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AP_CanManager: use milliseconds for timeout

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The use of PRIu64 was breaking people's builds
This commit is contained in:
Peter Barker 2021-01-06 20:41:18 +11:00 committed by Andrew Tridgell
parent 9099a9b622
commit 96981baadf
2 changed files with 11 additions and 9 deletions
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16
libraries/AP_CANManager/AP_CANTester_KDECAN.cpp
View File

@ -135,13 +135,14 @@ void AP_CANTester_KDECAN::loop(void)
break;
}
case UPDATE_NODE_ID_OBJ_ADDR: {
if (_esc_info[i].enum_timeout != 0 && _esc_info[i].enum_timeout >= AP_HAL::micros64()) {
if (_esc_info[i].enum_timeout_ms != 0
&& _esc_info[i].enum_timeout_ms >= AP_HAL::millis()) {
_esc_info[i].node_id = esc_num;
_max_node_id = MAX(_max_node_id, esc_num - 2 + 1);
gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Set node ID %d for ESC %d\n", esc_num, i);
}
_esc_info[i].enum_timeout = 0;
_esc_info[i].enum_timeout_ms = 0;
res_frame.dlc = 1;
memcpy(res_frame.data, &(_esc_info[i].node_id), 1);
@ -149,8 +150,8 @@ void AP_CANTester_KDECAN::loop(void)
break;
}
case START_ENUM_OBJ_ADDR: {
_esc_info[i].enum_timeout = AP_HAL::micros64() + be16toh(*((be16_t*) &(recv_frame.data[0]))) * 1000;
gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Starting enumeration for ESC %d, timeout %" PRIu64 "\n", i, _esc_info[i].enum_timeout);
_esc_info[i].enum_timeout_ms = AP_HAL::millis() + be16toh(*((be16_t*) &(recv_frame.data[0])));
gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Starting enumeration for ESC %d, timeout %u", i, (unsigned)_esc_info[i].enum_timeout_ms);
i++;
continue;
}
@ -202,15 +203,16 @@ void AP_CANTester_KDECAN::print_stats(void)
if (counters[i].frame_id == 0) {
break;
}
hal.console->printf("0x%08" PRIX32 ": %" PRIu32 "\n", counters[i].frame_id, counters[i].count);
hal.console->printf("0x%08x: %u\n", (unsigned)counters[i].frame_id, (unsigned)counters[i].count);
counters[i].count = 0;
}
}
bool AP_CANTester_KDECAN::send_enumeration(uint8_t num)
{
if (_esc_info[num].enum_timeout == 0 || AP_HAL::micros64() > _esc_info[num].enum_timeout) {
_esc_info[num].enum_timeout = 0;
if (_esc_info[num].enum_timeout_ms == 0 ||
AP_HAL::millis() > _esc_info[num].enum_timeout_ms) {
_esc_info[num].enum_timeout_ms = 0;
gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Not running enumeration for ESC %d\n", num);
return false;
}

4
libraries/AP_CANManager/AP_CANTester_KDECAN.h
View File

@ -49,9 +49,9 @@ private:
struct esc_info {
uint8_t node_id;
uint64_t mcu_id;
uint64_t enum_timeout;
uint32_t enum_timeout_ms;
esc_info() : node_id(1), mcu_id(0), enum_timeout(0) {}
esc_info() : node_id(1), mcu_id(0), enum_timeout_ms(0) {}
} _esc_info[NUM_ESCS];
uint8_t _max_node_id = 0;