{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8987","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8987/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8987/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8987/events","html_url":"https://github.com/ArduPilot/ardupilot/pull/8987","id":343441130,"node_id":"MDExOlB1bGxSZXF1ZXN0MjAzMDc4MTg1","number":8987,"title":"CAN cleanup","user":{"login":"OXINARF","id":1778527,"node_id":"MDQ6VXNlcjE3Nzg1Mjc=","avatar_url":"https://avatars2.githubusercontent.com/u/1778527?v=4","gravatar_id":"","url":"https://api.github.com/users/OXINARF","html_url":"https://github.com/OXINARF","followers_url":"https://api.github.com/users/OXINARF/followers","following_url":"https://api.github.com/users/OXINARF/following{/other_user}","gists_url":"https://api.github.com/users/OXINARF/gists{/gist_id}","starred_url":"https://api.github.com/users/OXINARF/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/OXINARF/subscriptions","organizations_url":"https://api.github.com/users/OXINARF/orgs","repos_url":"https://api.github.com/users/OXINARF/repos","events_url":"https://api.github.com/users/OXINARF/events{/privacy}","received_events_url":"https://api.github.com/users/OXINARF/received_events","type":"User","site_admin":false},"labels":[{"id":628379704,"node_id":"MDU6TGFiZWw2MjgzNzk3MDQ=","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/CAN","name":"CAN","color":"42b3f4","default":false},{"id":796236767,"node_id":"MDU6TGFiZWw3OTYyMzY3Njc=","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/ChibiOS","name":"ChibiOS","color":"c669e0","default":false},{"id":547273148,"node_id":"MDU6TGFiZWw1NDcyNzMxNDg=","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/DevCallTopic","name":"DevCallTopic","color":"b60205","default":false},{"id":136051782,"node_id":"MDU6TGFiZWwxMzYwNTE3ODI=","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Library","name":"Library","color":"f7c6c7","default":false},{"id":133621483,"node_id":"MDU6TGFiZWwxMzM2MjE0ODM=","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Linux","name":"Linux","color":"eb6420","default":false},{"id":36065544,"node_id":"MDU6TGFiZWwzNjA2NTU0NA==","url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/PX4","name":"PX4","color":"d3d3d3","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":18,"created_at":"2018-07-22T21:39:25Z","updated_at":"2018-08-03T14:28:02Z","closed_at":null,"author_association":"MEMBER","pull_request":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/8987","html_url":"https://github.com/ArduPilot/ardupilot/pull/8987","diff_url":"https://github.com/ArduPilot/ardupilot/pull/8987.diff","patch_url":"https://github.com/ArduPilot/ardupilot/pull/8987.patch"},"body":"This is a CAN cleanup:\r\n\r\n- adds a new interface called CANProtocol that all CAN protocols should implement: it's basically a init method that all should have\r\n- removes CAN thread management from HALs and leaves it for the each CANProtocol to create a thread, using the new thread_create API\r\n- both of the above open space for new CAN protocols being added\r\n- fixes ChibiOS driver that wasn't correctly handling multiple CANManager instances neither the separation of interfaces for each of the CANManager interfaces; this effectively fixes an observed issue of CAN using a lot of CPU time even when not doing much\r\n- cleans and reorders AP_UAVCAN to make it more readable\r\n- adds CAN filtering in UAVCAN for boards with space; unfortunately this increases size too much to have it there\r\n- removes debug messages (and parameter) by default; this amounts to almost less 2.5 KB in binary size\r\n- fixes two bugs and a warning in other libraries\r\n\r\nThis has been verified as working with a Zubax Babel. I'm waiting arrival of a Zubax GNSS this week and I'll do further testing. Any more testing anybody can do is appreciated.\r\n\r\nI don't have an Emlid Edge to test the UAVCAN LED, but in the Babel messages look fine. Hopefully @staroselskii can test it.\r\n\r\nAs @bugobliterator (#8972), I've done some experiments on breaking AP_UAVCAN message handling into parts, but it really increases size so I've left it out for now. I have some ideas there, but no time to pursue them at the moment."},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/410270838","html_url":"https://github.com/ArduPilot/ardupilot/pull/8987#issuecomment-410270838","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8987","id":410270838,"node_id":"MDEyOklzc3VlQ29tbWVudDQxMDI3MDgzOA==","user":{"login":"OXINARF","id":1778527,"node_id":"MDQ6VXNlcjE3Nzg1Mjc=","avatar_url":"https://avatars2.githubusercontent.com/u/1778527?v=4","gravatar_id":"","url":"https://api.github.com/users/OXINARF","html_url":"https://github.com/OXINARF","followers_url":"https://api.github.com/users/OXINARF/followers","following_url":"https://api.github.com/users/OXINARF/following{/other_user}","gists_url":"https://api.github.com/users/OXINARF/gists{/gist_id}","starred_url":"https://api.github.com/users/OXINARF/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/OXINARF/subscriptions","organizations_url":"https://api.github.com/users/OXINARF/orgs","repos_url":"https://api.github.com/users/OXINARF/repos","events_url":"https://api.github.com/users/OXINARF/events{/privacy}","received_events_url":"https://api.github.com/users/OXINARF/received_events","type":"User","site_admin":false},"created_at":"2018-08-03T14:28:02Z","updated_at":"2018-08-03T14:28:02Z","author_association":"MEMBER","body":"Force-pushed with a fixing commit in ChibiOS driver from Sid."}}
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