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AP_Periph: switch to callback based CAN receive 

this is much more reliable
This commit is contained in:
Andrew Tridgell 2019-11-06 17:56:13 +11:00
parent cc0f6451ab
commit 71b2315d78
1 changed files with 17 additions and 2 deletions
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19
Tools/AP_Periph/can.cpp
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@ -47,6 +47,7 @@
#include <drivers/stm32/canard_stm32.h>
#include <AP_HAL/I2CDevice.h>
#include "../AP_Bootloader/app_comms.h"
#include <AP_HAL/utility/RingBuffer.h>
#include "i2c.h"
#include <utility>
@ -787,10 +788,22 @@ static void processTx(void)
}
}
static ObjectBuffer<CANRxFrame> rxbuffer{16};
static void can_rxfull_cb(CANDriver *canp, uint32_t flags)
{
CANRxFrame rxmsg;
chSysLockFromISR();
while (canTryReceiveI(canp, CAN_ANY_MAILBOX, &rxmsg) == false) {
rxbuffer.push_force(rxmsg);
}
chSysUnlockFromISR();
}
static void processRx(void)
{
CANRxFrame rxmsg {};
while (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == MSG_OK) {
CANRxFrame rxmsg;
while (rxbuffer.pop(rxmsg)) {
CanardCANFrame rx_frame {};
//palToggleLine(HAL_GPIO_PIN_LED);
@ -999,6 +1012,8 @@ void AP_Periph_FW::can_start()
PreferredNodeID = g.can_node;
}
CAND1.rxfull_cb = can_rxfull_cb;
canStart(&CAND1, &cancfg);
canardInit(&canard, (uint8_t *)canard_memory_pool, sizeof(canard_memory_pool),