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AP_UAVCAN: implement routing SLCAN to and from CANbus

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This commit is contained in:
Siddharth Purohit 2018-11-16 18:14:06 +08:00 committed by Andrew Tridgell
parent 7a871a8843
commit 112f535365
2 changed files with 16 additions and 15 deletions
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11
libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.cpp
View File

@ -19,11 +19,14 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include "AP_UAVCAN_SLCAN.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Common/Semaphore.h>
#include <AP_HAL_ChibiOS/CANSerialRouter.h>
extern const AP_HAL::HAL& hal;
static uint8_t nibble2hex(uint8_t x)
@ -37,7 +40,6 @@ static uint8_t nibble2hex(uint8_t x)
}
static bool hex2nibble_error;
SLCAN::SLCANRouter* SLCAN::SLCANRouter::_singleton = nullptr;
static uint8_t hex2nibble(char ch)
{
@ -77,6 +79,7 @@ bool SLCAN::CAN::push_Frame(uavcan::CanFrame &frame)
frm.frame = frame;
frm.flags = 0;
frm.utc_usec = AP_HAL::micros64();
slcan_router().route_frame_to_can(frm.frame, frm.utc_usec);
return rx_queue_.push(frm);
}
@ -204,7 +207,7 @@ static inline const char* getASCIIStatusCode(bool status) { return status ? "\r"
bool SLCAN::CANManager::begin(uint32_t bitrate, uint8_t can_number)
{
if (driver_.init(1000000, SLCAN::CAN::NormalMode) < 0) {
if (driver_.init(bitrate, SLCAN::CAN::NormalMode) < 0) {
return false;
}
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&SLCAN::CANManager::reader_trampoline, void), "SLCAN", 4096, AP_HAL::Scheduler::PRIORITY_CAN, -1)) {
@ -476,7 +479,7 @@ void SLCAN::CAN::reader() {
return;
}
if (!_port_initialised) {
_port->begin(921600);
_port->begin(bitrate_);
_port_initialised = true;
}

20
libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.h
View File

@ -1,18 +1,19 @@
#pragma once
#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <AP_HAL/CAN.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include "AP_HAL/utility/RingBuffer.h"
#define SLCAN_BUFFER_SIZE 200
#define SLCAN_STM32_RX_QUEUE_SIZE 64
#define SLCAN_RX_QUEUE_SIZE 64
#define SLCAN_DRIVER_INDEX 2
class SLCANRouter;
namespace SLCAN {
/**
* Driver error codes.
@ -41,9 +42,9 @@ struct CanRxItem {
{
}
};
class CAN: public AP_HAL::CAN {
friend class CANManager;
friend class ::SLCANRouter;
struct TxItem {
uavcan::MonotonicTime deadline;
uavcan::CanFrame frame;
@ -105,11 +106,10 @@ class CAN: public AP_HAL::CAN {
bool handle_FrameRTRExt(const char* cmd);
bool handle_FrameDataStd(const char* cmd);
bool handle_FrameDataExt(const char* cmd);
void reader(void);
inline void addByte(const uint8_t byte);
void reader(void);
bool initialized_;
bool _port_initialised;
char buf_[SLCAN_BUFFER_SIZE + 1];
@ -185,7 +185,7 @@ class CANManager: public AP_HAL::CANManager, public uavcan::ICanDriver {
thread_t *_irq_handler_ctx = nullptr;
public:
CANManager()
: AP_HAL::CANManager(this), initialized_(false), driver_(SLCAN_DRIVER_INDEX, SLCAN_STM32_RX_QUEUE_SIZE)
: AP_HAL::CANManager(this), initialized_(false), driver_(SLCAN_DRIVER_INDEX, SLCAN_RX_QUEUE_SIZE)
{ }
/**
@ -216,12 +216,10 @@ public:
return _ifaces_num;
}
static void reader(void);
void reader_trampoline(void);
};
}
#include <AP_HAL_ChibiOS/CANSerialRouter.h>
#endif //#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES