Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_KDECAN: standardize on 32 bit microsecond CAN timeouts 

For consistency with other parts of the code. No compiler output change.
This commit is contained in:
Thomas Watson 2024-10-08 22:51:46 -05:00 committed by Peter Barker
parent 43b8900bec
commit 9a497fe716
2 changed files with 8 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_KDECAN/AP_KDECAN.cpp
View File

@ -235,14 +235,14 @@ void AP_KDECAN_Driver::loop()
for (uint8_t i=0; i<ARRAY_SIZE(_output.pwm); i++) { for (uint8_t i=0; i<ARRAY_SIZE(_output.pwm); i++) {
if ((_init.detected_bitmask & (1UL<<i)) != 0) { if ((_init.detected_bitmask & (1UL<<i)) != 0) {
send_packet_uint16(SET_PWM_OBJ_ADDR, (i + ESC_NODE_ID_FIRST), 1, pwm[i]); send_packet_uint16(SET_PWM_OBJ_ADDR, (i + ESC_NODE_ID_FIRST), 1000, pwm[i]);
} }
} }
#if HAL_WITH_ESC_TELEM #if HAL_WITH_ESC_TELEM
// broadcast as request-telemetry msg to everyone // broadcast as request-telemetry msg to everyone
if (_init.detected_bitmask != 0 && now_ms - _telemetry.timer_ms >= TELEMETRY_INTERVAL_MS) { if (_init.detected_bitmask != 0 && now_ms - _telemetry.timer_ms >= TELEMETRY_INTERVAL_MS) {
if (send_packet(TELEMETRY_OBJ_ADDR, BROADCAST_NODE_ID, 10)) { if (send_packet(TELEMETRY_OBJ_ADDR, BROADCAST_NODE_ID, 10000)) {
_telemetry.timer_ms = now_ms; _telemetry.timer_ms = now_ms;
} }
} }
@ -256,7 +256,7 @@ void AP_KDECAN_Driver::loop()
broadcast_esc_info_next_interval_ms = 1000; broadcast_esc_info_next_interval_ms = 1000;
} }
if (send_packet(ESC_INFO_OBJ_ADDR, BROADCAST_NODE_ID, 100)) { if (send_packet(ESC_INFO_OBJ_ADDR, BROADCAST_NODE_ID, 100000)) {
_init.detected_bitmask_ms = now_ms; _init.detected_bitmask_ms = now_ms;
} }
} }
@ -264,13 +264,13 @@ void AP_KDECAN_Driver::loop()
} // while true } // while true
} }
bool AP_KDECAN_Driver::send_packet_uint16(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_ms, const uint16_t data) bool AP_KDECAN_Driver::send_packet_uint16(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_us, const uint16_t data)
{ {
const uint16_t data_be16 = htobe16(data); const uint16_t data_be16 = htobe16(data);
return send_packet(address, dest_id, timeout_ms, (uint8_t*)&data_be16, 2); return send_packet(address, dest_id, timeout_us, (uint8_t*)&data_be16, 2);
} }
bool AP_KDECAN_Driver::send_packet(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_ms, const uint8_t *data, const uint8_t data_len) bool AP_KDECAN_Driver::send_packet(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_us, const uint8_t *data, const uint8_t data_len)
{ {
// broadcast telemetry request frame // broadcast telemetry request frame
const frame_id_t id { const frame_id_t id {
@ -285,7 +285,6 @@ bool AP_KDECAN_Driver::send_packet(const uint8_t address, const uint8_t dest_id,
AP_HAL::CANFrame frame = AP_HAL::CANFrame((id.value | AP_HAL::CANFrame::FlagEFF), data, data_len, false); AP_HAL::CANFrame frame = AP_HAL::CANFrame((id.value | AP_HAL::CANFrame::FlagEFF), data, data_len, false);
const uint64_t timeout_us = uint64_t(timeout_ms) * 1000UL;
return write_frame(frame, timeout_us); return write_frame(frame, timeout_us);
} }

4
libraries/AP_KDECAN/AP_KDECAN.h
View File

@ -56,8 +56,8 @@ private:
// handler for incoming frames // handler for incoming frames
void handle_frame(AP_HAL::CANFrame &frame) override; void handle_frame(AP_HAL::CANFrame &frame) override;
bool send_packet_uint16(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_ms, const uint16_t data); bool send_packet_uint16(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_us, const uint16_t data);
bool send_packet(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_ms, const uint8_t *data = nullptr, const uint8_t data_len = 0); bool send_packet(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_us, const uint8_t *data = nullptr, const uint8_t data_len = 0);
void loop(); void loop();