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AP_PiccoloCAN: Prevent thread from getting stuck in an infinite loop

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- Previous code would get stuck in the CAN Tx loop
- New approach is to simply increase the timeout on frame transmission
This commit is contained in:
Oliver Walters 2020-09-25 11:33:54 +10:00 committed by Andrew Tridgell
parent 6786e832a1
commit 479df2e20b
1 changed files with 11 additions and 12 deletions
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19
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
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@ -157,7 +157,7 @@ void AP_PiccoloCAN::loop()
continue; continue;
} }
timeout = AP_HAL::micros64() + 250; timeout = AP_HAL::micros() + 250;
// 1ms loop delay // 1ms loop delay
hal.scheduler->delay_microseconds(1 * 1000); hal.scheduler->delay_microseconds(1 * 1000);
@ -171,6 +171,8 @@ void AP_PiccoloCAN::loop()
// 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, timeout)) {
// Extract group and device ID values from the frame identifier
frame_id_group = (rxFrame.id >> 24) & 0x1F; frame_id_group = (rxFrame.id >> 24) & 0x1F;
frame_id_device = (rxFrame.id >> 8) & 0xFF; frame_id_device = (rxFrame.id >> 8) & 0xFF;
@ -212,13 +214,12 @@ bool AP_PiccoloCAN::write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout)
bool read_select = false; bool read_select = false;
bool write_select = true; bool write_select = true;
bool ret;
do { bool ret = _can_iface->select(read_select, write_select, &out_frame, timeout);
ret = _can_iface->select(read_select, write_select, &out_frame, timeout);
if (!ret || !write_select) { if (!ret || !write_select) {
hal.scheduler->delay_microseconds(50); return false;
} }
} while (!ret || !write_select);
return (_can_iface->send(out_frame, timeout, AP_HAL::CANIface::AbortOnError) == 1); return (_can_iface->send(out_frame, timeout, AP_HAL::CANIface::AbortOnError) == 1);
} }
@ -233,6 +234,7 @@ bool AP_PiccoloCAN::read_frame(AP_HAL::CANFrame &recv_frame, uint64_t timeout)
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, timeout);
if (!ret || !read_select) { if (!ret || !read_select) {
// No frame available // No frame available
return false; return false;
@ -370,10 +372,7 @@ void AP_PiccoloCAN::send_esc_messages(void)
{ {
AP_HAL::CANFrame txFrame; AP_HAL::CANFrame txFrame;
uint64_t timeout = AP_HAL::micros64() + 250; uint64_t timeout = AP_HAL::micros() + 1000;
// TODO - How to buffer CAN messages properly?
// Sending more than 2 messages at each loop instance means that sometimes messages are dropped
// No ESCs are selected? Don't send anything // No ESCs are selected? Don't send anything
if (_esc_bm == 0x00) { if (_esc_bm == 0x00) {