More review changes

.gitignore

@@ -34,12 +34,7 @@
 # CMake build directory
 build/
 cmake-build-*/
-CMakeFiles/
-cmake_install.cmake
-CMakeCache.txt
-Makefile
-demo
-run_tests
+build-avr/
 
 # IDE and tools
 .idea

.travis.yml

@@ -18,7 +18,8 @@ matrix:
             - gcc-7-multilib
             - linux-libc-dev:i386
       script:
-        - CC=gcc-7 && CXX=g++-7 && cd tests/ && cmake . && make
+        - mkdir tests/build/ cd tests/build/
+        - CC=gcc-7 && CXX=g++-7 && cmake .. && make
         - ./run_tests --rng-seed time
 
     #
@@ -37,9 +38,9 @@ matrix:
             - linux-libc-dev:i386
             - libc6-dev-i386
       script:
+        - mkdir tests/build/ cd tests/build/
         - clang++-5.0 -E -x c++ - -v < /dev/null    # Print the Clang configuration for troubleshooting purposes
-        - cd tests/
-        - cmake -DCMAKE_C_COMPILER=clang-5.0 -DCMAKE_CXX_COMPILER=clang++-5.0 .
+        - cmake -DCMAKE_C_COMPILER=clang-5.0 -DCMAKE_CXX_COMPILER=clang++-5.0 ..
         - make
         - ./run_tests --rng-seed time
 

DESIGN.md

@@ -142,7 +142,7 @@ Few things to note:
 Value of the field dtid_tt_snid_dnid can be computed with the following helper macro:
 
 ```c
-#define CANARD_MAKE_TRANSFER_DESCRIPTOR(data_type_id, transfer_type, \
+#define CANARD_MAKE_SESSION_SPECIFIER(data_type_id, transfer_type, \
                                         src_node_id, dst_node_id) \
     ((data_type_id) | ((transfer_type) << 16) | \
      ((src_node_id) << 18) | ((dst_node_id) << 25))

canard.c

@@ -42,11 +42,11 @@
 #define SERVICE_NOT_MSG_FROM_ID(x)                  ((bool)    (((x) >> 25U) & 0x1U))
 #define REQUEST_NOT_RESPONSE_FROM_ID(x)             ((bool)    (((x) >> 24U) & 0x1U))
 #define DEST_ID_FROM_ID(x)                          ((uint8_t) (((x) >> 8U)  & 0x7FU))
-#define PRIORITY_FROM_ID(x)                         ((uint8_t) (((x) >> 26U) & 0x1FU))
+#define PRIORITY_FROM_ID(x)                         ((uint8_t) (((x) >> 26U) & 0x7U))
 #define SUBJECT_TYPE_FROM_ID(x)                     ((uint16_t)(((x) >> 8U)  & 0x7FFFU))
 #define SRV_TYPE_FROM_ID(x)                         ((uint8_t) (((x) >> 15U) & 0x1FFU))
 
-#define MAKE_TRANSFER_DESCRIPTOR(port_id, transfer_type, src_node_id, dst_node_id)             \
+#define MAKE_SESSION_SPECIFIER(port_id, transfer_type, src_node_id, dst_node_id)             \
     (((uint32_t)(port_id)) | (((uint32_t)(transfer_type)) << 16U) |                            \
     (((uint32_t)(src_node_id)) << 18U) | (((uint32_t)(dst_node_id)) << 25U))
 
@@ -151,7 +151,7 @@ int16_t canardBroadcast(CanardInstance* ins,
     uint32_t can_id = 0;
     uint16_t crc = 0xFFFFU;
 
-    can_id = ((uint32_t) priority << 26U) | ((uint32_t) data_type_id << 8U) | ((uint32_t) canardGetLocalNodeID(ins) << 1U);
+    can_id = ((uint32_t) priority << 26U) | ((uint32_t) data_type_id << 8U);
 
     if (canardGetLocalNodeID(ins) == CANARD_BROADCAST_NODE_ID) // Anonymous message transfer
     {
@@ -170,6 +170,8 @@ int16_t canardBroadcast(CanardInstance* ins,
             crc = crcAddSignature(crc, data_type_signature);
             crc = crcAdd(crc, payload, payload_len);
         }
+
+        can_id |=  ((uint32_t) (canardGetLocalNodeID(ins) & 0x7FU) << 1U);
     }
 
     const int16_t result = enqueueTxFrames(ins, can_id, inout_transfer_id, crc, payload, payload_len);
@@ -267,7 +269,7 @@ int16_t canardHandleRxFrame(CanardInstance* ins, const CanardCANFrame* frame, ui
     const uint8_t source_node_id = SOURCE_ID_FROM_ID(frame->id);
     const uint16_t data_type_id = extractDataType(frame->id);
     const uint32_t transfer_descriptor =
-            MAKE_TRANSFER_DESCRIPTOR(data_type_id, transfer_type, source_node_id, destination_node_id);
+            MAKE_SESSION_SPECIFIER(data_type_id, transfer_type, source_node_id, destination_node_id);
 
     const uint8_t tail_byte = frame->data[frame->data_len - 1];
 

canard.h

@@ -347,14 +347,14 @@ void* canardGetUserReference(CanardInstance* ins);
  * Assigns a new node ID value to the current node.
  * Node ID can be assigned only once.
  *
- * Returns CANARD_OK if success, or negative error code if node ID is outside valid range.
+ * Returns CANARD_OK if success, or negative error code if node ID is outside valid range or already configured.
  */
 int16_t canardSetLocalNodeID(CanardInstance* ins,
-                          uint8_t self_node_id);
+                             uint8_t self_node_id);
 
 /**
  * Returns node ID of the local node.
- * Returns zero (broadcast) if the node ID is not set, i.e. if the local node is anonymous.
+ * Returns 255 (broadcast) if the node ID is not set, i.e. if the local node is anonymous.
  */
 uint8_t canardGetLocalNodeID(const CanardInstance* ins);