mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-09 09:28:31 -04:00
AP_HAL_PX4: CAN bus driver
This commit is contained in:
Eugene Shamaev
Francisco Ferreira
parent
d1792689f1
commit
865392f034
@ -15,4 +15,6 @@ namespace PX4 {
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class PX4I2CDriver;
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class PX4_I2C;
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class Semaphore;
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class PX4CAN;
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class PX4CANManager;
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}
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1038
libraries/AP_HAL_PX4/CAN.cpp
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1038
libraries/AP_HAL_PX4/CAN.cpp
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File diff suppressed because it is too large
Load Diff
316
libraries/AP_HAL_PX4/CAN.h
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316
libraries/AP_HAL_PX4/CAN.h
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@ -0,0 +1,316 @@
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/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*
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* With modifications for Ardupilot CAN driver
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* Copyright (C) 2017 Eugene Shamaev
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*/
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#pragma once
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#include "AP_HAL_PX4.h"
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#include <systemlib/perf_counter.h>
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#include <AP_HAL/CAN.h>
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#include <pthread.h>
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#include <semaphore.h>
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#include "bxcan.h"
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#include "AP_HAL/utility/RingBuffer.h"
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#if defined(GPIO_CAN2_RX) && defined(GPIO_CAN2_TX)
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#define CAN_STM32_NUM_IFACES 2
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#else
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#define CAN_STM32_NUM_IFACES 1
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#endif
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#define CAN_STM32_RX_QUEUE_SIZE 64
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namespace PX4 {
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/**
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* Driver error codes.
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* These values can be returned from driver functions negated.
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*/
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static const int16_t ErrUnknown = 1000; ///< Reserved for future use
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static const int16_t ErrNotImplemented = 1001; ///< Feature not implemented
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static const int16_t ErrInvalidBitRate = 1002; ///< Bit rate not supported
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static const int16_t ErrLogic = 1003; ///< Internal logic error
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static const int16_t ErrUnsupportedFrame = 1004; ///< Frame not supported (e.g. RTR, CAN FD, etc)
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static const int16_t ErrMsrInakNotSet = 1005; ///< INAK bit of the MSR register is not 1
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static const int16_t ErrMsrInakNotCleared = 1006; ///< INAK bit of the MSR register is not 0
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static const int16_t ErrBitRateNotDetected = 1007; ///< Auto bit rate detection could not be finished
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/**
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* RX queue item.
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* The application shall not use this directly.
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*/
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struct CanRxItem {
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uint64_t utc_usec;
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uavcan::CanFrame frame;
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uavcan::CanIOFlags flags;
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CanRxItem() :
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utc_usec(0), flags(0)
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{
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}
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};
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struct CriticalSectionLocker {
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const irqstate_t flags_;
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CriticalSectionLocker() :
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flags_(irqsave())
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{
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}
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~CriticalSectionLocker()
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{
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irqrestore(flags_);
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}
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};
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namespace clock {
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uint64_t getUtcUSecFromCanInterrupt();
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uavcan::MonotonicTime getMonotonic();
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}
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class BusEvent: uavcan::Noncopyable {
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public:
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BusEvent(PX4CANManager& can_driver);
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~BusEvent();
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bool wait(uavcan::MonotonicDuration duration);
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static void signalFromCallOut(BusEvent *sem);
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void signalFromInterrupt();
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sem_t _wait_semaphore;
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volatile uint16_t _signal;
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};
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class PX4CAN: public AP_HAL::CAN {
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struct Timings {
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uint16_t prescaler;
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uint8_t sjw;
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uint8_t bs1;
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uint8_t bs2;
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Timings() :
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prescaler(0), sjw(0), bs1(0), bs2(0)
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{
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}
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};
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struct TxItem {
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uavcan::MonotonicTime deadline;
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uavcan::CanFrame frame;
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bool pending;
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bool loopback;
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bool abort_on_error;
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TxItem() :
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pending(false), loopback(false), abort_on_error(false)
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{
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}
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};
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enum {
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NumTxMailboxes = 3
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};
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enum {
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NumFilters = 28
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};
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static const uint32_t TSR_ABRQx[NumTxMailboxes];
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ObjectBuffer<CanRxItem> rx_queue_;
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bxcan::CanType* const can_;
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uint64_t error_cnt_;
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uint32_t served_aborts_cnt_;
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BusEvent& update_event_;
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TxItem pending_tx_[NumTxMailboxes];
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uint8_t peak_tx_mailbox_index_;
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const uint8_t self_index_;
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bool had_activity_;
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uint32_t bitrate_;
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int computeTimings(uint32_t target_bitrate, Timings& out_timings);
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virtual int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline,
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uavcan::CanIOFlags flags) override;
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virtual int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
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uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags) override;
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virtual int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs, uint16_t num_configs) override;
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virtual uint16_t getNumFilters() const override
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{
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return NumFilters;
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}
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void handleTxMailboxInterrupt(uint8_t mailbox_index, bool txok, uint64_t utc_usec);
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bool waitMsrINakBitStateChange(bool target_state);
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bool initialized_;
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public:
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enum {
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MaxRxQueueCapacity = 254
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};
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enum OperatingMode {
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NormalMode, SilentMode
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};
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PX4CAN(bxcan::CanType* can, BusEvent& update_event, uint8_t self_index, uint8_t rx_queue_capacity) :
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rx_queue_(rx_queue_capacity), can_(can), error_cnt_(0), served_aborts_cnt_(0), update_event_(
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update_event), peak_tx_mailbox_index_(0), self_index_(self_index), had_activity_(false), bitrate_(
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0), initialized_(false)
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{
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UAVCAN_ASSERT(self_index_ < CAN_STM32_NUM_IFACES);
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}
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/**
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* Initializes the hardware CAN controller.
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* Assumes:
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* - Iface clock is enabled
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* - Iface has been resetted via RCC
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* - Caller will configure NVIC by itself
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*/
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int init(const uint32_t bitrate, const OperatingMode mode);
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void handleTxInterrupt(uint64_t utc_usec);
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void handleRxInterrupt(uint8_t fifo_index, uint64_t utc_usec);
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/**
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* This method is used to count errors and abort transmission on error if necessary.
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* This functionality used to be implemented in the SCE interrupt handler, but that approach was
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* generating too much processing overhead, especially on disconnected interfaces.
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*
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* Should be called from RX ISR, TX ISR, and select(); interrupts must be enabled.
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*/
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void pollErrorFlagsFromISR();
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void discardTimedOutTxMailboxes(uavcan::MonotonicTime current_time);
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bool canAcceptNewTxFrame(const uavcan::CanFrame& frame) const;
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bool isRxBufferEmpty() const;
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/**
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* Total number of hardware failures and other kinds of errors (e.g. queue overruns).
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* May increase continuously if the interface is not connected to the bus.
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*/
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virtual uint64_t getErrorCount() const override;
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/**
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* Number of times the driver exercised library's requirement to abort transmission on first error.
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* This is an atomic read, it doesn't require a critical section.
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* See @ref uavcan::CanIOFlagAbortOnError.
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*/
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uint32_t getVoluntaryTxAbortCount() const
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{
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return served_aborts_cnt_;
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}
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/**
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* Returns the number of frames pending in the RX queue.
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* This is intended for debug use only.
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*/
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unsigned getRxQueueLength() const;
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/**
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* Whether this iface had at least one successful IO since the previous call of this method.
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* This is designed for use with iface activity LEDs.
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*/
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bool hadActivity();
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/**
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* Peak number of TX mailboxes used concurrently since initialization.
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* Range is [1, 3].
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* Value of 3 suggests that priority inversion could be taking place.
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*/
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uint8_t getPeakNumTxMailboxesUsed() const
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{
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return uint8_t(peak_tx_mailbox_index_ + 1);
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}
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bool begin(uint32_t bitrate) override;
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void end() override
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{
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}
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void reset() override;
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int32_t tx_pending() override;
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int32_t available() override;
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bool is_initialized() override;
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};
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class PX4CANManager: public AP_HAL::CANManager {
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BusEvent update_event_;
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PX4CAN if0_;
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PX4CAN if1_;
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uint8_t can_number_;
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virtual int16_t select(uavcan::CanSelectMasks& inout_masks,
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const uavcan::CanFrame* (&pending_tx)[uavcan::MaxCanIfaces], uavcan::MonotonicTime blocking_deadline) override;
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static void initOnce(uint8_t can_number);
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bool initialized_;
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static PX4CAN* ifaces[CAN_STM32_NUM_IFACES];
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public:
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PX4CANManager() :
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update_event_(*this), if0_(bxcan::Can[0], update_event_, 0, CAN_STM32_RX_QUEUE_SIZE), if1_(
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bxcan::Can[1], update_event_, 1, CAN_STM32_RX_QUEUE_SIZE), can_number_(0), initialized_(
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false), p_uavcan(nullptr)
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{
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uavcan::StaticAssert<(CAN_STM32_RX_QUEUE_SIZE <= PX4CAN::MaxRxQueueCapacity)>::check();
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}
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/**
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* This function returns select masks indicating which interfaces are available for read/write.
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*/
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uavcan::CanSelectMasks makeSelectMasks(const uavcan::CanFrame* (&pending_tx)[uavcan::MaxCanIfaces]) const;
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/**
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* Whether there's at least one interface where receive() would return a frame.
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*/
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bool hasReadableInterfaces() const;
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/**
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* Returns zero if OK.
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* Returns negative value if failed (e.g. invalid bitrate).
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*/
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int init(const uint32_t bitrate, const PX4CAN::OperatingMode mode, uint8_t can_number);
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virtual PX4CAN* getIface(uint8_t iface_index) override;
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virtual uint8_t getNumIfaces() const override
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{
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if (can_number_ >= 2) {
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return CAN_STM32_NUM_IFACES;
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}
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return 1;
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}
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/**
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* Whether at least one iface had at least one successful IO since previous call of this method.
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* This is designed for use with iface activity LEDs.
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*/
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bool hadActivity();
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bool begin(uint32_t bitrate, uint8_t can_number) override;
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bool is_initialized() override;
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AP_UAVCAN *p_uavcan;
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AP_UAVCAN *get_UAVCAN(void) override;
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void set_UAVCAN(AP_UAVCAN *uavcan) override;
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};
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}
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@ -20,6 +20,10 @@
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#include "I2CDevice.h"
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#include "SPIDevice.h"
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#if HAL_WITH_UAVCAN
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#include "CAN.h"
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#endif
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#include <stdlib.h>
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#include <systemlib/systemlib.h>
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#include <nuttx/config.h>
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@ -106,7 +110,8 @@ HAL_PX4::HAL_PX4() :
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&rcoutDriver, /* rcoutput */
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&schedulerInstance, /* scheduler */
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&utilInstance, /* util */
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nullptr) /* no onboard optical flow */
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nullptr, /* no onboard optical flow */
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nullptr) /* CAN */
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{}
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bool _px4_thread_should_exit = false; /**< Daemon exit flag */
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@ -20,7 +20,14 @@
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#include "Storage.h"
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#include "RCOutput.h"
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#include "RCInput.h"
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#if HAL_WITH_UAVCAN
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#include "CAN.h"
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#include <AP_UAVCAN/AP_UAVCAN.h>
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#endif
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using namespace PX4;
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@ -32,7 +39,7 @@ PX4Scheduler::PX4Scheduler() :
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_perf_timers(perf_alloc(PC_ELAPSED, "APM_timers")),
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_perf_io_timers(perf_alloc(PC_ELAPSED, "APM_IO_timers")),
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_perf_storage_timer(perf_alloc(PC_ELAPSED, "APM_storage_timers")),
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_perf_delay(perf_alloc(PC_ELAPSED, "APM_delay"))
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_perf_delay(perf_alloc(PC_ELAPSED, "APM_delay"))
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{}
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void PX4Scheduler::init()
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@ -40,37 +47,37 @@ void PX4Scheduler::init()
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_main_task_pid = getpid();
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// setup the timer thread - this will call tasks at 1kHz
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pthread_attr_t thread_attr;
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struct sched_param param;
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pthread_attr_t thread_attr;
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struct sched_param param;
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 2048);
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 2048);
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param.sched_priority = APM_TIMER_PRIORITY;
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(void)pthread_attr_setschedparam(&thread_attr, ¶m);
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param.sched_priority = APM_TIMER_PRIORITY;
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(void)pthread_attr_setschedparam(&thread_attr, ¶m);
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pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
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pthread_create(&_timer_thread_ctx, &thread_attr, &PX4Scheduler::_timer_thread, this);
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pthread_create(&_timer_thread_ctx, &thread_attr, &PX4Scheduler::_timer_thread, this);
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// the UART thread runs at a medium priority
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 2048);
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 2048);
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param.sched_priority = APM_UART_PRIORITY;
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(void)pthread_attr_setschedparam(&thread_attr, ¶m);
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param.sched_priority = APM_UART_PRIORITY;
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(void)pthread_attr_setschedparam(&thread_attr, ¶m);
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pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
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pthread_create(&_uart_thread_ctx, &thread_attr, &PX4Scheduler::_uart_thread, this);
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pthread_create(&_uart_thread_ctx, &thread_attr, &PX4Scheduler::_uart_thread, this);
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// the IO thread runs at lower priority
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 2048);
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 2048);
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param.sched_priority = APM_IO_PRIORITY;
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(void)pthread_attr_setschedparam(&thread_attr, ¶m);
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param.sched_priority = APM_IO_PRIORITY;
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(void)pthread_attr_setschedparam(&thread_attr, ¶m);
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pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
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pthread_create(&_io_thread_ctx, &thread_attr, &PX4Scheduler::_io_thread, this);
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pthread_create(&_io_thread_ctx, &thread_attr, &PX4Scheduler::_io_thread, this);
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// the storage thread runs at just above IO priority
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pthread_attr_init(&thread_attr);
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@ -83,6 +90,26 @@ void PX4Scheduler::init()
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pthread_create(&_storage_thread_ctx, &thread_attr, &PX4Scheduler::_storage_thread, this);
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}
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void PX4Scheduler::create_uavcan_thread()
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{
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#if HAL_WITH_UAVCAN
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pthread_attr_t thread_attr;
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struct sched_param param;
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//the UAVCAN thread runs at medium priority
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 8192);
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param.sched_priority = APM_CAN_PRIORITY;
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(void) pthread_attr_setschedparam(&thread_attr, ¶m);
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pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
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pthread_create(&_uavcan_thread_ctx, &thread_attr, &PX4Scheduler::_uavcan_thread, this);
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printf("UAVCAN thread started\n\r");
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#endif
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}
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/**
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delay for a specified number of microseconds using a semaphore wait
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*/
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@ -143,7 +170,7 @@ void PX4Scheduler::delay(uint16_t ms)
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return;
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}
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perf_begin(_perf_delay);
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uint64_t start = AP_HAL::micros64();
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uint64_t start = AP_HAL::micros64();
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while ((AP_HAL::micros64() - start)/1000 < ms &&
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!_px4_thread_should_exit) {
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@ -227,7 +254,7 @@ void PX4Scheduler::reboot(bool hold_in_bootloader)
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// delay to ensure the async force_saftey operation completes
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delay(500);
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|
||||
px4_systemreset(hold_in_bootloader);
|
||||
px4_systemreset(hold_in_bootloader);
|
||||
}
|
||||
|
||||
void PX4Scheduler::_run_timers(bool called_from_timer_thread)
|
||||
@ -378,15 +405,42 @@ void *PX4Scheduler::_storage_thread(void *arg)
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
#if HAL_WITH_UAVCAN
|
||||
void *PX4Scheduler::_uavcan_thread(void *arg)
|
||||
{
|
||||
PX4Scheduler *sched = (PX4Scheduler *) arg;
|
||||
|
||||
pthread_setname_np(pthread_self(), "apm_uavcan");
|
||||
|
||||
while (!sched->_hal_initialized) {
|
||||
poll(nullptr, 0, 1);
|
||||
}
|
||||
|
||||
while (!_px4_thread_should_exit) {
|
||||
if (((PX4CANManager *)hal.can_mgr)->is_initialized()) {
|
||||
if (((PX4CANManager *)hal.can_mgr)->get_UAVCAN() != nullptr) {
|
||||
(((PX4CANManager *)hal.can_mgr)->get_UAVCAN())->do_cyclic();
|
||||
} else {
|
||||
sched->delay_microseconds_semaphore(10000);
|
||||
}
|
||||
} else {
|
||||
sched->delay_microseconds_semaphore(10000);
|
||||
}
|
||||
}
|
||||
return nullptr;
|
||||
}
|
||||
#endif
|
||||
|
||||
bool PX4Scheduler::in_timerprocess()
|
||||
{
|
||||
return getpid() != _main_task_pid;
|
||||
}
|
||||
|
||||
void PX4Scheduler::system_initialized() {
|
||||
void PX4Scheduler::system_initialized()
|
||||
{
|
||||
if (_initialized) {
|
||||
AP_HAL::panic("PANIC: scheduler::system_initialized called"
|
||||
"more than once");
|
||||
"more than once");
|
||||
}
|
||||
_initialized = true;
|
||||
}
|
||||
|
||||
@ -14,6 +14,7 @@
|
||||
#define APM_MAIN_PRIORITY 180
|
||||
#define APM_TIMER_PRIORITY 181
|
||||
#define APM_SPI_PRIORITY 242
|
||||
#define APM_CAN_PRIORITY 179
|
||||
#define APM_I2C_PRIORITY 178
|
||||
#define APM_UART_PRIORITY 60
|
||||
#define APM_STORAGE_PRIORITY 59
|
||||
@ -61,6 +62,8 @@ public:
|
||||
void system_initialized();
|
||||
void hal_initialized() { _hal_initialized = true; }
|
||||
|
||||
void create_uavcan_thread() override;
|
||||
|
||||
private:
|
||||
bool _initialized;
|
||||
volatile bool _hal_initialized;
|
||||
@ -85,11 +88,13 @@ private:
|
||||
pthread_t _io_thread_ctx;
|
||||
pthread_t _storage_thread_ctx;
|
||||
pthread_t _uart_thread_ctx;
|
||||
pthread_t _uavcan_thread_ctx;
|
||||
|
||||
static void *_timer_thread(void *arg);
|
||||
static void *_io_thread(void *arg);
|
||||
static void *_storage_thread(void *arg);
|
||||
static void *_uart_thread(void *arg);
|
||||
static void *_uavcan_thread(void *arg);
|
||||
|
||||
void _run_timers(bool called_from_timer_thread);
|
||||
void _run_io(void);
|
||||
|
||||
294
libraries/AP_HAL_PX4/bxcan.h
Normal file
294
libraries/AP_HAL_PX4/bxcan.h
Normal file
@ -0,0 +1,294 @@
|
||||
/*
|
||||
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
* Bit definitions were copied from NuttX STM32 CAN driver.
|
||||
*
|
||||
* With modifications for Ardupilot CAN driver
|
||||
* Copyright (C) 2017 Eugene Shamaev
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uavcan/uavcan.hpp>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <chip/stm32_tim.h>
|
||||
#include <syslog.h>
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/fs/fs.h>
|
||||
#include <nuttx/irq.h>
|
||||
#include <nuttx/mm.h>
|
||||
#include <pthread.h>
|
||||
|
||||
#ifndef UAVCAN_CPP_VERSION
|
||||
# error UAVCAN_CPP_VERSION
|
||||
#endif
|
||||
|
||||
#if UAVCAN_CPP_VERSION < UAVCAN_CPP11
|
||||
// #undef'ed at the end of this file
|
||||
# define constexpr const
|
||||
#endif
|
||||
|
||||
namespace PX4 {
|
||||
namespace bxcan {
|
||||
|
||||
# define CAN_IRQ_ATTACH(irq, handler) \
|
||||
do { \
|
||||
const int res = irq_attach(irq, handler); \
|
||||
(void)res; \
|
||||
assert(res >= 0); \
|
||||
up_enable_irq(irq); \
|
||||
} while(0)
|
||||
|
||||
struct TxMailboxType {
|
||||
volatile uint32_t TIR;
|
||||
volatile uint32_t TDTR;
|
||||
volatile uint32_t TDLR;
|
||||
volatile uint32_t TDHR;
|
||||
};
|
||||
|
||||
struct RxMailboxType {
|
||||
volatile uint32_t RIR;
|
||||
volatile uint32_t RDTR;
|
||||
volatile uint32_t RDLR;
|
||||
volatile uint32_t RDHR;
|
||||
};
|
||||
|
||||
struct FilterRegisterType {
|
||||
volatile uint32_t FR1;
|
||||
volatile uint32_t FR2;
|
||||
};
|
||||
|
||||
struct CanType {
|
||||
volatile uint32_t MCR; /*!< CAN master control register, Address offset: 0x00 */
|
||||
volatile uint32_t MSR; /*!< CAN master status register, Address offset: 0x04 */
|
||||
volatile uint32_t TSR; /*!< CAN transmit status register, Address offset: 0x08 */
|
||||
volatile uint32_t RF0R; /*!< CAN receive FIFO 0 register, Address offset: 0x0C */
|
||||
volatile uint32_t RF1R; /*!< CAN receive FIFO 1 register, Address offset: 0x10 */
|
||||
volatile uint32_t IER; /*!< CAN interrupt enable register, Address offset: 0x14 */
|
||||
volatile uint32_t ESR; /*!< CAN error status register, Address offset: 0x18 */
|
||||
volatile uint32_t BTR; /*!< CAN bit timing register, Address offset: 0x1C */
|
||||
uint32_t RESERVED0[88]; /*!< Reserved, 0x020 - 0x17F */
|
||||
TxMailboxType TxMailbox[3]; /*!< CAN Tx MailBox, Address offset: 0x180 - 0x1AC */
|
||||
RxMailboxType RxMailbox[2]; /*!< CAN FIFO MailBox, Address offset: 0x1B0 - 0x1CC */
|
||||
uint32_t RESERVED1[12]; /*!< Reserved, 0x1D0 - 0x1FF */
|
||||
volatile uint32_t FMR; /*!< CAN filter master register, Address offset: 0x200 */
|
||||
volatile uint32_t FM1R; /*!< CAN filter mode register, Address offset: 0x204 */
|
||||
uint32_t RESERVED2; /*!< Reserved, 0x208 */
|
||||
volatile uint32_t FS1R; /*!< CAN filter scale register, Address offset: 0x20C */
|
||||
uint32_t RESERVED3; /*!< Reserved, 0x210 */
|
||||
volatile uint32_t FFA1R; /*!< CAN filter FIFO assignment register, Address offset: 0x214 */
|
||||
uint32_t RESERVED4; /*!< Reserved, 0x218 */
|
||||
volatile uint32_t FA1R; /*!< CAN filter activation register, Address offset: 0x21C */
|
||||
uint32_t RESERVED5[8]; /*!< Reserved, 0x220-0x23F */
|
||||
FilterRegisterType FilterRegister[28]; /*!< CAN Filter Register, Address offset: 0x240-0x31C */
|
||||
};
|
||||
|
||||
/**
|
||||
* CANx register sets
|
||||
*/
|
||||
CanType* const Can[2] = { reinterpret_cast<CanType*>(STM32_CAN1_BASE), reinterpret_cast<CanType*>(STM32_CAN2_BASE) };
|
||||
|
||||
/* CAN master control register */
|
||||
|
||||
constexpr unsigned long MCR_INRQ = (1U << 0); /* Bit 0: Initialization Request */
|
||||
constexpr unsigned long MCR_SLEEP = (1U << 1); /* Bit 1: Sleep Mode Request */
|
||||
constexpr unsigned long MCR_TXFP = (1U << 2); /* Bit 2: Transmit FIFO Priority */
|
||||
constexpr unsigned long MCR_RFLM = (1U << 3); /* Bit 3: Receive FIFO Locked Mode */
|
||||
constexpr unsigned long MCR_NART = (1U << 4); /* Bit 4: No Automatic Retransmission */
|
||||
constexpr unsigned long MCR_AWUM = (1U << 5); /* Bit 5: Automatic Wakeup Mode */
|
||||
constexpr unsigned long MCR_ABOM = (1U << 6); /* Bit 6: Automatic Bus-Off Management */
|
||||
constexpr unsigned long MCR_TTCM = (1U << 7); /* Bit 7: Time Triggered Communication Mode Enable */
|
||||
constexpr unsigned long MCR_RESET = (1U << 15);/* Bit 15: bxCAN software master reset */
|
||||
constexpr unsigned long MCR_DBF = (1U << 16);/* Bit 16: Debug freeze */
|
||||
|
||||
/* CAN master status register */
|
||||
|
||||
constexpr unsigned long MSR_INAK = (1U << 0); /* Bit 0: Initialization Acknowledge */
|
||||
constexpr unsigned long MSR_SLAK = (1U << 1); /* Bit 1: Sleep Acknowledge */
|
||||
constexpr unsigned long MSR_ERRI = (1U << 2); /* Bit 2: Error Interrupt */
|
||||
constexpr unsigned long MSR_WKUI = (1U << 3); /* Bit 3: Wakeup Interrupt */
|
||||
constexpr unsigned long MSR_SLAKI = (1U << 4); /* Bit 4: Sleep acknowledge interrupt */
|
||||
constexpr unsigned long MSR_TXM = (1U << 8); /* Bit 8: Transmit Mode */
|
||||
constexpr unsigned long MSR_RXM = (1U << 9); /* Bit 9: Receive Mode */
|
||||
constexpr unsigned long MSR_SAMP = (1U << 10);/* Bit 10: Last Sample Point */
|
||||
constexpr unsigned long MSR_RX = (1U << 11);/* Bit 11: CAN Rx Signal */
|
||||
|
||||
/* CAN transmit status register */
|
||||
|
||||
constexpr unsigned long TSR_RQCP0 = (1U << 0); /* Bit 0: Request Completed Mailbox 0 */
|
||||
constexpr unsigned long TSR_TXOK0 = (1U << 1); /* Bit 1 : Transmission OK of Mailbox 0 */
|
||||
constexpr unsigned long TSR_ALST0 = (1U << 2); /* Bit 2 : Arbitration Lost for Mailbox 0 */
|
||||
constexpr unsigned long TSR_TERR0 = (1U << 3); /* Bit 3 : Transmission Error of Mailbox 0 */
|
||||
constexpr unsigned long TSR_ABRQ0 = (1U << 7); /* Bit 7 : Abort Request for Mailbox 0 */
|
||||
constexpr unsigned long TSR_RQCP1 = (1U << 8); /* Bit 8 : Request Completed Mailbox 1 */
|
||||
constexpr unsigned long TSR_TXOK1 = (1U << 9); /* Bit 9 : Transmission OK of Mailbox 1 */
|
||||
constexpr unsigned long TSR_ALST1 = (1U << 10);/* Bit 10 : Arbitration Lost for Mailbox 1 */
|
||||
constexpr unsigned long TSR_TERR1 = (1U << 11);/* Bit 11 : Transmission Error of Mailbox 1 */
|
||||
constexpr unsigned long TSR_ABRQ1 = (1U << 15);/* Bit 15 : Abort Request for Mailbox 1 */
|
||||
constexpr unsigned long TSR_RQCP2 = (1U << 16);/* Bit 16 : Request Completed Mailbox 2 */
|
||||
constexpr unsigned long TSR_TXOK2 = (1U << 17);/* Bit 17 : Transmission OK of Mailbox 2 */
|
||||
constexpr unsigned long TSR_ALST2 = (1U << 18);/* Bit 18: Arbitration Lost for Mailbox 2 */
|
||||
constexpr unsigned long TSR_TERR2 = (1U << 19);/* Bit 19: Transmission Error of Mailbox 2 */
|
||||
constexpr unsigned long TSR_ABRQ2 = (1U << 23);/* Bit 23: Abort Request for Mailbox 2 */
|
||||
constexpr unsigned long TSR_CODE_SHIFT = (24U); /* Bits 25-24: Mailbox Code */
|
||||
constexpr unsigned long TSR_CODE_MASK = (3U << TSR_CODE_SHIFT);
|
||||
constexpr unsigned long TSR_TME0 = (1U << 26);/* Bit 26: Transmit Mailbox 0 Empty */
|
||||
constexpr unsigned long TSR_TME1 = (1U << 27);/* Bit 27: Transmit Mailbox 1 Empty */
|
||||
constexpr unsigned long TSR_TME2 = (1U << 28);/* Bit 28: Transmit Mailbox 2 Empty */
|
||||
constexpr unsigned long TSR_LOW0 = (1U << 29);/* Bit 29: Lowest Priority Flag for Mailbox 0 */
|
||||
constexpr unsigned long TSR_LOW1 = (1U << 30);/* Bit 30: Lowest Priority Flag for Mailbox 1 */
|
||||
constexpr unsigned long TSR_LOW2 = (1U << 31);/* Bit 31: Lowest Priority Flag for Mailbox 2 */
|
||||
|
||||
/* CAN receive FIFO 0/1 registers */
|
||||
|
||||
constexpr unsigned long RFR_FMP_SHIFT = (0U); /* Bits 1-0: FIFO Message Pending */
|
||||
constexpr unsigned long RFR_FMP_MASK = (3U << RFR_FMP_SHIFT);
|
||||
constexpr unsigned long RFR_FULL = (1U << 3); /* Bit 3: FIFO 0 Full */
|
||||
constexpr unsigned long RFR_FOVR = (1U << 4); /* Bit 4: FIFO 0 Overrun */
|
||||
constexpr unsigned long RFR_RFOM = (1U << 5); /* Bit 5: Release FIFO 0 Output Mailbox */
|
||||
|
||||
/* CAN interrupt enable register */
|
||||
|
||||
constexpr unsigned long IER_TMEIE = (1U << 0); /* Bit 0: Transmit Mailbox Empty Interrupt Enable */
|
||||
constexpr unsigned long IER_FMPIE0 = (1U << 1); /* Bit 1: FIFO Message Pending Interrupt Enable */
|
||||
constexpr unsigned long IER_FFIE0 = (1U << 2); /* Bit 2: FIFO Full Interrupt Enable */
|
||||
constexpr unsigned long IER_FOVIE0 = (1U << 3); /* Bit 3: FIFO Overrun Interrupt Enable */
|
||||
constexpr unsigned long IER_FMPIE1 = (1U << 4); /* Bit 4: FIFO Message Pending Interrupt Enable */
|
||||
constexpr unsigned long IER_FFIE1 = (1U << 5); /* Bit 5: FIFO Full Interrupt Enable */
|
||||
constexpr unsigned long IER_FOVIE1 = (1U << 6); /* Bit 6: FIFO Overrun Interrupt Enable */
|
||||
constexpr unsigned long IER_EWGIE = (1U << 8); /* Bit 8: Error Warning Interrupt Enable */
|
||||
constexpr unsigned long IER_EPVIE = (1U << 9); /* Bit 9: Error Passive Interrupt Enable */
|
||||
constexpr unsigned long IER_BOFIE = (1U << 10);/* Bit 10: Bus-Off Interrupt Enable */
|
||||
constexpr unsigned long IER_LECIE = (1U << 11);/* Bit 11: Last Error Code Interrupt Enable */
|
||||
constexpr unsigned long IER_ERRIE = (1U << 15);/* Bit 15: Error Interrupt Enable */
|
||||
constexpr unsigned long IER_WKUIE = (1U << 16);/* Bit 16: Wakeup Interrupt Enable */
|
||||
constexpr unsigned long IER_SLKIE = (1U << 17);/* Bit 17: Sleep Interrupt Enable */
|
||||
|
||||
/* CAN error status register */
|
||||
|
||||
constexpr unsigned long ESR_EWGF = (1U << 0); /* Bit 0: Error Warning Flag */
|
||||
constexpr unsigned long ESR_EPVF = (1U << 1); /* Bit 1: Error Passive Flag */
|
||||
constexpr unsigned long ESR_BOFF = (1U << 2); /* Bit 2: Bus-Off Flag */
|
||||
constexpr unsigned long ESR_LEC_SHIFT = (4U); /* Bits 6-4: Last Error Code */
|
||||
constexpr unsigned long ESR_LEC_MASK = (7U << ESR_LEC_SHIFT);
|
||||
constexpr unsigned long ESR_NOERROR = (0U << ESR_LEC_SHIFT);/* 000: No Error */
|
||||
constexpr unsigned long ESR_STUFFERROR = (1U << ESR_LEC_SHIFT);/* 001: Stuff Error */
|
||||
constexpr unsigned long ESR_FORMERROR = (2U << ESR_LEC_SHIFT);/* 010: Form Error */
|
||||
constexpr unsigned long ESR_ACKERROR = (3U << ESR_LEC_SHIFT);/* 011: Acknowledgment Error */
|
||||
constexpr unsigned long ESR_BRECERROR = (4U << ESR_LEC_SHIFT);/* 100: Bit recessive Error */
|
||||
constexpr unsigned long ESR_BDOMERROR = (5U << ESR_LEC_SHIFT);/* 101: Bit dominant Error */
|
||||
constexpr unsigned long ESR_CRCERRPR = (6U << ESR_LEC_SHIFT);/* 110: CRC Error */
|
||||
constexpr unsigned long ESR_SWERROR = (7U << ESR_LEC_SHIFT);/* 111: Set by software */
|
||||
constexpr unsigned long ESR_TEC_SHIFT = (16U); /* Bits 23-16: LS byte of the 9-bit Transmit Error Counter */
|
||||
constexpr unsigned long ESR_TEC_MASK = (0xFFU << ESR_TEC_SHIFT);
|
||||
constexpr unsigned long ESR_REC_SHIFT = (24U); /* Bits 31-24: Receive Error Counter */
|
||||
constexpr unsigned long ESR_REC_MASK = (0xFFU << ESR_REC_SHIFT);
|
||||
|
||||
/* CAN bit timing register */
|
||||
|
||||
constexpr unsigned long BTR_BRP_SHIFT = (0U); /* Bits 9-0: Baud Rate Prescaler */
|
||||
constexpr unsigned long BTR_BRP_MASK = (0x03FFU << BTR_BRP_SHIFT);
|
||||
constexpr unsigned long BTR_TS1_SHIFT = (16U); /* Bits 19-16: Time Segment 1 */
|
||||
constexpr unsigned long BTR_TS1_MASK = (0x0FU << BTR_TS1_SHIFT);
|
||||
constexpr unsigned long BTR_TS2_SHIFT = (20U); /* Bits 22-20: Time Segment 2 */
|
||||
constexpr unsigned long BTR_TS2_MASK = (7U << BTR_TS2_SHIFT);
|
||||
constexpr unsigned long BTR_SJW_SHIFT = (24U); /* Bits 25-24: Resynchronization Jump Width */
|
||||
constexpr unsigned long BTR_SJW_MASK = (3U << BTR_SJW_SHIFT);
|
||||
constexpr unsigned long BTR_LBKM = (1U << 30);/* Bit 30: Loop Back Mode (Debug);*/
|
||||
constexpr unsigned long BTR_SILM = (1U << 31);/* Bit 31: Silent Mode (Debug);*/
|
||||
|
||||
constexpr unsigned long BTR_BRP_MAX = (1024U); /* Maximum BTR value (without decrement);*/
|
||||
constexpr unsigned long BTR_TSEG1_MAX = (16U); /* Maximum TSEG1 value (without decrement);*/
|
||||
constexpr unsigned long BTR_TSEG2_MAX = (8U); /* Maximum TSEG2 value (without decrement);*/
|
||||
|
||||
/* TX mailbox identifier register */
|
||||
|
||||
constexpr unsigned long TIR_TXRQ = (1U << 0); /* Bit 0: Transmit Mailbox Request */
|
||||
constexpr unsigned long TIR_RTR = (1U << 1); /* Bit 1: Remote Transmission Request */
|
||||
constexpr unsigned long TIR_IDE = (1U << 2); /* Bit 2: Identifier Extension */
|
||||
constexpr unsigned long TIR_EXID_SHIFT = (3U); /* Bit 3-31: Extended Identifier */
|
||||
constexpr unsigned long TIR_EXID_MASK = (0x1FFFFFFFU << TIR_EXID_SHIFT);
|
||||
constexpr unsigned long TIR_STID_SHIFT = (21U); /* Bits 21-31: Standard Identifier */
|
||||
constexpr unsigned long TIR_STID_MASK = (0x07FFU << TIR_STID_SHIFT);
|
||||
|
||||
/* Mailbox data length control and time stamp register */
|
||||
|
||||
constexpr unsigned long TDTR_DLC_SHIFT = (0U); /* Bits 3:0: Data Length Code */
|
||||
constexpr unsigned long TDTR_DLC_MASK = (0x0FU << TDTR_DLC_SHIFT);
|
||||
constexpr unsigned long TDTR_TGT = (1U << 8); /* Bit 8: Transmit Global Time */
|
||||
constexpr unsigned long TDTR_TIME_SHIFT = (16U); /* Bits 31:16: Message Time Stamp */
|
||||
constexpr unsigned long TDTR_TIME_MASK = (0xFFFFU << TDTR_TIME_SHIFT);
|
||||
|
||||
/* Mailbox data low register */
|
||||
|
||||
constexpr unsigned long TDLR_DATA0_SHIFT = (0U); /* Bits 7-0: Data Byte 0 */
|
||||
constexpr unsigned long TDLR_DATA0_MASK = (0xFFU << TDLR_DATA0_SHIFT);
|
||||
constexpr unsigned long TDLR_DATA1_SHIFT = (8U); /* Bits 15-8: Data Byte 1 */
|
||||
constexpr unsigned long TDLR_DATA1_MASK = (0xFFU << TDLR_DATA1_SHIFT);
|
||||
constexpr unsigned long TDLR_DATA2_SHIFT = (16U); /* Bits 23-16: Data Byte 2 */
|
||||
constexpr unsigned long TDLR_DATA2_MASK = (0xFFU << TDLR_DATA2_SHIFT);
|
||||
constexpr unsigned long TDLR_DATA3_SHIFT = (24U); /* Bits 31-24: Data Byte 3 */
|
||||
constexpr unsigned long TDLR_DATA3_MASK = (0xFFU << TDLR_DATA3_SHIFT);
|
||||
|
||||
/* Mailbox data high register */
|
||||
|
||||
constexpr unsigned long TDHR_DATA4_SHIFT = (0U); /* Bits 7-0: Data Byte 4 */
|
||||
constexpr unsigned long TDHR_DATA4_MASK = (0xFFU << TDHR_DATA4_SHIFT);
|
||||
constexpr unsigned long TDHR_DATA5_SHIFT = (8U); /* Bits 15-8: Data Byte 5 */
|
||||
constexpr unsigned long TDHR_DATA5_MASK = (0xFFU << TDHR_DATA5_SHIFT);
|
||||
constexpr unsigned long TDHR_DATA6_SHIFT = (16U); /* Bits 23-16: Data Byte 6 */
|
||||
constexpr unsigned long TDHR_DATA6_MASK = (0xFFU << TDHR_DATA6_SHIFT);
|
||||
constexpr unsigned long TDHR_DATA7_SHIFT = (24U); /* Bits 31-24: Data Byte 7 */
|
||||
constexpr unsigned long TDHR_DATA7_MASK = (0xFFU << TDHR_DATA7_SHIFT);
|
||||
|
||||
/* Rx FIFO mailbox identifier register */
|
||||
|
||||
constexpr unsigned long RIR_RTR = (1U << 1); /* Bit 1: Remote Transmission Request */
|
||||
constexpr unsigned long RIR_IDE = (1U << 2); /* Bit 2: Identifier Extension */
|
||||
constexpr unsigned long RIR_EXID_SHIFT = (3U); /* Bit 3-31: Extended Identifier */
|
||||
constexpr unsigned long RIR_EXID_MASK = (0x1FFFFFFFU << RIR_EXID_SHIFT);
|
||||
constexpr unsigned long RIR_STID_SHIFT = (21U); /* Bits 21-31: Standard Identifier */
|
||||
constexpr unsigned long RIR_STID_MASK = (0x07FFU << RIR_STID_SHIFT);
|
||||
|
||||
/* Receive FIFO mailbox data length control and time stamp register */
|
||||
|
||||
constexpr unsigned long RDTR_DLC_SHIFT = (0U); /* Bits 3:0: Data Length Code */
|
||||
constexpr unsigned long RDTR_DLC_MASK = (0x0FU << RDTR_DLC_SHIFT);
|
||||
constexpr unsigned long RDTR_FM_SHIFT = (8U); /* Bits 15-8: Filter Match Index */
|
||||
constexpr unsigned long RDTR_FM_MASK = (0xFFU << RDTR_FM_SHIFT);
|
||||
constexpr unsigned long RDTR_TIME_SHIFT = (16U); /* Bits 31:16: Message Time Stamp */
|
||||
constexpr unsigned long RDTR_TIME_MASK = (0xFFFFU << RDTR_TIME_SHIFT);
|
||||
|
||||
/* Receive FIFO mailbox data low register */
|
||||
|
||||
constexpr unsigned long RDLR_DATA0_SHIFT = (0U); /* Bits 7-0: Data Byte 0 */
|
||||
constexpr unsigned long RDLR_DATA0_MASK = (0xFFU << RDLR_DATA0_SHIFT);
|
||||
constexpr unsigned long RDLR_DATA1_SHIFT = (8U); /* Bits 15-8: Data Byte 1 */
|
||||
constexpr unsigned long RDLR_DATA1_MASK = (0xFFU << RDLR_DATA1_SHIFT);
|
||||
constexpr unsigned long RDLR_DATA2_SHIFT = (16U); /* Bits 23-16: Data Byte 2 */
|
||||
constexpr unsigned long RDLR_DATA2_MASK = (0xFFU << RDLR_DATA2_SHIFT);
|
||||
constexpr unsigned long RDLR_DATA3_SHIFT = (24U); /* Bits 31-24: Data Byte 3 */
|
||||
constexpr unsigned long RDLR_DATA3_MASK = (0xFFU << RDLR_DATA3_SHIFT);
|
||||
|
||||
/* Receive FIFO mailbox data high register */
|
||||
|
||||
constexpr unsigned long RDHR_DATA4_SHIFT = (0U); /* Bits 7-0: Data Byte 4 */
|
||||
constexpr unsigned long RDHR_DATA4_MASK = (0xFFU << RDHR_DATA4_SHIFT);
|
||||
constexpr unsigned long RDHR_DATA5_SHIFT = (8U); /* Bits 15-8: Data Byte 5 */
|
||||
constexpr unsigned long RDHR_DATA5_MASK = (0xFFU << RDHR_DATA5_SHIFT);
|
||||
constexpr unsigned long RDHR_DATA6_SHIFT = (16U); /* Bits 23-16: Data Byte 6 */
|
||||
constexpr unsigned long RDHR_DATA6_MASK = (0xFFU << RDHR_DATA6_SHIFT);
|
||||
constexpr unsigned long RDHR_DATA7_SHIFT = (24U); /* Bits 31-24: Data Byte 7 */
|
||||
constexpr unsigned long RDHR_DATA7_MASK = (0xFFU << RDHR_DATA7_SHIFT);
|
||||
|
||||
/* CAN filter master register */
|
||||
|
||||
constexpr unsigned long FMR_FINIT = (1U << 0); /* Bit 0: Filter Init Mode */
|
||||
}
|
||||
}
|
||||
|
||||
#if UAVCAN_CPP_VERSION < UAVCAN_CPP11
|
||||
# undef constexpr
|
||||
#endif
|
||||
Loading…
Reference in New Issue
Block a user