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AP_PiccoloCAN: Update timeout values to use 64-bit calls

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- Prevent premature overflow due to 32-bit variables
This commit is contained in:
Oliver Walters 2020-09-25 17:23:56 +10:00 committed by Andrew Tridgell
parent 491499ad16
commit 917f7d8797
1 changed files with 5 additions and 9 deletions
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14
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
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@ -141,15 +141,11 @@ void AP_PiccoloCAN::loop()
uint8_t frame_id_group; // Piccolo message group uint8_t frame_id_group; // Piccolo message group
uint16_t frame_id_device; // Device identifier uint16_t frame_id_device; // Device identifier
uint64_t timeout;
uint16_t escCmdRateMs;
while (true) { while (true) {
_esc_hz = constrain_int16(_esc_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX); _esc_hz = constrain_int16(_esc_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX);
escCmdRateMs = (uint16_t) ((float) 1000 / _esc_hz); uint16_t escCmdRateMs = (uint16_t) ((float) 1000 / _esc_hz);
if (!_initialized) { if (!_initialized) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: not initialized\n\r"); debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: not initialized\n\r");
@ -157,10 +153,10 @@ void AP_PiccoloCAN::loop()
continue; continue;
} }
timeout = AP_HAL::micros() + 250; uint64_t timeout = AP_HAL::micros64() + 250ULL;
// 1ms loop delay // 1ms loop delay
hal.scheduler->delay_microseconds(1 * 1000); hal.scheduler->delay_microseconds(1000);
// Transmit ESC commands at regular intervals // Transmit ESC commands at regular intervals
if (esc_tx_counter++ > escCmdRateMs) { if (esc_tx_counter++ > escCmdRateMs) {
@ -372,7 +368,7 @@ void AP_PiccoloCAN::send_esc_messages(void)
{ {
AP_HAL::CANFrame txFrame; AP_HAL::CANFrame txFrame;
uint64_t timeout = AP_HAL::micros() + 1000; uint64_t timeout = AP_HAL::micros64() + 1000ULL;
// No ESCs are selected? Don't send anything // No ESCs are selected? Don't send anything
if (_esc_bm == 0x00) { if (_esc_bm == 0x00) {
@ -574,7 +570,7 @@ bool AP_PiccoloCAN::is_esc_present(uint8_t chan, uint64_t timeout_ms)
uint64_t now = AP_HAL::micros64(); uint64_t now = AP_HAL::micros64();
uint64_t timeout_us = timeout_ms * 1000; uint64_t timeout_us = timeout_ms * 1000ULL;
if (now > (esc.last_rx_msg_timestamp + timeout_us)) { if (now > (esc.last_rx_msg_timestamp + timeout_us)) {
return false; return false;