UAVCAN: fixed stack overflow, reduced memory usage, cleaned up IOCTL

src/modules/uavcan/uavcan_main.cpp

@@ -550,25 +550,33 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
 
 	/*
 	 * CAN driver init
+	 * Note that we instantiate and initialize CanInitHelper only once, because the STM32's bxCAN driver
+	 * shipped with libuavcan does not support deinitialization.
 	 */
-	static CanInitHelper can;
-	static bool can_initialized = false;
+	static CanInitHelper* can = nullptr;
 
-	if (!can_initialized) {
-		const int can_init_res = can.init(bitrate);
+	if (can == nullptr) {
+		warnx("CAN driver init...");
+
+		can = new CanInitHelper();
+
+		if (can == nullptr) {                    // We don't have exceptions so bad_alloc cannot be thrown
+			warnx("Out of memory");
+			return -1;
+		}
+
+		const int can_init_res = can->init(bitrate);
 
 		if (can_init_res < 0) {
 			warnx("CAN driver init failed %i", can_init_res);
 			return can_init_res;
 		}
-
-		can_initialized = true;
 	}
 
 	/*
 	 * Node init
 	 */
-	_instance = new UavcanNode(can.driver, uavcan_stm32::SystemClock::instance());
+	_instance = new UavcanNode(can->driver, uavcan_stm32::SystemClock::instance());
 
 	if (_instance == nullptr) {
 		warnx("Out of memory");
@@ -1115,7 +1123,7 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 		break;
 
 
-	case UAVCANIOC_HARDPOINT_SET: {
+	case UAVCAN_IOCS_HARDPOINT_SET: {
 			const auto &hp_cmd = *reinterpret_cast<uavcan::equipment::hardpoint::Command *>(arg);
 			_hardpoint_controller.set_command(hp_cmd.hardpoint_id, hp_cmd.command);
 		}

src/modules/uavcan/uavcan_main.hpp

@@ -73,10 +73,6 @@
 // we add two to allow for actuator_direct and busevent
 #define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
 
-// IOCTL control codes
-static constexpr unsigned UAVCANIOCBASE = 0x7800;
-static constexpr unsigned UAVCANIOC_HARDPOINT_SET = _PX4_IOC(UAVCANIOCBASE, 0x10);
-
 /**
  * A UAVCAN node.
  */
@@ -103,7 +99,7 @@ class UavcanNode : public device::CDev
 	 */
 
 	static constexpr unsigned RxQueueLenPerIface	= FramePerMSecond * PollTimeoutMs; // At
-	static constexpr unsigned StackSize		= 1800;
+	static constexpr unsigned StackSize		= 2400;
 
 public:
 	typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;

src/modules/uavcan/uavcan_module.hpp

@@ -65,7 +65,18 @@
 // ioctl interface
 #define _UAVCAN_IOC(_n)               (_IOC(_UAVCAN_IOCBASE, _n))
 #define _UAVCAN_IOCBASE               (0x4000)                        // IOCTL base for module UAVCAN
-#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1)                  // query if node identification is in progress
+/*
+ * Query if node identification is in progress. Returns:
+ *      EINVAL - not applicable in the current operating mode
+ *      ETIME  - network discovery complete
+ *      OK (0) - network discovery in progress
+ */
+#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1)
+/*
+ * Set hardpoint command. Accepts a pointer to uavcan::equipment::hardpoint::Command; returns nothing.
+ * The pointer may be invalidated once the call returns.
+ */
+#define UAVCAN_IOCS_HARDPOINT_SET       _UAVCAN_IOC(10)
 
 // public prototypes
 extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);

src/modules/uavcan/uavcan_servers.cpp

@@ -923,7 +923,6 @@ void UavcanServers::unpackFwFromROMFS(const char* sd_path, const char* romfs_pat
 
 	DIR* const romfs_dir = opendir(romfs_path);
 	if (!romfs_dir) {
-		warnx("base: couldn't open %s", romfs_path);
 		return;
 	}