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AP_DroneCAN: use canard cleanup

This commit is contained in:
bugobliterator 2023-06-07 13:28:41 +10:00 committed by Andrew Tridgell
parent 531b12e272
commit 3dca277488
1 changed files with 4 additions and 8 deletions
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12
libraries/AP_DroneCAN/AP_Canard_iface.cpp
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@ -214,14 +214,6 @@ void CanardInterface::processTx(bool raw_commands_only = false) {
}
}
// purge expired transfers
for (const CanardCANFrame* txf = canardPeekTxQueue(&canard); txf != NULL; txf = canardPeekTxQueue(&canard)) {
if ((AP_HAL::native_micros64() >= txf->deadline_usec) || (txf->iface_mask == 0)) {
canardPopTxQueue(&canard);
} else {
break;
}
}
}
void CanardInterface::processRx() {
@ -291,6 +283,10 @@ void CanardInterface::process(uint32_t duration_ms) {
while (true) {
processRx();
processTx();
{
WITH_SEMAPHORE(_sem);
canardCleanupStaleTransfers(&canard, AP_HAL::native_micros64());
}
uint64_t now = AP_HAL::native_micros64();
if (now < deadline) {
_event_handle.wait(MIN(UINT16_MAX - 2U, deadline - now));