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AP_PiccoloCAN: use 32 bit microsecond timeouts for read_frame

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For consistency with other parts of the code.

Makes obvious the curious fact that the read_frame timeout is always 0.
This commit is contained in:
Thomas Watson 2024-10-08 23:02:43 -05:00 committed by Andrew Tridgell
parent 55c5cb10d0
commit 1354490621
2 changed files with 5 additions and 5 deletions
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8
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
View File

@ -209,7 +209,6 @@ void AP_PiccoloCAN::loop()
uint16_t ecuCmdRateMs = 1000 / _ecu_hz; uint16_t ecuCmdRateMs = 1000 / _ecu_hz;
#endif #endif
uint64_t timeout = AP_HAL::micros64() + 250ULL;
// 1ms loop delay // 1ms loop delay
hal.scheduler->delay_microseconds(1000); hal.scheduler->delay_microseconds(1000);
@ -235,7 +234,7 @@ void AP_PiccoloCAN::loop()
#endif #endif
// Look for any message responses on the CAN bus // Look for any message responses on the CAN bus
while (read_frame(rxFrame, timeout)) { while (read_frame(rxFrame, 0)) {
// Extract group and device ID values from the frame identifier // Extract group and device ID values from the frame identifier
frame_id_group = (rxFrame.id >> 24) & 0x1F; frame_id_group = (rxFrame.id >> 24) & 0x1F;
@ -296,15 +295,16 @@ bool AP_PiccoloCAN::write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout)
} }
// read frame on CAN bus, returns true on succses // read frame on CAN bus, returns true on succses
bool AP_PiccoloCAN::read_frame(AP_HAL::CANFrame &recv_frame, uint64_t timeout) bool AP_PiccoloCAN::read_frame(AP_HAL::CANFrame &recv_frame, uint32_t timeout_us)
{ {
if (!_initialized) { if (!_initialized) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Driver not initialized for read_frame\n\r"); debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Driver not initialized for read_frame\n\r");
return false; return false;
} }
bool read_select = true; bool read_select = true;
bool write_select = false; bool write_select = false;
bool ret = _can_iface->select(read_select, write_select, nullptr, timeout); bool ret = _can_iface->select(read_select, write_select, nullptr, AP_HAL::micros64() + timeout_us);
if (!ret || !read_select) { if (!ret || !read_select) {
// No frame available // No frame available

2
libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
View File

@ -86,7 +86,7 @@ private:
bool write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout); bool write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout);
// read frame on CAN bus, returns true on succses // read frame on CAN bus, returns true on succses
bool read_frame(AP_HAL::CANFrame &recv_frame, uint64_t timeout); bool read_frame(AP_HAL::CANFrame &recv_frame, uint32_t timeout_us);
// send ESC commands over CAN // send ESC commands over CAN
void send_esc_messages(void); void send_esc_messages(void);