refactor dronecan pwm feedback and crct - Githubissues

RaccoonlabDev / mini_v2_node

Mini v2 node Cyphal/DroneCAN application example

GNU General Public License v3.0

8 stars 4 forks source link

refactor dronecan pwm feedback and crct #65

Closed PonomarevDA closed 2 months ago

PonomarevDA commented 2 months ago

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

sonarcloud[bot] commented 2 months ago

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