Add custom fields to the time synchronization message based on uavcan protocol in Px4 code learning

One 、 Specific operation

stay /src/drivers/uavcan/libuavcan/dsdl/uavcan/protocol/4.GlobalTimeSync.uavcan Add custom variables to the file , To compile to msg In the message body .

Pictured (1) Shown ,transmission_type This is the added custom field . The data type can be uint56, It can also be for uint16.

（1）

Fields added in the above file , Will pass dsdl compiler , Automatic generation src/drivers/uavcan/libuavcan/libuavcan/include/dsdlc_generated/uavcan/protocol/GlobalTimeSync.hpp Contents of the file . Pictured （2） Shown .

（2）

Two 、 The experimental steps

        

You can generate the above files through msg Send custom fields . Pictured （3） For example , stay src/drivers/uavcan/libuavcan/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp In file , send out 666 Test data .

（3）

stay src/drivers/uavcan/libuavcan/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp Receive data from file . Pictured （4） Shown .

（4） 

  stay src/drivers/uavcan/uavcan_main.cpp In file , With orb Send data in the form of message . Pictured （5） Shown .

（5） 

  By running src/examples/px4_simple_app/px4_simple_app.c Program , Will receive orb Print out the message .

（6） 

3、 ... and 、 experimental result

        Two flight controllers pass can Bus connection , Download the same code , All received 666 The news of . Pictured （7） Shown .