Stucture packing and Docs

3 files changed, 592 insertions, 296 deletions

diff --git a/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.c b/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.c
index b8d649ea6..d9e7ca5e9 100644
--- a/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.c
+++ b/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.c
@@ -1,3 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
 #include <nuttx/config.h>
 
 #include <stdint.h>
@@ -10,15 +50,21 @@
 #include "boot_app_shared.h"
 #include "crc.h"
 
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
 #define BOOTLOADER_COMMON_APP_SIGNATURE         0xB0A04150u
 #define BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE  0xB0A0424Cu
 
+
 /*  CAN_FiRx where (i=0..27|13, x=1, 2)
  *                      STM32_CAN1_FIR(i,x)
  * Using i = 2 does not requier there block
  * to be enabled nor FINIT in CAN_FMR to be set.
  * todo:Validate this claim on F2, F3
  */
+
 #define crc_HiLOC       STM32_CAN1_FIR(2,1)
 #define crc_LoLOC       STM32_CAN1_FIR(2,2)
 #define signature_LOC   STM32_CAN1_FIR(3,1)
@@ -27,31 +73,63 @@
 #define CRC_H 1
 #define CRC_L 0
 
-inline static void read(bootloader_app_shared_t * pcommon)
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: read
+ ****************************************************************************/
+
+inline static void read(bootloader_app_shared_t * pshared)
 {
-  pcommon->signature = getreg32(signature_LOC);
-  pcommon->bus_speed = getreg32(bus_speed_LOC);
-  pcommon->node_id = getreg32(node_id_LOC);
-  pcommon->crc.ul[CRC_L] = getreg32(crc_LoLOC);
-  pcommon->crc.ul[CRC_H] = getreg32(crc_HiLOC);
+  pshared->signature = getreg32(signature_LOC);
+  pshared->bus_speed = getreg32(bus_speed_LOC);
+  pshared->node_id = getreg32(node_id_LOC);
+  pshared->crc.ul[CRC_L] = getreg32(crc_LoLOC);
+  pshared->crc.ul[CRC_H] = getreg32(crc_HiLOC);
 
 }
 
-inline static void write(bootloader_app_shared_t * pcommon)
+/****************************************************************************
+ * Name: write
+ ****************************************************************************/
+
+inline static void write(bootloader_app_shared_t * pshared)
 {
-  putreg32(pcommon->signature, signature_LOC);
-  putreg32(pcommon->bus_speed, bus_speed_LOC);
-  putreg32(pcommon->node_id, node_id_LOC);
-  putreg32(pcommon->crc.ul[CRC_L], crc_LoLOC);
-  putreg32(pcommon->crc.ul[CRC_H], crc_HiLOC);
+  putreg32(pshared->signature, signature_LOC);
+  putreg32(pshared->bus_speed, bus_speed_LOC);
+  putreg32(pshared->node_id, node_id_LOC);
+  putreg32(pshared->crc.ul[CRC_L], crc_LoLOC);
+  putreg32(pshared->crc.ul[CRC_H], crc_HiLOC);
 
 }
 
-static uint64_t calulate_signature(bootloader_app_shared_t * pcommon)
+/****************************************************************************
+ * Name: calulate_signature
+ ****************************************************************************/
+
+static uint64_t calulate_signature(bootloader_app_shared_t * pshared)
 {
-  size_t size = sizeof(bootloader_app_shared_t) - sizeof(pcommon->crc);
+  size_t size = sizeof(bootloader_app_shared_t) - sizeof(pshared->crc);
   uint64_t crc = CRC64_INITIAL;
-  uint8_t *protected = (uint8_t *) & pcommon->signature;
+  uint8_t *protected = (uint8_t *) & pshared->signature;
 
   while (size--)
     {
@@ -61,12 +139,16 @@ static uint64_t calulate_signature(bootloader_app_shared_t * pcommon)
   return crc;
 }
 
-void bootloader_app_shared_init(bootloader_app_shared_t * pcommon, eRole_t role)
+
+/****************************************************************************
+ * Name: bootloader_app_shared_init
+ ****************************************************************************/
+static void bootloader_app_shared_init(bootloader_app_shared_t * pshared, eRole_t role)
 {
-  memset(pcommon, 0, sizeof(bootloader_app_shared_t));
+  memset(pshared, 0, sizeof(bootloader_app_shared_t));
   if (role != Invalid)
     {
-      pcommon->signature =
+      pshared->signature =
         (role ==
          App ? BOOTLOADER_COMMON_APP_SIGNATURE :
          BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE);
@@ -74,8 +156,39 @@ void bootloader_app_shared_init(bootloader_app_shared_t * pcommon, eRole_t role)
 
 }
 
-int bootloader_app_shared_read(bootloader_app_shared_t * pcommon,
-                                     eRole_t role)
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/****************************************************************************
+ * Name: bootloader_app_shared_read
+ *
+ * Description:
+ *   Based on the role requested, this function will conditionally populate
+ *   a bootloader_app_shared_t structure from the physical locations used
+ *   to transfer the shared data to/from an application (internal data) .
+ *
+ *   The functions will only populate the structure and return a status
+ *   indicating success, if the internal data has the correct signature as
+ *   requested by the Role AND has a valid crc.
+ *
+ * Input Parameters:
+ *   shared - A pointer to a bootloader_app_shared_t return the data in if
+ *   the internal data is valid for the requested Role
+ *   role   - An eRole_t of App or BootLoader to validate the internal data
+ *            against. For a Bootloader this would be the value of App to
+ *            read the application passed data.
+ *
+ * Returned value:
+ *   OK     - Indicates that the internal data has been copied to callers
+ *            bootloader_app_shared_t structure.
+ *
+ *  -EBADR  - The Role or crc of the internal data was not valid. The copy
+ *            did not occur.
+ *
+ ****************************************************************************/
+
+int bootloader_app_shared_read(bootloader_app_shared_t * shared,
+                               eRole_t role)
 {
   int rv = -EBADR;
   bootloader_app_shared_t working;
@@ -86,16 +199,40 @@ int bootloader_app_shared_read(bootloader_app_shared_t * pcommon,
        : working.signature == BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE)
       && (working.crc.ull == calulate_signature(&working)))
     {
-      *pcommon = working;
+      *shared = working;
       rv = OK;
     }
   return rv;
 }
 
-void bootloader_app_shared_write(bootloader_app_shared_t * common,
-                                       eRole_t role)
+/****************************************************************************
+ * Name: bootloader_app_shared_write
+ *
+ * Description:
+ *   Based on the role, this function will commit the data passed
+ *   into the physical locations used to transfer the shared data to/from
+ *   an application (internal data) .
+ *
+ *   The functions will populate the signature and crc the data
+ *   based on the provided Role.
+ *
+ * Input Parameters:
+ *   shared - A pointer to a bootloader_app_shared_t data to commit to
+ *   the internal data for passing to/from an application.
+ *   role   - An eRole_t of App or BootLoader to use in the internal data
+ *            to be passed to/from an application. For a Bootloader this
+ *            would be the value of Bootloader to write to the passed data.
+ *            to the application via the internal data.
+ *
+ * Returned value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void bootloader_app_shared_write(bootloader_app_shared_t * shared,
+                                 eRole_t role)
 {
-  bootloader_app_shared_t working = *common;
+  bootloader_app_shared_t working = *shared;
   working.signature =
     (role ==
      App ? BOOTLOADER_COMMON_APP_SIGNATURE :
@@ -105,6 +242,24 @@ void bootloader_app_shared_write(bootloader_app_shared_t * common,
 
 }
 
+/****************************************************************************
+ * Name: bootloader_app_shared_invalidate
+ *
+ * Description:
+ *   Invalidates the data passed the physical locations used to transfer
+ *   the shared data to/from an application (internal data) .
+ *
+ *   The functions will invalidate the signature and crc and shoulf be used
+ *   to prevent deja vu.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned value:
+ *   None.
+ *
+ ****************************************************************************/
+
 void bootloader_app_shared_invalidate(void)
 {
   bootloader_app_shared_t working;
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.h b/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.h
index b13ba1131..12f683f58 100644
--- a/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.h
+++ b/src/drivers/boards/px4cannode-v1/bootloader/common/boot_app_shared.h
@@ -1,66 +1,97 @@
-
-/*
+/****************************************************************************
  *
- */
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
 #pragma once
 
-/*
-Application firmware descriptor.
-
-This is located by the linker script somewhere aftert the vector table.
-(within the first several kilobytes of the application);
-This struct must be aligned on an 8-byte boundary.
-
-The bootloader scans through the application FLASH image until it
-finds the signature.
-
-The image_crc is calculated as follows:
- 1) All fields of this struct must be initalized with the correct information about
- the firmware image bin file (Here after refered to as image)
- 2) image_crc set to 0;
- 3) The CRC 64 is caculated over the image from offset 0 up to and including the
-   last byte of the image file.
- 4) The caculated CRC 64 is stored in image_crc
- 5) The new image file is then written to a file a ".img" extention.
-*/
-typedef struct
-  {
-    uint64_t signature;
-    uint64_t image_crc;
-    uint32_t image_size;
-    uint32_t vcs_commit;
-    uint8_t major_version;
-    uint8_t minor_version;
-    uint8_t reserved[6];
-  }
-__attribute__ ((packed)) app_descriptor_t;
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#  include <nuttx/compiler.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Define the signature for the Application descriptor as 'APDesc' and a
+ * revision number of 00 used in app_descriptor_t
+ */
 
-// APDesc00
 #define APP_DESCRIPTOR_SIGNATURE_ID 'A','P','D','e','s','c'
 #define APP_DESCRIPTOR_SIGNATURE_REV '0','0'
 #define APP_DESCRIPTOR_SIGNATURE APP_DESCRIPTOR_SIGNATURE_ID, APP_DESCRIPTOR_SIGNATURE_REV
 
-/*
-Bootloader/app common structure.
-
-The data in this struct is passed in SRAM or the the CAN filter registers
-from bootloader to application and application to bootloader.
+/****************************************************************************
+ * Public Type Definitions
+ ****************************************************************************/
 
-Do not assume any mapping or location for the passing of this data
-that is done in the read and write routines and is abstracted on purpose.
+/* eRole defines the role of the bootloader_app_shared_t structure */
 
-The application must write BOOTLOADER_COMMON_APP_SIGNATURE to the signature
-field when passing data to the bootloader; when the bootloader passes data
-to the app, it must write BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE to the
-signature field.
+typedef enum eRole  {
+    Invalid,
+    App,
+    BootLoader
+} eRole_t;
 
-The CRC is calculated over the structure from signature to the last byte.
-The resuluting values are then copied to the CAN filter registers by
-bootloader_app_shared_read and bootloader_app_shared_write.
+/****************************************************************************
+ *
+ * Bootloader and Application shared structure.
+ *
+ * The data in this structure is passed in SRAM or the the CAN filter
+ * registers from bootloader to application and application to bootloader.
+ *
+ * Do not assume any mapping or location for the passing of this data
+ * that is done in the read and write routines and is abstracted by design.
+ *
+ * For reference, the following is performed based on eRole in API calls
+ * defined below:
+ *
+ *      The application must write BOOTLOADER_COMMON_APP_SIGNATURE to the
+ *      signature field when passing data to the bootloader; when the
+ *      bootloader passes data to the application, it must write
+ *      BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE to the signature field.
+ *
+ *      The CRC is calculated over the structure from signature to the
+ *      last byte. The resulting values are then copied to the CAN filter
+ *      registers by bootloader_app_shared_read and
+ *      bootloader_app_shared_write.
+ *
+****************************************************************************/
 
-*/
-typedef struct
-  {
+typedef struct packed_struct bootloader_app_shared_t {
     union
       {
         uint64_t ull;
@@ -69,20 +100,125 @@ typedef struct
     uint32_t signature;
     uint32_t bus_speed;
     uint32_t node_id;
-  } __attribute__ ((packed)) bootloader_app_shared_t;
+} bootloader_app_shared_t ;
+
+/****************************************************************************
+ *
+ * Application firmware descriptor.
+ *
+ * This structure located by the linker script somewhere after the vector table.
+ * (within the first several kilobytes of the beginning address of the
+ * application);
+ *
+ * This structure must be aligned on an 8-byte boundary.
+ *
+ * The bootloader will scan through the application FLASH image until it
+ * finds the signature.
+ *
+ * The image_crc is calculated as follows:
+ *      1) All fields of this structure must be initialized with the correct
+ *         information about the firmware image bin file
+ *         (Here after refereed to as image)
+ *      2) image_crc set to 0;
+ *      3) The CRC 64 is calculated over the image from offset 0 up to and including the
+ *         last byte of the image file.
+ *      4) The calculated CRC 64 is stored in image_crc
+ *      5) The new image file is then written to a file a ".img" extension.
+ *
+****************************************************************************/
 
-typedef enum eRole
+typedef struct packed_struct app_descriptor_t
   {
-    Invalid,
-    App,
-    BootLoader
-  } eRole_t;
+    uint64_t signature;
+    uint64_t image_crc;
+    uint32_t image_size;
+    uint32_t vcs_commit;
+    uint8_t major_version;
+    uint8_t minor_version;
+    uint8_t reserved[6];
+} app_descriptor_t;
 
+/****************************************************************************
+ * Global Variables
+ ****************************************************************************/
 
-void bootloader_app_shared_init(bootloader_app_shared_t * common,
-                                     eRole_t role);
-int bootloader_app_shared_read(bootloader_app_shared_t * common,
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+/****************************************************************************
+ * Name: bootloader_app_shared_read
+ *
+ * Description:
+ *   Based on the role requested, this function will conditionally populate
+ *   a bootloader_app_shared_t structure from the physical locations used
+ *   to transfer the shared data to/from an application (internal data) .
+ *
+ *   The functions will only populate the structure and return a status
+ *   indicating success, if the internal data has the correct signature as
+ *   requested by the Role AND has a valid crc.
+ *
+ * Input Parameters:
+ *   shared - A pointer to a bootloader_app_shared_t return the data in if
+ *   the internal data is valid for the requested Role
+ *   role   - An eRole_t of App or BootLoader to validate the internal data
+ *            against. For a Bootloader this would be the value of App to
+ *            read the application passed data.
+ *
+ * Returned value:
+ *   OK     - Indicates that the internal data has been copied to callers
+ *            bootloader_app_shared_t structure.
+ *
+ *  -EBADR  - The Role or crc of the internal data was not valid. The copy
+ *            did not occur.
+ *
+ ****************************************************************************/
+
+int bootloader_app_shared_read(bootloader_app_shared_t * shared,
                                      eRole_t role);
-void bootloader_app_shared_write(bootloader_app_shared_t * common,
-                                       eRole_t role);
+
+/****************************************************************************
+ * Name: bootloader_app_shared_write
+ *
+ * Description:
+ *   Based on the role, this function will commit the data passed
+ *   into the physical locations used to transfer the shared data to/from
+ *   an application (internal data) .
+ *
+ *   The functions will populate the signature and crc the data
+ *   based on the provided Role.
+ *
+ * Input Parameters:
+ *   shared - A pointer to a bootloader_app_shared_t data to commit to
+ *   the internal data for passing to/from an application.
+ *   role   - An eRole_t of App or BootLoader to use in the internal data
+ *            to be passed to/from an application. For a Bootloader this
+ *            would be the value of Bootloader to write to the passed data.
+ *            to the application via the internal data.
+ *
+ * Returned value:
+ *   None.
+ *
+ ****************************************************************************/
+
+void bootloader_app_shared_write(bootloader_app_shared_t * shared,
+                                 eRole_t role);
+
+/****************************************************************************
+ * Name: bootloader_app_shared_invalidate
+ *
+ * Description:
+ *   Invalidates the data passed the physical locations used to transfer
+ *   the shared data to/from an application (internal data) .
+ *
+ *   The functions will invalidate the signature and crc and should be used
+ *   to prevent deja vu.
+ *
+ * Input Parameters:
+ *   None.
+ *
+ * Returned value:
+ *   None.
+ *
+ ****************************************************************************/
+
 void bootloader_app_shared_invalidate(void);
diff --git a/src/drivers/boards/px4cannode-v1/bootloader/uavcan/protocol.h b/src/drivers/boards/px4cannode-v1/bootloader/uavcan/protocol.h
index f1530a692..faee7ae10 100644
--- a/src/drivers/boards/px4cannode-v1/bootloader/uavcan/protocol.h
+++ b/src/drivers/boards/px4cannode-v1/bootloader/uavcan/protocol.h
@@ -1,4 +1,9 @@
 #pragma once
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#  include <nuttx/compiler.h>
 
 #include <stdint.h>
 #include <stdlib.h>
@@ -15,219 +20,219 @@ typedef enum
   } can_error_t;
 
   /* UAVCAN message formats */
-  typedef enum {
-      SERVICE_RESPONSE = 0,
-      SERVICE_REQUEST = 1,
-      MESSAGE_BROADCAST = 2,
-      MESSAGE_UNICAST = 3
-  } uavcan_transfertype_t;
-
-  typedef struct {
+typedef enum {
+    SERVICE_RESPONSE = 0,
+    SERVICE_REQUEST = 1,
+    MESSAGE_BROADCAST = 2,
+    MESSAGE_UNICAST = 3
+} uavcan_transfertype_t;
+
+typedef struct packed_struct uavcan_frame_id_t {
       uint8_t transfer_id;
       uint8_t last_frame;
       uint8_t frame_index;
       uint8_t source_node_id;
       uavcan_transfertype_t transfer_type;
       uint16_t data_type_id;
-  } __attribute__((packed)) uavcan_frame_id_t;
-
-  typedef struct {
-      uint32_t uptime_sec;
-      uint8_t status_code;
-      uint16_t vendor_specific_status_code;
-  } __attribute__((packed)) uavcan_nodestatus_t;
-
-  #define UAVCAN_NODESTATUS_DTID 550u
-  #define UAVCAN_NODESTATUS_PUBLICATION_CYCLES (72000000u / 2u)
-  #define UAVCAN_NODESTATUS_STATUS_OK 0u
-  #define UAVCAN_NODESTATUS_STATUS_INITIALIZING 1u
-  #define UAVCAN_NODESTATUS_STATUS_WARNING 2u
-  #define UAVCAN_NODESTATUS_STATUS_CRITICAL 3u
-
-
-  typedef struct {
-      uint8_t major;
-      uint8_t minor;
-      uint8_t optional_field_mask;
-      uint32_t vcs_commit;
-      uint64_t image_crc;
-  } __attribute__((packed)) uavcan_softwareversion_t;
-
-  typedef struct {
-      uint8_t major;
-      uint8_t minor;
-      uint8_t unique_id[16];
-      uint8_t certificate_of_authenticity_length;
-      uint8_t certificate_of_authenticity[255];
-  } __attribute__((packed)) uavcan_hardwareversion_t;
-
-  typedef struct {
-      uint8_t nodestatus[6];
-
-      uavcan_softwareversion_t software_version;
-      uavcan_hardwareversion_t hardware_version;
-
-      uint8_t name[80];
-      uint8_t name_length;
-  } __attribute__((packed)) uavcan_getnodeinfo_response_t;
-
-  #define UAVCAN_GETNODEINFO_DTID 551u
-  #define UAVCAN_GETNODEINFO_CRC 0x14BBu
-
-
-  typedef struct {
-      uint8_t node_id; /* bottom bit is the first part flag */
-      uint8_t unique_id[16];
-  } __attribute__((packed)) uavcan_allocation_t;
-
-  #define UAVCAN_DYNAMICNODEIDALLOCATION_DTID 559u
-
-
-  typedef struct {
-      uint8_t level;
-      uint8_t message[2];
-  } __attribute__((packed)) uavcan_logmessage_t;
-
-  #define UAVCAN_LOGMESSAGE_DTID 1023u
-  #define UAVCAN_LOGMESSAGE_LEVEL_DEBUG 0u
-  #define UAVCAN_LOGMESSAGE_LEVEL_INFO 1u
-  #define UAVCAN_LOGMESSAGE_LEVEL_WARNING 2u
-  #define UAVCAN_LOGMESSAGE_LEVEL_ERROR 3u
-  #define UAVCAN_LOGMESSAGE_SOURCE_0 'B'
-  #define UAVCAN_LOGMESSAGE_SOURCE_1 'O'
-  #define UAVCAN_LOGMESSAGE_SOURCE_2 'O'
-  #define UAVCAN_LOGMESSAGE_SOURCE_3 'T'
-
-  #define UAVCAN_LOGMESSAGE_STAGE_INIT 'I'
-  #define UAVCAN_LOGMESSAGE_STAGE_GET_INFO 'G'
-  #define UAVCAN_LOGMESSAGE_STAGE_ERASE 'E'
-  #define UAVCAN_LOGMESSAGE_STAGE_READ 'R'
-  #define UAVCAN_LOGMESSAGE_STAGE_PROGRAM 'P'
-  #define UAVCAN_LOGMESSAGE_STAGE_VALIDATE 'V'
-  #define UAVCAN_LOGMESSAGE_STAGE_FINALIZE 'F'
-  #define UAVCAN_LOGMESSAGE_RESULT_START 's'
-  #define UAVCAN_LOGMESSAGE_RESULT_FAIL 'f'
-  #define UAVCAN_LOGMESSAGE_RESULT_OK 'o'
-
-
-  typedef struct {
-      uint8_t source_node_id;
-      uint8_t path[200];
-      uint8_t path_length;
-  } __attribute__((packed)) uavcan_beginfirmwareupdate_request_t;
-
-  typedef struct {
-      uint8_t error;
-  } __attribute__((packed)) uavcan_beginfirmwareupdate_response_t;
-
-  #define UAVCAN_BEGINFIRMWAREUPDATE_DTID 580u
-  #define UAVCAN_BEGINFIRMWAREUPDATE_CRC 0x729Eu
-  #define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_OK 0u
-  #define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_INVALID_MODE 1u
-  #define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_IN_PROGRESS 2u
-  #define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_UNKNOWN 255u
-
-
-  typedef struct {
-      uint8_t path[200];
-      uint8_t path_length;
-  } __attribute__((packed)) uavcan_getinfo_request_t;
-
-  typedef struct {
-      uint64_t crc64;
-      uint32_t size;
-      uint16_t error;
-      uint8_t entry_type;
-  } __attribute__((packed)) uavcan_getinfo_response_t;
-
-  #define UAVCAN_GETINFO_DTID 585u
-  #define UAVCAN_GETINFO_CRC 0x37A0u
-  #define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_FILE 0x01u
-  #define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_DIRECTORY 0x02u
-  #define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_SYMLINK 0x04u
-  #define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_READABLE 0x08u
-  #define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_WRITEABLE 0x10u
-
-
-  typedef struct {
-      uint32_t offset;
-      uint8_t path[200];
-      uint8_t path_length;
-  } __attribute__((packed)) uavcan_read_request_t;
-
-  typedef struct {
-      uint16_t error;
-      uint8_t data[250];
-      uint8_t data_length;
-  } __attribute__((packed)) uavcan_read_response_t;
-
-  #define UAVCAN_READ_DTID 588u
-  #define UAVCAN_READ_CRC 0x2921u
-
-  #define UAVCAN_FILE_ERROR_OK 0u
-  /* Left the others out for now because we don't really care why it failed */
-
-
-  #define UAVCAN_ALLOCATION_CRC 0x7BAAu
-
-
-  size_t uavcan_pack_nodestatus(
-      uint8_t *data,
-      const uavcan_nodestatus_t *payload
-  );
-  size_t uavcan_pack_logmessage(
-      uint8_t *data,
-      const uavcan_logmessage_t *payload
-  );
-  uint32_t uavcan_make_message_id(const uavcan_frame_id_t *frame_id);
-  int uavcan_parse_message_id(uavcan_frame_id_t *frame_id, uint32_t message_id,
-                               uint16_t expected_id);
-  void uavcan_tx_nodestatus(
-      uint8_t node_id,
-      uint32_t uptime_sec,
-      uint8_t status_code
-  );
-  void uavcan_tx_allocation_message(
-      uint8_t requested_node_id,
-      size_t unique_id_length,
-      const uint8_t *unique_id,
-      uint8_t unique_id_offset,
-      uint8_t transfer_id
-  );
-  void uavcan_tx_getnodeinfo_response(
-      uint8_t node_id,
-      uavcan_getnodeinfo_response_t *response,
-      uint8_t dest_node_id,
-      uint8_t transfer_id
-  );
-  can_error_t uavcan_rx_beginfirmwareupdate_request(
-      uint8_t node_id,
-      uavcan_beginfirmwareupdate_request_t *request,
-      uavcan_frame_id_t *out_frame_id
-  );
-  void uavcan_tx_read_request(
-      uint8_t node_id,
-      const uavcan_read_request_t *request,
-      uint8_t dest_node_id,
-      uint8_t transfer_id
-  );
-  can_error_t uavcan_rx_read_response(
-      uint8_t node_id,
-      uavcan_read_response_t *response,
-      uint8_t dest_node_id,
-      uint8_t transfer_id,
-      uint32_t timeout_ticks
-  );
-  void uavcan_tx_getinfo_request(
-      uint8_t node_id,
-      const uavcan_getinfo_request_t *request,
-      uint8_t dest_node_id,
-      uint8_t transfer_id
-  );
-  can_error_t uavcan_rx_getinfo_response(
-      uint8_t node_id,
-      uavcan_getinfo_response_t *response,
-      uint8_t dest_node_id,
-      uint8_t transfer_id,
-      uint32_t timeout_ticks
-  );
+  } uavcan_frame_id_t;
+
+typedef struct packed_struct uavcan_nodestatus_t {
+    uint32_t uptime_sec;
+    uint8_t status_code;
+    uint16_t vendor_specific_status_code;
+} uavcan_nodestatus_t;
+
+#define UAVCAN_NODESTATUS_DTID 550u
+#define UAVCAN_NODESTATUS_PUBLICATION_CYCLES (72000000u / 2u)
+#define UAVCAN_NODESTATUS_STATUS_OK 0u
+#define UAVCAN_NODESTATUS_STATUS_INITIALIZING 1u
+#define UAVCAN_NODESTATUS_STATUS_WARNING 2u
+#define UAVCAN_NODESTATUS_STATUS_CRITICAL 3u
+
+
+typedef struct packed_struct uavcan_softwareversion_t {
+    uint8_t major;
+    uint8_t minor;
+    uint8_t optional_field_mask;
+    uint32_t vcs_commit;
+    uint64_t image_crc;
+} uavcan_softwareversion_t;
+
+typedef struct packed_struct uavcan_hardwareversion_t {
+    uint8_t major;
+    uint8_t minor;
+    uint8_t unique_id[16];
+    uint8_t certificate_of_authenticity_length;
+    uint8_t certificate_of_authenticity[255];
+} uavcan_hardwareversion_t;
+
+typedef struct packed_struct uavcan_getnodeinfo_response_t {
+    uint8_t nodestatus[6];
+
+    uavcan_softwareversion_t software_version;
+    uavcan_hardwareversion_t hardware_version;
+
+    uint8_t name[80];
+    uint8_t name_length;
+} uavcan_getnodeinfo_response_t;
+
+#define UAVCAN_GETNODEINFO_DTID 551u
+#define UAVCAN_GETNODEINFO_CRC 0x14BBu
+
+
+typedef struct packed_struct uavcan_allocation_t {
+    uint8_t node_id; /* bottom bit is the first part flag */
+    uint8_t unique_id[16];
+} uavcan_allocation_t;
+
+#define UAVCAN_DYNAMICNODEIDALLOCATION_DTID 559u
+
+
+typedef struct packed_struct uavcan_logmessage_t {
+    uint8_t level;
+    uint8_t message[2];
+} uavcan_logmessage_t;
+
+#define UAVCAN_LOGMESSAGE_DTID 1023u
+#define UAVCAN_LOGMESSAGE_LEVEL_DEBUG 0u
+#define UAVCAN_LOGMESSAGE_LEVEL_INFO 1u
+#define UAVCAN_LOGMESSAGE_LEVEL_WARNING 2u
+#define UAVCAN_LOGMESSAGE_LEVEL_ERROR 3u
+#define UAVCAN_LOGMESSAGE_SOURCE_0 'B'
+#define UAVCAN_LOGMESSAGE_SOURCE_1 'O'
+#define UAVCAN_LOGMESSAGE_SOURCE_2 'O'
+#define UAVCAN_LOGMESSAGE_SOURCE_3 'T'
+
+#define UAVCAN_LOGMESSAGE_STAGE_INIT 'I'
+#define UAVCAN_LOGMESSAGE_STAGE_GET_INFO 'G'
+#define UAVCAN_LOGMESSAGE_STAGE_ERASE 'E'
+#define UAVCAN_LOGMESSAGE_STAGE_READ 'R'
+#define UAVCAN_LOGMESSAGE_STAGE_PROGRAM 'P'
+#define UAVCAN_LOGMESSAGE_STAGE_VALIDATE 'V'
+#define UAVCAN_LOGMESSAGE_STAGE_FINALIZE 'F'
+#define UAVCAN_LOGMESSAGE_RESULT_START 's'
+#define UAVCAN_LOGMESSAGE_RESULT_FAIL 'f'
+#define UAVCAN_LOGMESSAGE_RESULT_OK 'o'
+
+
+typedef struct packed_struct uavcan_beginfirmwareupdate_request_t {
+    uint8_t source_node_id;
+    uint8_t path[200];
+    uint8_t path_length;
+} uavcan_beginfirmwareupdate_request_t;
+
+typedef struct packed_struct uavcan_beginfirmwareupdate_response_t {
+    uint8_t error;
+} uavcan_beginfirmwareupdate_response_t;
+
+#define UAVCAN_BEGINFIRMWAREUPDATE_DTID 580u
+#define UAVCAN_BEGINFIRMWAREUPDATE_CRC 0x729Eu
+#define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_OK 0u
+#define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_INVALID_MODE 1u
+#define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_IN_PROGRESS 2u
+#define UAVCAN_BEGINFIRMWAREUPDATE_ERROR_UNKNOWN 255u
+
+
+typedef struct packed_struct uavcan_getinfo_request_t {
+    uint8_t path[200];
+    uint8_t path_length;
+} uavcan_getinfo_request_t;
+
+typedef struct packed_struct uavcan_getinfo_response_t {
+    uint64_t crc64;
+    uint32_t size;
+    uint16_t error;
+    uint8_t entry_type;
+} uavcan_getinfo_response_t;
+
+#define UAVCAN_GETINFO_DTID 585u
+#define UAVCAN_GETINFO_CRC 0x37A0u
+#define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_FILE 0x01u
+#define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_DIRECTORY 0x02u
+#define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_SYMLINK 0x04u
+#define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_READABLE 0x08u
+#define UAVCAN_GETINFO_ENTRY_TYPE_FLAG_WRITEABLE 0x10u
+
+
+typedef struct packed_struct uavcan_read_request_t {
+    uint32_t offset;
+    uint8_t path[200];
+    uint8_t path_length;
+} uavcan_read_request_t;
+
+typedef struct packed_struct uavcan_read_response_t {
+    uint16_t error;
+    uint8_t data[250];
+    uint8_t data_length;
+} uavcan_read_response_t;
+
+#define UAVCAN_READ_DTID 588u
+#define UAVCAN_READ_CRC 0x2921u
+
+#define UAVCAN_FILE_ERROR_OK 0u
+/* Left the others out for now because we don't really care why it failed */
+
+
+#define UAVCAN_ALLOCATION_CRC 0x7BAAu
+
+
+size_t uavcan_pack_nodestatus(
+    uint8_t *data,
+    const uavcan_nodestatus_t *payload
+);
+size_t uavcan_pack_logmessage(
+    uint8_t *data,
+    const uavcan_logmessage_t *payload
+);
+uint32_t uavcan_make_message_id(const uavcan_frame_id_t *frame_id);
+int uavcan_parse_message_id(uavcan_frame_id_t *frame_id, uint32_t message_id,
+                             uint16_t expected_id);
+void uavcan_tx_nodestatus(
+    uint8_t node_id,
+    uint32_t uptime_sec,
+    uint8_t status_code
+);
+void uavcan_tx_allocation_message(
+    uint8_t requested_node_id,
+    size_t unique_id_length,
+    const uint8_t *unique_id,
+    uint8_t unique_id_offset,
+    uint8_t transfer_id
+);
+void uavcan_tx_getnodeinfo_response(
+    uint8_t node_id,
+    uavcan_getnodeinfo_response_t *response,
+    uint8_t dest_node_id,
+    uint8_t transfer_id
+);
+can_error_t uavcan_rx_beginfirmwareupdate_request(
+    uint8_t node_id,
+    uavcan_beginfirmwareupdate_request_t *request,
+    uavcan_frame_id_t *out_frame_id
+);
+void uavcan_tx_read_request(
+    uint8_t node_id,
+    const uavcan_read_request_t *request,
+    uint8_t dest_node_id,
+    uint8_t transfer_id
+);
+can_error_t uavcan_rx_read_response(
+    uint8_t node_id,
+    uavcan_read_response_t *response,
+    uint8_t dest_node_id,
+    uint8_t transfer_id,
+    uint32_t timeout_ticks
+);
+void uavcan_tx_getinfo_request(
+    uint8_t node_id,
+    const uavcan_getinfo_request_t *request,
+    uint8_t dest_node_id,
+    uint8_t transfer_id
+);
+can_error_t uavcan_rx_getinfo_response(
+    uint8_t node_id,
+    uavcan_getinfo_response_t *response,
+    uint8_t dest_node_id,
+    uint8_t transfer_id,
+    uint32_t timeout_ticks
+);