dear Pavel Kirienko:
in publisher tutorial all the data type signature is 64bit ，
in px4 pasog BootLoader all the data type signature is 16bit.
they have the different data signature, Why can they communicate with GUI?both fine.
2 . if orel esc have a pasog bootloader can i use the uavcan gui tool to update application firmware for it?
thank you very much!
The PX4 bootloader code contains a mistake: what they call “signature” is not, in fact, a signature; rather it’s the CRC16 of the signature. They store precomputed CRC16 of the signature to accelerate runtime CRC computation. This is a correct and compliant approach as far as the UAVCAN specification is concerned, but the naming is suboptimal.
Yes, this bootloader can be used with the GUI tool.
cool，very professional！ i like you , guru.
Hi,
In the example on this page, I didn’t understand how to get the SIGNATURE we have to put for a given DSDL message we sent from a sensor node. Thanks
The signatures can be obtained using this simple script:
https://github.com/UAVCAN/libcanard/blob/master/show_data_type_info.py
Here is the output of this script for the standard namespace uavcan:
Full Data Type Name | DDTID | Type Signature | Max Bit Len
--------------------------------------------------------------------------------------------------
uavcan.CoarseOrientation N/A 0x271ba10b0dac9e52 16
uavcan.Timestamp N/A 0x05bd0b5c81087e0d 56
uavcan.equipment.actuator.ArrayCommand 1010 0xd8a7486238ec3af3 484
uavcan.equipment.actuator.Command N/A 0x8d9a6a920c1d616c 32
uavcan.equipment.actuator.Status 1011 0x5e9bba44faf1ea04 64
uavcan.equipment.ahrs.MagneticFieldStrength 1001 0xe2a7d4a9460bc2f2 196
uavcan.equipment.ahrs.MagneticFieldStrength2 1002 0xb6ac0c442430297e 204
uavcan.equipment.ahrs.RawIMU 1003 0x8280632c40e574b5 958
uavcan.equipment.ahrs.Solution 1000 0x72a63a3c6f41fa9b 668
uavcan.equipment.air_data.AngleOfAttack 1025 0xd5513c3f7afac74e 40
uavcan.equipment.air_data.IndicatedAirspeed 1021 0x0a1892d72ab8945f 32
uavcan.equipment.air_data.RawAirData 1027 0xc77df38ba122f5da 397
uavcan.equipment.air_data.Sideslip 1026 0x7b48e55fcff42a57 32
uavcan.equipment.air_data.StaticPressure 1028 0xcdc7c43412bdc89a 48
uavcan.equipment.air_data.StaticTemperature 1029 0x49272a6477d96271 32
uavcan.equipment.air_data.TrueAirspeed 1020 0x306f69e0a591afaa 32
uavcan.equipment.camera_gimbal.AngularCommand 1040 0x4af6e57b2b2be29c 80
uavcan.equipment.camera_gimbal.GEOPOICommand 1041 0x9371428a92f01fd6 104
uavcan.equipment.camera_gimbal.Mode N/A 0x9108c7785aeb69c4 8
uavcan.equipment.camera_gimbal.Status 1044 0xb9f127865be0d61e 228
uavcan.equipment.device.Temperature 1110 0x70261c28a94144c6 40
uavcan.equipment.esc.RPMCommand 1031 0xce0f9f621cf7e70b 365
uavcan.equipment.esc.RawCommand 1030 0x217f5c87d7ec951d 285
uavcan.equipment.esc.Status 1034 0xa9af28aea2fbb254 110
uavcan.equipment.gnss.Auxiliary 1061 0x9be8bdc4c3dbbfd2 125
uavcan.equipment.gnss.ECEFPositionVelocity N/A 0x24a5da4abee3a248 792
uavcan.equipment.gnss.Fix 1060 0x54c1572b9e07f297 628
uavcan.equipment.gnss.Fix2 1063 0xca41e7000f37435f 1769
uavcan.equipment.gnss.RTCMStream 1062 0x1f56030ecb171501 1040
uavcan.equipment.hardpoint.Command 1070 0xa1a036268b0c3455 24
uavcan.equipment.hardpoint.Status 1071 0x624a519d42553d82 56
uavcan.equipment.ice.FuelTankStatus 1129 0x286b4a387ba84bc4 104
uavcan.equipment.ice.reciprocating.CylinderStatus N/A 0xd68ac83a89d5b36b 80
uavcan.equipment.ice.reciprocating.Status 1120 0xd38aa3ee75537ec6 1565
uavcan.equipment.indication.BeepCommand 1080 0xbe9ea9fec2b15d52 32
uavcan.equipment.indication.LightsCommand 1081 0x2031d93c8bdd1ec4 485
uavcan.equipment.indication.RGB565 N/A 0x58a7cef41951ec34 16
uavcan.equipment.indication.SingleLightCommand N/A 0xe894b8b589807007 24
uavcan.equipment.power.BatteryInfo 1092 0x249c26548a711966 437
uavcan.equipment.power.CircuitStatus 1091 0x8313d33d0ddda115 56
uavcan.equipment.power.PrimaryPowerSupplyStatus 1090 0xbba05074ad757480 47
uavcan.equipment.range_sensor.Measurement 1050 0x68fffe70fc771952 120
uavcan.equipment.safety.ArmingStatus 1100 0x8700f375556a8003 8
uavcan.navigation.GlobalNavigationSolution 2000 0x463b10cccbe51c3d 1860
uavcan.protocol.AccessCommandShell 6 0x59276b5921c9246e 1040 / 2097
uavcan.protocol.CANIfaceStats N/A 0x13b106f0c44ca350 144
uavcan.protocol.DataTypeKind N/A 0x9420a73e008e5930 8
uavcan.protocol.GetDataTypeInfo 2 0x1b283338a7bed2d8 671 / 743
uavcan.protocol.GetNodeInfo 1 0xee468a8121c46a9e 0 / 3015
uavcan.protocol.GetTransportStats 4 0xbe6f76a7ec312b04 0 / 578
uavcan.protocol.GlobalTimeSync 4 0x20271116a793c2db 56
uavcan.protocol.HardwareVersion N/A 0x0ad5c4c933f4a0c4 2192
uavcan.protocol.NodeStatus 341 0x0f0868d0c1a7c6f1 56
uavcan.protocol.Panic 5 0x8b79b4101811c1d7 59
uavcan.protocol.RestartNode 5 0x569e05394a3017f0 40 / 1
uavcan.protocol.SoftwareVersion N/A 0xdd46fd376527fea1 120
uavcan.protocol.debug.KeyValue 16370 0xe02f25d6e0c98ae0 502
uavcan.protocol.debug.LogLevel N/A 0x711bf141af572346 3
uavcan.protocol.debug.LogMessage 16383 0xd654a48e0c049d75 983
uavcan.protocol.dynamic_node_id.Allocation 1 0x0b2a812620a11d40 141
uavcan.protocol.dynamic_node_id.server.AppendEntries 30 0x8032c7097b48a3cc 249 / 33
uavcan.protocol.dynamic_node_id.server.Discovery 390 0x821ae2f525f69f21 51
uavcan.protocol.dynamic_node_id.server.Entry N/A 0x7faa779d64fa75c2 168
uavcan.protocol.dynamic_node_id.server.RequestVote 31 0xcdde07bb89a56356 72 / 33
uavcan.protocol.enumeration.Begin 15 0x196ae06426a3b5d8 759 / 8
uavcan.protocol.enumeration.Indication 380 0x884cb63050a84f35 815
uavcan.protocol.file.BeginFirmwareUpdate 40 0xb7d725df72724126 1616 / 1031
uavcan.protocol.file.Delete 47 0x78648c99170b47aa 1608 / 16
uavcan.protocol.file.EntryType N/A 0x6924572fbb2086e5 8
uavcan.protocol.file.Error N/A 0xa83071ffea4fae15 16
uavcan.protocol.file.GetDirectoryEntryInfo 46 0x8c46e8ab568bda79 1640 / 1632
uavcan.protocol.file.GetInfo 45 0x5004891ee8a27531 1608 / 64
uavcan.protocol.file.Path N/A 0x12aefc50878a43e2 1608
uavcan.protocol.file.Read 48 0x8dcdca939f33f678 1648 / 2073
uavcan.protocol.file.Write 49 0x515aa1dc77e58429 3192 / 16
uavcan.protocol.param.Empty N/A 0x6c4d0e8ef37361df 0
uavcan.protocol.param.ExecuteOpcode 10 0x3b131ac5eb69d2cd 56 / 49
uavcan.protocol.param.GetSet 11 0xa7b622f939d1a4d5 1791 / 2967
uavcan.protocol.param.NumericValue N/A 0x0da6d6fea22e3587 66
uavcan.protocol.param.Value N/A 0x29f14bf484727267 1035
This will not be needed in UAVCAN v1, because we have removed the concept of data type signature. UAVCAN v1 in this sense is much simpler than v0.