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Tools: remove redundant DroneCAN packet buffer initialization #27743

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merged 2 commits into from
Aug 3, 2024
Merged

Tools: remove redundant DroneCAN packet buffer initialization #27743

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5a02c19
AP_Bootloader: remove redundant DroneCAN packet buffer initialization
tpwrules Aug 3, 2024
5741938
AP_Periph: remove redundant DroneCAN packet buffer initialization
tpwrules Aug 3, 2024
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4 changes: 2 additions & 2 deletions Tools/AP_Bootloader/can.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,7 +139,7 @@ static uint32_t get_random_range(uint16_t range)
static void handle_get_node_info(CanardInstance* ins,
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;
Expand Down Expand Up @@ -868,7 +868,7 @@ void can_printf(const char *fmt, ...)
// only on H7 for now, where we have plenty of flash
#if defined(STM32H7)
uavcan_protocol_debug_LogMessage pkt {};
uint8_t buffer[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE] {};
uint8_t buffer[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE];
va_list ap;
va_start(ap, fmt);
uint32_t n = vsnprintf((char*)pkt.text.data, sizeof(pkt.text.data), fmt, ap);
Expand Down
2 changes: 1 addition & 1 deletion Tools/AP_Periph/adsb.cpp
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Expand Up @@ -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,
Expand Down
2 changes: 1 addition & 1 deletion Tools/AP_Periph/airspeed.cpp
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Expand Up @@ -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,
Expand Down
4 changes: 2 additions & 2 deletions Tools/AP_Periph/baro.cpp
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Expand Up @@ -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,
Expand All @@ -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,
Expand Down
2 changes: 1 addition & 1 deletion Tools/AP_Periph/battery.cpp
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Expand Up @@ -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,
Expand Down
18 changes: 9 additions & 9 deletions Tools/AP_Periph/can.cpp
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Expand Up @@ -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;
Expand Down Expand Up @@ -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,
Expand Down Expand Up @@ -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,
Expand Down Expand Up @@ -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;

Expand Down Expand Up @@ -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,
Expand Down Expand Up @@ -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,
Expand Down Expand Up @@ -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,
Expand Down Expand Up @@ -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,
Expand All @@ -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));
Expand Down
4 changes: 2 additions & 2 deletions Tools/AP_Periph/compass.cpp
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Expand Up @@ -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,
Expand All @@ -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,
Expand Down
2 changes: 1 addition & 1 deletion Tools/AP_Periph/efi.cpp
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Expand Up @@ -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,
Expand Down
12 changes: 6 additions & 6 deletions Tools/AP_Periph/gps.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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,
Expand All @@ -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,
Expand All @@ -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,
Expand Down Expand Up @@ -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,
Expand Down Expand Up @@ -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,
Expand Down
2 changes: 1 addition & 1 deletion Tools/AP_Periph/hardpoint.cpp
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Expand Up @@ -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,
Expand Down
2 changes: 1 addition & 1 deletion Tools/AP_Periph/hwing_esc.cpp
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Expand Up @@ -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,
Expand Down
2 changes: 1 addition & 1 deletion Tools/AP_Periph/proximity.cpp
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Expand Up @@ -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,
Expand Down
2 changes: 1 addition & 1 deletion Tools/AP_Periph/rangefinder.cpp
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Expand Up @@ -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,
Expand Down
2 changes: 1 addition & 1 deletion Tools/AP_Periph/rc_in.cpp
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Expand Up @@ -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());

Expand Down
2 changes: 1 addition & 1 deletion Tools/AP_Periph/rpm.cpp
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Expand Up @@ -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,
Expand Down
2 changes: 1 addition & 1 deletion Tools/AP_Periph/serial_tunnel.cpp
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Expand Up @@ -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));
Expand Down
2 changes: 1 addition & 1 deletion Tools/AP_Periph/temperature.cpp
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Expand Up @@ -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,
Expand Down
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