ChibiOS: add CAN to Serial bus router

libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp

@@ -0,0 +1,103 @@
+/*
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ * 
+ * Siddharth Bharat Purohit
+ */
+
+#include "CANSerialRouter.h"
+
+#if HAL_WITH_UAVCAN
+SLCANRouter* SLCANRouter::_singleton = nullptr;
+
+extern const AP_HAL::HAL& hal;
+
+SLCANRouter &slcan_router()
+{
+    return *SLCANRouter::instance();
+}
+
+void SLCANRouter::init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* update_event)
+{
+    can_if_ = can_if;
+    if (!slcan_if_.is_initialized()) {
+        if (slcan_if_.init(921600, SLCAN::CAN::OperatingMode::NormalMode) < 0) {
+            return;
+        }
+    }
+    update_event_ = update_event;
+    hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&SLCANRouter::can2slcan_router_trampoline, void), "C2SRouter", 512, AP_HAL::Scheduler::PRIORITY_CAN, 0);
+    hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&SLCANRouter::slcan2can_router_trampoline, void), "S2CRouter", 512, AP_HAL::Scheduler::PRIORITY_CAN, 0);
+}
+
+void SLCANRouter::route_frame_to_slcan(ChibiOS_CAN::CanIface* can_if, const uavcan::CanFrame& frame, uint64_t timestamp_usec)
+{
+    if (can_if_ != can_if) {
+        return;
+    }
+    CanRouteItem it;
+    it.frame = frame;
+    it.utc_usec = timestamp_usec;
+    if (slcan_tx_queue_.space() == 0) {
+        slcan_tx_queue_.pop();
+    }
+    slcan_tx_queue_.push(it);
+}
+
+void SLCANRouter::route_frame_to_can(const uavcan::CanFrame& frame, uint64_t timestamp_usec)
+{
+    CanRouteItem it;
+    it.frame = frame;
+    it.utc_usec = timestamp_usec;
+    if (can_tx_queue_.space() == 0) {
+        can_tx_queue_.pop();
+    }
+    can_tx_queue_.push(it);
+}
+
+void SLCANRouter::slcan2can_router_trampoline(void)
+{
+    CanRouteItem it;
+    while(true) {
+        chSysLock();
+        _s2c_thd_ref = nullptr;        
+        if (_thread_suspended) {
+            _port->lock_port(0, 0);
+            chThdSuspendS(&_s2c_thd_ref);
+        }
+        chSysUnlock();
+        _slcan_if.reader();
+        if (_can_tx_queue.available() && _can_if) {
+            _can_tx_queue.peek(it);
+            if (_can_if->send(it.frame, uavcan::MonotonicTime::fromUSec(AP_HAL::micros64() + 1000), 0)) {
+                _can_tx_queue.pop();
+            }
+        }
+    }
+}
+
+void SLCANRouter::can2slcan_router_trampoline(void)
+{
+    CanRouteItem it;
+    while(true) {
+        update_event_->wait(uavcan::MonotonicDuration::fromUSec(1000));
+        if (slcan_tx_queue_.available()) {
+            slcan_tx_queue_.peek(it);
+            if (slcan_if_.send(it.frame, uavcan::MonotonicTime::fromUSec(AP_HAL::micros64() + 1000), 0)) {
+                slcan_tx_queue_.pop();
+            }
+        }
+    }
+}
+
+#endif

libraries/AP_HAL_ChibiOS/CANSerialRouter.h

@@ -0,0 +1,70 @@
+/*
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ * 
+ * Siddharth Bharat Purohit
+ */
+
+#pragma once
+
+#include "AP_HAL_ChibiOS.h"
+
+#if HAL_WITH_UAVCAN 
+#include "CAN.h"
+#include <AP_UAVCAN/AP_UAVCAN_SLCAN.h>
+
+#include "CANThread.h"
+#include "CANClock.h"
+#include "CANIface.h"
+#define SLCAN_ROUTER_QUEUE_SIZE 64
+
+struct CanRouteItem {
+    uint64_t utc_usec;
+    uavcan::CanFrame frame;
+    CanRouteItem() :
+        utc_usec(0)
+    {
+    }
+};
+
+class SLCANRouter
+{
+    ChibiOS_CAN::CanIface* can_if_;
+    SLCAN::CAN slcan_if_;
+    ObjectBuffer<CanRouteItem> can_tx_queue_;
+    ObjectBuffer<CanRouteItem> slcan_tx_queue_;
+    static SLCANRouter* _singleton;
+    ChibiOS_CAN::BusEvent* update_event_;
+public:
+    SLCANRouter() : slcan_if_(SLCAN_DRIVER_INDEX, SLCAN_RX_QUEUE_SIZE), can_tx_queue_(SLCAN_ROUTER_QUEUE_SIZE), slcan_tx_queue_(SLCAN_ROUTER_QUEUE_SIZE) 
+    {
+        if (_singleton  == nullptr) {
+            _singleton = this;
+        }
+    }
+    void init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* update_event);
+    void route_frame_to_slcan(ChibiOS_CAN::CanIface* can_if, const uavcan::CanFrame& frame, uint64_t timestamp_usec);
+    void route_frame_to_can(const uavcan::CanFrame& frame, uint64_t timestamp_usec);
+    void slcan2can_router_trampoline(void);
+    void can2slcan_router_trampoline(void);
+    static SLCANRouter* instance() { 
+        if (_singleton == nullptr) {
+            _singleton = new SLCANRouter;
+        }
+        return _singleton; 
+    }
+};
+
+SLCANRouter &slcan_router();
+
+#endif