feat(dronecan): add Dynamic Node Allocation (DNA) server#11688

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daijoubu wants to merge 127 commits into

iNavFlight:maintenance-10.xfrom

daijoubu:feature/dronecan-dna-server

Commits on Jul 1, 2026

Commits on Jul 2, 2026

fix(dronecan): address code review findings from param-getset pass 3
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fix(dronecan): address code review findings from param-getset pass 4
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Commits on Jul 5, 2026

Initial DNA server code. Handles dynamicNodeAllocation broadcasts and responds with a fixed node ID.
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Added the ability to dynamically assign unique node IDs.
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Removed dead fixed assignment.
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fix(dronecan): DNA server code review fixes
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refactor(dronecan): extract DNA server into separate files
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fix(dronecan): guard against invalid node ID when allocation table is exhausted
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fix(dronecan): upgrade decode/operational errors from LOG_DEBUG to LOG_WARNING
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feat(dronecan): add dronecan_use_dna_server setting with enable guard
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Moved node allocation table to Parameter Groups to handle presistent storage.
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Persist node allocations to EEPROM when disarmed.
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test(dronecan): add DNA server unit tests (DNA-1 through DNA-9)
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Honor the requested Node ID if it is available
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feat(dronecan): honour peripheral's preferred node ID in DNA allocation
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docs(dronecan): update docs to reflect DNA server implementation
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docs(dronecan): clarify DNA requires peripheral node ID = 0 (anonymous)
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DNA is supposed to start from Node ID 125 and work down. 126 and 127 are reserved for network maintenance nodes.
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Ensure we don't assign or re use a node assignment that is in use on the network. If a stored assignment is in use by another node, assign a new id and update the stored value.
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fix(dronecan): correct DNA node ID allocation per UAVCAN spec
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fix(dronecan): code review cleanup and expanded unit tests
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fix(dronecan): implement spec-correct preferred node ID search order
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fix(dronecan): use explicit constant in Stage 3 detection
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fix(dronecan): guard DNA server with USE_DRONECAN like dronecan.c
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refactor(dronecan): clean up DNA server logging
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fix(dronecan): restore busOffCount, dronecanGetBusOffCount, dronecanGetPoolStats
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fix(dronecan): restore NVIC masking lost during rebase conflict resolution
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fix(dronecan): restore dronecanMaskTxISR/UnmaskTxISR definitions lost in rebase
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test(dronecan): fix application unittest link on dna-server branch
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fix(dronecan): restore txErrCount/bc_res declarations dropped during param-getset rebase
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fix(dronecan): restore vendor_specific_status_code masking and memory_pool static
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test(dronecan): make DNA-8 actually test the FC-node-ID skip guard
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feat(dronecan): accept single-frame full-UID stage-1 delivery for DNA allocation
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Commits on Jul 6, 2026

test(dronecan): add differential regression test for the 4-byte stage-1 fix
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