From 9ad604247daec2eed38f1547ab733dde77d53174 Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 26 Mar 2021 17:58:21 +0100
Subject: [PATCH] Updated changelog and minor fixes

---
 CHANGELOG                 |  1 +
 conf_general.h            |  2 +-
 libcanard/canard_driver.c | 18 ++++++++++++++----
 3 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/CHANGELOG b/CHANGELOG
index 2d5dd4c00..37604a121 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -10,6 +10,7 @@
 * Observer global convergence update. Helps tracking the motor through 0 speed.
 * Added HFI start sensor mode.
 * Added TEMP_SENSOR_KTY84_130.
+* Major UAVCAN update. See: https://github.com/vedderb/bldc/pull/269
 
 === FW 5.02 ===
 * IMU calibration improvement.
diff --git a/conf_general.h b/conf_general.h
index b42cb7988..2220a23d0 100644
--- a/conf_general.h
+++ b/conf_general.h
@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			5
 #define FW_VERSION_MINOR			03
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		14
+#define FW_TEST_VERSION_NUMBER		15
 
 #include "datatypes.h"
 
diff --git a/libcanard/canard_driver.c b/libcanard/canard_driver.c
index af9a47ea9..775edffe4 100755
--- a/libcanard/canard_driver.c
+++ b/libcanard/canard_driver.c
@@ -496,6 +496,8 @@ static void handle_get_node_info(CanardInstance* ins, CanardRxTransfer* transfer
  * Handle ESC Raw command
  */
 static void handle_esc_raw_command(CanardInstance* ins, CanardRxTransfer* transfer) {
+	(void)ins;
+
 	uavcan_equipment_esc_RawCommand cmd;
 	uint8_t buffer[UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE];
 	memset(buffer, 0, sizeof(buffer));
@@ -534,6 +536,8 @@ static void handle_esc_raw_command(CanardInstance* ins, CanardRxTransfer* transf
  * Handle ESC RPM command
  */
 static void handle_esc_rpm_command(CanardInstance* ins, CanardRxTransfer* transfer) {
+	(void)ins;
+
 	uavcan_equipment_esc_RPMCommand cmd;
 	uint8_t buffer[UAVCAN_EQUIPMENT_ESC_RPMCOMMAND_MAX_SIZE];
 	memset(buffer, 0, sizeof(buffer));
@@ -553,6 +557,8 @@ static void handle_esc_rpm_command(CanardInstance* ins, CanardRxTransfer* transf
  * this data can be used to respond to total system current consumption.
  */
 static void handle_esc_status(CanardInstance* ins, CanardRxTransfer* transfer) {
+	(void)ins;
+
 	uavcan_equipment_esc_Status msg;
 	if (uavcan_equipment_esc_Status_decode_internal(transfer, transfer->payload_len, &msg, 0, 0) >= 0) {
 		for (int i = 0;i < STATUS_MSGS_TO_STORE;i++) {
@@ -788,8 +794,9 @@ static void send_fw_read(void)
  * send_fw_read() above. the packet contains a 16 bit value at the begining called 
  * error that needs to be removed before reading the file chunk
  */
-static void handle_file_read_response(CanardInstance* ins, CanardRxTransfer* transfer)
-{
+static void handle_file_read_response(CanardInstance* ins, CanardRxTransfer* transfer) {
+	(void)ins;
+
 	if ((transfer->transfer_id+1)%256 != fw_update.transfer_id ||
 		transfer->source_node_id != fw_update.node_id) {
 		return;
@@ -818,6 +825,9 @@ static void handle_file_read_response(CanardInstance* ins, CanardRxTransfer* tra
 	uint16_t flash_res = flash_helper_write_new_app_data(fw_update.ofs+6, buf, len);
 	fw_update.ofs += len;
 	
+	// TODO: Check result and abort on failure.
+	(void)flash_res;
+
 	// If the packet is incomplete that means that was the last packet (might be an issue if the last packet is exactly full)
 	// however Ardupilot seems to be handling this same way, and no issues have been reported so far.
 	if (len < UAVCAN_PROTOCOL_FILE_READ_RESPONSE_DATA_MAX_LENGTH) {
@@ -1018,8 +1028,8 @@ static bool shouldAcceptTransfer(const CanardInstance* ins,
 								 uint64_t* out_data_type_signature,
 								 uint16_t data_type_id,
 								 CanardTransferType transfer_type,
-								 uint8_t source_node_id)
-{
+								 uint8_t source_node_id) {
+	(void)ins;
 	(void)source_node_id;
 
 	if (debug_level == 4) {