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AP_CANManager: removed native_millis/micros

This commit is contained in:
Andrew Tridgell 2023-08-22 11:41:12 +10:00 committed by Peter Barker
parent a44820cfde
commit b55c1d7193
3 changed files with 11 additions and 11 deletions
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2
libraries/AP_CANManager/AP_CANManager.cpp
View File

@ -500,7 +500,7 @@ void AP_CANManager::process_frame_buffer(void)
break; break;
} }
const int16_t retcode = hal.can[frame.bus]->send(frame.frame, const int16_t retcode = hal.can[frame.bus]->send(frame.frame,
AP_HAL::native_micros64() + timeout_us, AP_HAL::micros64() + timeout_us,
AP_HAL::CANIface::IsMAVCAN); AP_HAL::CANIface::IsMAVCAN);
if (retcode == 0) { if (retcode == 0) {
// no space in the CAN output slots, try again later // no space in the CAN output slots, try again later

4
libraries/AP_CANManager/AP_CANSensor.cpp
View File

@ -137,12 +137,12 @@ bool CANSensor::write_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_
bool read_select = false; bool read_select = false;
bool write_select = true; bool write_select = true;
bool ret = _can_iface->select(read_select, write_select, &out_frame, AP_HAL::native_micros64() + timeout_us); bool ret = _can_iface->select(read_select, write_select, &out_frame, AP_HAL::micros64() + timeout_us);
if (!ret || !write_select) { if (!ret || !write_select) {
return false; return false;
} }
uint64_t deadline = AP_HAL::native_micros64() + 2000000; uint64_t deadline = AP_HAL::micros64() + 2000000;
return (_can_iface->send(out_frame, deadline, AP_HAL::CANIface::AbortOnError) == 1); return (_can_iface->send(out_frame, deadline, AP_HAL::CANIface::AbortOnError) == 1);
} }

16
libraries/AP_CANManager/AP_SLCANIface.cpp
View File

@ -112,7 +112,7 @@ bool SLCAN::CANIface::push_Frame(AP_HAL::CANFrame &frame)
AP_HAL::CANIface::CanRxItem frm; AP_HAL::CANIface::CanRxItem frm;
frm.frame = frame; frm.frame = frame;
frm.flags = 0; frm.flags = 0;
frm.timestamp_us = AP_HAL::native_micros64(); frm.timestamp_us = AP_HAL::micros64();
return add_to_rx_queue(frm); return add_to_rx_queue(frm);
} }
@ -532,10 +532,10 @@ void SLCAN::CANIface::update_slcan_port()
} }
if (_prev_ser_port != _slcan_ser_port) { if (_prev_ser_port != _slcan_ser_port) {
if (!_slcan_start_req) { if (!_slcan_start_req) {
_slcan_start_req_time = AP_HAL::native_millis(); _slcan_start_req_time = AP_HAL::millis();
_slcan_start_req = true; _slcan_start_req = true;
} }
if (((AP_HAL::native_millis() - _slcan_start_req_time) < ((uint32_t)_slcan_start_delay*1000))) { if (((AP_HAL::millis() - _slcan_start_req_time) < ((uint32_t)_slcan_start_delay*1000))) {
return; return;
} }
_port = AP::serialmanager().get_serial_by_id(_slcan_ser_port); _port = AP::serialmanager().get_serial_by_id(_slcan_ser_port);
@ -546,12 +546,12 @@ void SLCAN::CANIface::update_slcan_port()
_port->lock_port(_serial_lock_key, _serial_lock_key); _port->lock_port(_serial_lock_key, _serial_lock_key);
_prev_ser_port = _slcan_ser_port; _prev_ser_port = _slcan_ser_port;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "CANManager: Starting SLCAN Passthrough on Serial %d with CAN%d", _slcan_ser_port.get(), _iface_num); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "CANManager: Starting SLCAN Passthrough on Serial %d with CAN%d", _slcan_ser_port.get(), _iface_num);
_last_had_activity = AP_HAL::native_millis(); _last_had_activity = AP_HAL::millis();
} }
if (_port == nullptr) { if (_port == nullptr) {
return; return;
} }
if (((AP_HAL::native_millis() - _last_had_activity) > ((uint32_t)_slcan_timeout*1000)) && if (((AP_HAL::millis() - _last_had_activity) > ((uint32_t)_slcan_timeout*1000)) &&
(uint32_t)_slcan_timeout != 0) { (uint32_t)_slcan_timeout != 0) {
_port->lock_port(0, 0); _port->lock_port(0, 0);
_port = nullptr; _port = nullptr;
@ -693,7 +693,7 @@ int16_t SLCAN::CANIface::send(const AP_HAL::CANFrame& frame, uint64_t tx_deadlin
) { ) {
return ret; return ret;
} }
reportFrame(frame, AP_HAL::native_micros64()); reportFrame(frame, AP_HAL::micros64());
return ret; return ret;
} }
@ -708,7 +708,7 @@ int16_t SLCAN::CANIface::receive(AP_HAL::CANFrame& out_frame, uint64_t& rx_time,
if (ret > 0) { if (ret > 0) {
// we also pass this frame through to slcan iface, // we also pass this frame through to slcan iface,
// and immediately return // and immediately return
reportFrame(out_frame, AP_HAL::native_micros64()); reportFrame(out_frame, AP_HAL::micros64());
return ret; return ret;
} else if (ret < 0) { } else if (ret < 0) {
return ret; return ret;
@ -750,7 +750,7 @@ int16_t SLCAN::CANIface::receive(AP_HAL::CANFrame& out_frame, uint64_t& rx_time,
bool read = false; bool read = false;
bool write = true; bool write = true;
_can_iface->select(read, write, &out_frame, 0); // select without blocking _can_iface->select(read, write, &out_frame, 0); // select without blocking
if (write && _can_iface->send(out_frame, AP_HAL::native_micros64() + 100000, out_flags) == 1) { if (write && _can_iface->send(out_frame, AP_HAL::micros64() + 100000, out_flags) == 1) {
rx_queue_.pop(); rx_queue_.pop();
num_tries = 0; num_tries = 0;
} else if (num_tries > 8) { } else if (num_tries > 8) {