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refactor dronecan pwm feedback and crct #65

Merged
merged 4 commits into from
Sep 24, 2024
Merged

refactor dronecan pwm feedback and crct #65

merged 4 commits into from
Sep 24, 2024

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PonomarevDA
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@PonomarevDA PonomarevDA commented Sep 24, 2024 •
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This PR moves dronecan feedback logic from pwm module to a separate mode, cleans up dronecan circuit status logic and fixes bug with dronecan logger.

Changes in parameters:

  • add crct.bitmask - it allows to enable/disable separate publishers and hardware checks
  • use a single feedback.type instead of 4 similar parameters
  • rename pwm params to be consistent with the cyphal specification

Firmware image size difference

  • dronecan_v2: 40144 -> 40788 (+644)
  • dronecan_v3: 49276 -> 49904 (+628)
  • cyphal_v2: +0
  • cyphal_v3: +0

Test coverage

  • In SITL
  • With mini v2 node

@PonomarevDA PonomarevDA self-assigned this Sep 24, 2024
@PonomarevDA PonomarevDA force-pushed the pr-refactor-dronecan-feedback-and-crct branch from 13647a0 to 6d00b6c Compare September 24, 2024 15:32
@PonomarevDA PonomarevDA force-pushed the pr-refactor-dronecan-feedback-and-crct branch from 73402a5 to 58dec64 Compare September 24, 2024 19:51
@PonomarevDA PonomarevDA force-pushed the pr-refactor-dronecan-feedback-and-crct branch from 1fff11f to 7a6e3fe Compare September 24, 2024 20:06
@PonomarevDA PonomarevDA added bug Something isn't working enhancement New feature or request labels Sep 24, 2024
@PonomarevDA PonomarevDA marked this pull request as ready for review September 24, 2024 20:08
@PonomarevDA PonomarevDA merged commit d4bb13e into main Sep 24, 2024
7 checks passed
@PonomarevDA PonomarevDA deleted the pr-refactor-dronecan-feedback-and-crct branch September 24, 2024 20:09
@sonarqubecloud SonarQubeCloud
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Quality Gate Passed Quality Gate passed

Issues
11 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarCloud

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