some fixes

include/serialization/publisher.hpp

@@ -76,7 +76,7 @@ class DronecanPeriodicPublisher : public DronecanPublisher<MessageType> {
 public:
     DronecanPeriodicPublisher(float frequency) :
         DronecanPublisher<MessageType>(),
-        PUB_PERIOD_MS(static_cast<uint32_t>(1000.0f / std::clamp(frequency, 0.001f, 100.0f))) {};
+        PUB_PERIOD_MS(static_cast<uint32_t>(1000.0f / std::clamp(frequency, 0.001f, 1000.0f))) {};
 
     inline void spinOnce() {
         auto crnt_time_ms = platformSpecificGetTimeMs();

include/serialization/subscriber.hpp

@@ -19,7 +19,6 @@
 #include "uavcan/equipment/safety/ArmingStatus.h"
 #include "uavcan/equipment/hardpoint/Command.h"
 
-
 template <typename MessageType>
 struct DronecanSubscriberTraits;
 
@@ -46,7 +45,7 @@ DEFINE_SUBSCRIBER_TRAITS(BeepCommand_t,
 DEFINE_SUBSCRIBER_TRAITS(LightsCommand_t,
                          uavcanSubscribeIndicationLightsCommand,
                          dronecan_equipment_indication_lights_command_deserialize)
-DEFINE_SUBSCRIBER_TRAITS(ArmingStatus,
+DEFINE_SUBSCRIBER_TRAITS(SafetyArmingStatus,
                          uavcanSubscribeArmingStatus,
                          dronecan_equipment_safety_arming_status_deserialize)
 DEFINE_SUBSCRIBER_TRAITS(HardpointCommand,

include/serialization/uavcan/equipment/safety/ArmingStatus.h

@@ -18,7 +18,7 @@
 #define UAVCAN_EQUIPMENT_SAFETY_ARMING_STATUS_MESSAGE_SIZE           1
 #define UAVCAN_EQUIPMENT_SAFETY_ARMING_STATUS UAVCAN_EXPAND(UAVCAN_EQUIPMENT_SAFETY_ARMING_STATUS)
 
-enum class ArmingStatus: uint8_t {
+enum class SafetyArmingStatus: uint8_t {
     STATUS_DISARMED     = 0,
     STATUS_FULLY_ARMED  = 255,
 };
@@ -29,7 +29,7 @@ extern "C" {
 
 
 static inline int8_t dronecan_equipment_safety_arming_status_deserialize(
-    const CanardRxTransfer* transfer, ArmingStatus* obj)
+    const CanardRxTransfer* transfer, SafetyArmingStatus* obj)
 {
     canardDecodeScalar(transfer, 0,      8, false, obj);
 

platform_specific/socketcan/can_driver.c

@@ -24,12 +24,12 @@ int16_t canDriverInit(uint32_t can_speed, uint8_t can_driver_idx) {
 int16_t canDriverReceive(CanardCANFrame* const rx_frame, uint8_t can_driver_idx) {
     (void)can_driver_idx;
     rx_frame->iface_id = 0;
-    return socketcanReceive(&socket_can_instance, rx_frame, 10);
+    return socketcanReceive(&socket_can_instance, rx_frame, 0);
 }
 
 int16_t canDriverTransmit(const CanardCANFrame* const tx_frame, uint8_t can_driver_idx) {
     (void)can_driver_idx;
-    return socketcanTransmit(&socket_can_instance, tx_frame, 10);
+    return socketcanTransmit(&socket_can_instance, tx_frame, 0);
 }
 
 uint64_t canDriverGetErrorCount() {

src/dronecan.c

@@ -314,12 +314,16 @@ static uint8_t uavcanProcessSending() {
 
 static bool uavcanProcessReceiving(uint32_t crnt_time_ms) {
     CanardCANFrame rx_frame;
-    int16_t res = canDriverReceive(&rx_frame, CAN_DRIVER_FIRST);
-    if (res) {
-        uint64_t crnt_time_us = crnt_time_ms * 1000;
-        canardHandleRxFrame(&g_canard, &rx_frame, crnt_time_us);
-        return true;
+    for (size_t idx = 0; idx < 10; idx++) {
+        int16_t res = canDriverReceive(&rx_frame, CAN_DRIVER_FIRST);
+        if (res) {
+            uint64_t crnt_time_us = crnt_time_ms * 1000;
+            canardHandleRxFrame(&g_canard, &rx_frame, crnt_time_us);
+        } else {
+            break;
+        }
     }
+
     return false;
 }