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AP_Periph: make can broadcast threadsafe, like can_printf call from lua thread

This commit is contained in:
bugobliterator 2024-09-16 14:20:02 +10:00 committed by Andrew Tridgell
parent a717283c62
commit 27b202e984
2 changed files with 10 additions and 4 deletions
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2
Tools/AP_Periph/AP_Periph.h
View File

@ -583,6 +583,8 @@ public:
#if AP_AHRS_ENABLED #if AP_AHRS_ENABLED
AP_AHRS ahrs; AP_AHRS ahrs;
#endif #endif
HAL_Semaphore canard_broadcast_semaphore;
}; };
#ifndef CAN_APP_NODE_NAME #ifndef CAN_APP_NODE_NAME

12
Tools/AP_Periph/can.cpp
View File

@ -1055,6 +1055,7 @@ bool AP_Periph_FW::canard_broadcast(uint64_t data_type_signature,
uint16_t payload_len, uint16_t payload_len,
uint8_t iface_mask) uint8_t iface_mask)
{ {
WITH_SEMAPHORE(canard_broadcast_semaphore);
const bool is_dna = data_type_id == UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID; const bool is_dna = data_type_id == UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID;
if (!is_dna && canardGetLocalNodeID(&dronecan.canard) == CANARD_BROADCAST_NODE_ID) { if (!is_dna && canardGetLocalNodeID(&dronecan.canard) == CANARD_BROADCAST_NODE_ID) {
return false; return false;
@ -1939,12 +1940,15 @@ void AP_Periph_FW::can_update()
// allow for user enabling/disabling CANFD at runtime // allow for user enabling/disabling CANFD at runtime
dronecan.canard.tao_disabled = g.can_fdmode == 1; dronecan.canard.tao_disabled = g.can_fdmode == 1;
#endif #endif
{
processTx(); WITH_SEMAPHORE(canard_broadcast_semaphore);
processRx(); processTx();
processRx();
#if HAL_PERIPH_CAN_MIRROR #if HAL_PERIPH_CAN_MIRROR
processMirror(); processMirror();
#endif // HAL_PERIPH_CAN_MIRROR #endif // HAL_PERIPH_CAN_MIRROR
}
} }
} }