mirror of https://github.com/ArduPilot/ardupilot
104 lines
3.1 KiB
C++
104 lines
3.1 KiB
C++
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Siddharth Bharat Purohit
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*/
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#include "CANSerialRouter.h"
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#if HAL_WITH_UAVCAN
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SLCANRouter* SLCANRouter::_singleton = nullptr;
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extern const AP_HAL::HAL& hal;
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SLCANRouter &slcan_router()
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{
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return *SLCANRouter::instance();
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}
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void SLCANRouter::init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* update_event)
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{
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can_if_ = can_if;
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if (!slcan_if_.is_initialized()) {
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if (slcan_if_.init(921600, SLCAN::CAN::OperatingMode::NormalMode) < 0) {
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return;
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}
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}
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update_event_ = update_event;
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hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&SLCANRouter::can2slcan_router_trampoline, void), "C2SRouter", 512, AP_HAL::Scheduler::PRIORITY_CAN, 0);
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hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&SLCANRouter::slcan2can_router_trampoline, void), "S2CRouter", 512, AP_HAL::Scheduler::PRIORITY_CAN, 0);
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}
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void SLCANRouter::route_frame_to_slcan(ChibiOS_CAN::CanIface* can_if, const uavcan::CanFrame& frame, uint64_t timestamp_usec)
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{
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if (can_if_ != can_if) {
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return;
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}
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CanRouteItem it;
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it.frame = frame;
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it.utc_usec = timestamp_usec;
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if (slcan_tx_queue_.space() == 0) {
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slcan_tx_queue_.pop();
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}
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slcan_tx_queue_.push(it);
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}
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void SLCANRouter::route_frame_to_can(const uavcan::CanFrame& frame, uint64_t timestamp_usec)
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{
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CanRouteItem it;
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it.frame = frame;
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it.utc_usec = timestamp_usec;
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if (can_tx_queue_.space() == 0) {
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can_tx_queue_.pop();
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}
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can_tx_queue_.push(it);
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}
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void SLCANRouter::slcan2can_router_trampoline(void)
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{
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CanRouteItem it;
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while(true) {
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chSysLock();
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_s2c_thd_ref = nullptr;
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if (_thread_suspended) {
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_port->lock_port(0, 0);
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chThdSuspendS(&_s2c_thd_ref);
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}
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chSysUnlock();
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_slcan_if.reader();
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if (_can_tx_queue.available() && _can_if) {
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_can_tx_queue.peek(it);
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if (_can_if->send(it.frame, uavcan::MonotonicTime::fromUSec(AP_HAL::micros64() + 1000), 0)) {
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_can_tx_queue.pop();
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}
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}
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}
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}
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void SLCANRouter::can2slcan_router_trampoline(void)
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{
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CanRouteItem it;
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while(true) {
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update_event_->wait(uavcan::MonotonicDuration::fromUSec(1000));
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if (slcan_tx_queue_.available()) {
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slcan_tx_queue_.peek(it);
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if (slcan_if_.send(it.frame, uavcan::MonotonicTime::fromUSec(AP_HAL::micros64() + 1000), 0)) {
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slcan_tx_queue_.pop();
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}
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}
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}
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}
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#endif
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