char subject_name[90];
snprintf(subject_name, sizeof(subject_name), "%s%s", subj_prefix, subj_name);
if (strcmp(subj_name, sub.subject_name) == 0 && instance == sub.instance) {
if (strcmp(subject_name, sub.subject_name) == 0 && instance == sub.instance) {
found_subscriber = true;
break;
}