HAL_ChibiOS: reimplement CAN with BinarySemaphore

libraries/AP_HAL_ChibiOS/CANFDIface.cpp

@@ -812,11 +812,9 @@ void CANIface::handleTxCompleteInterrupt(const uint64_t timestamp_us)
                 rx_item.flags = AP_HAL::CANIface::Loopback;
                 add_to_rx_queue(rx_item);
             }
-            if (event_handle_ != nullptr) {
-                stats.num_events++;
-#if CH_CFG_USE_EVENTS == TRUE
-                evt_src_.signalI(1 << self_index_);
-#endif
+            stats.num_events++;
+            if (sem_handle != nullptr) {
+                sem_handle->signal_ISR();
             }
         }
     }
@@ -925,11 +923,9 @@ void CANIface::handleRxInterrupt(uint8_t fifo_index)
     while (readRxFIFO(fifo_index)) {
         had_activity_ = true;
     }
-    if (event_handle_ != nullptr) {
-        stats.num_events++;
-#if CH_CFG_USE_EVENTS == TRUE
-        evt_src_.signalI(1 << self_index_);
-#endif
+    stats.num_events++;
+    if (sem_handle != nullptr) {
+        sem_handle->signal_ISR();
     }
 }
 
@@ -995,16 +991,11 @@ uint32_t CANIface::getErrorCount() const
            stats.tx_timedout;
 }
 
-#if CH_CFG_USE_EVENTS == TRUE
-ChibiOS::EventSource CANIface::evt_src_;
-bool CANIface::set_event_handle(AP_HAL::EventHandle* handle)
+bool CANIface::set_event_handle(AP_HAL::BinarySemaphore *handle)
 {
-    CriticalSectionLocker lock;
-    event_handle_ = handle;
-    event_handle_->set_source(&evt_src_);
-    return event_handle_->register_event(1 << self_index_);
+    sem_handle = handle;
+    return true;
 }
-#endif
 
 bool CANIface::isRxBufferEmpty() const
 {
@@ -1075,10 +1066,10 @@ bool CANIface::select(bool &read, bool &write,
         return true;
     }
     while (time < blocking_deadline) {
-        if (event_handle_ == nullptr) {
+        if (sem_handle == nullptr) {
             break;
         }
-        event_handle_->wait(blocking_deadline - time); // Block until timeout expires or any iface updates
+        IGNORE_RETURN(sem_handle->wait(blocking_deadline - time)); // Block until timeout expires or any iface updates
         checkAvailable(read, write, pending_tx);  // Check what we got
         if ((read && in_read) || (write && in_write)) {
             return true;

libraries/AP_HAL_ChibiOS/CANFDIface.h

@@ -41,7 +41,6 @@
 #pragma once
 
 #include "AP_HAL_ChibiOS.h"
-#include "EventSource.h"
 
 #if HAL_NUM_CAN_IFACES
 
@@ -120,10 +119,8 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
     bool irq_init_;
     bool initialised_;
     bool had_activity_;
-    AP_HAL::EventHandle* event_handle_;
-#if CH_CFG_USE_EVENTS == TRUE
-    static ChibiOS::EventSource evt_src_;
-#endif
+    AP_HAL::BinarySemaphore *sem_handle;
+
     const uint8_t self_index_;
 
     bool computeTimings(uint32_t target_bitrate, Timings& out_timings);
@@ -224,10 +221,8 @@ public:
                 const AP_HAL::CANFrame* const pending_tx,
                 uint64_t blocking_deadline) override;
 
-#if CH_CFG_USE_EVENTS == TRUE
     // setup event handle for waiting on events
-    bool set_event_handle(AP_HAL::EventHandle* handle) override;
-#endif
+    bool set_event_handle(AP_HAL::BinarySemaphore *handle) override;
 
 #if !defined(HAL_BOOTLOADER_BUILD)
     // fetch stats text and return the size of the same,

libraries/AP_HAL_ChibiOS/CANIface.h

@@ -46,7 +46,6 @@
 # else
 #if HAL_NUM_CAN_IFACES
 #include "bxcan.hpp"
-#include "EventSource.h"
 
 #ifndef HAL_CAN_RX_QUEUE_SIZE
 #define HAL_CAN_RX_QUEUE_SIZE 128
@@ -109,10 +108,8 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
     bool irq_init_:1;
     bool initialised_:1;
     bool had_activity_:1;
-#if CH_CFG_USE_EVENTS == TRUE
-    AP_HAL::EventHandle* event_handle_;
-    static ChibiOS::EventSource evt_src_;
-#endif
+    AP_HAL::BinarySemaphore *sem_handle;
+
     const uint8_t self_index_;
 
     bool computeTimings(uint32_t target_bitrate, Timings& out_timings);
@@ -210,10 +207,9 @@ public:
                 const AP_HAL::CANFrame* const pending_tx,
                 uint64_t blocking_deadline) override;
     
-#if CH_CFG_USE_EVENTS == TRUE
     // setup event handle for waiting on events
-    bool set_event_handle(AP_HAL::EventHandle* handle) override;
-#endif
+    bool set_event_handle(AP_HAL::BinarySemaphore *handle) override;
+
 #if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
     // fetch stats text and return the size of the same,
     // results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt 

libraries/AP_HAL_ChibiOS/CanIface.cpp

@@ -522,12 +522,11 @@ void CANIface::handleTxInterrupt(const uint64_t utc_usec)
         handleTxMailboxInterrupt(2, txok, utc_usec);
     }
 
-#if CH_CFG_USE_EVENTS == TRUE
-    if (event_handle_ != nullptr) {
+    if (sem_handle != nullptr) {
         PERF_STATS(stats.num_events);
-        evt_src_.signalI(1 << self_index_);
+        sem_handle->signal_ISR();
     }
-#endif
+
     pollErrorFlagsFromISR();
 }
 
@@ -590,12 +589,11 @@ void CANIface::handleRxInterrupt(uint8_t fifo_index, uint64_t timestamp_us)
 
     had_activity_ = true;
 
-#if CH_CFG_USE_EVENTS == TRUE
-    if (event_handle_ != nullptr) {
+    if (sem_handle != nullptr) {
         PERF_STATS(stats.num_events);
-        evt_src_.signalI(1 << self_index_);
+        sem_handle->signal_ISR();
     }
-#endif
+
     pollErrorFlagsFromISR();
 }
 
@@ -702,17 +700,12 @@ uint32_t CANIface::getErrorCount() const
 
 #endif // #if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
 
-#if CH_CFG_USE_EVENTS == TRUE
-ChibiOS::EventSource CANIface::evt_src_;
-bool CANIface::set_event_handle(AP_HAL::EventHandle* handle)
+bool CANIface::set_event_handle(AP_HAL::BinarySemaphore *handle)
 {
-    CriticalSectionLocker lock;
-    event_handle_ = handle;
-    event_handle_->set_source(&evt_src_);
-    return event_handle_->register_event(1 << self_index_);
+    sem_handle = handle;
+    return true;
 }
 
-#endif // #if CH_CFG_USE_EVENTS == TRUE
 
 void CANIface::checkAvailable(bool& read, bool& write, const AP_HAL::CANFrame* pending_tx) const
 {
@@ -745,13 +738,13 @@ bool CANIface::select(bool &read, bool &write,
         return true;
     }
 
-#if CH_CFG_USE_EVENTS == TRUE
+#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
     // we don't support blocking select in AP_Periph and bootloader
     while (time < blocking_deadline) {
-        if (event_handle_ == nullptr) {
+        if (sem_handle == nullptr) {
             break;
         }
-        event_handle_->wait(blocking_deadline - time); // Block until timeout expires or any iface updates
+        IGNORE_RETURN(sem_handle->wait(blocking_deadline - time)); // Block until timeout expires or any iface updates
         checkAvailable(read, write, pending_tx);  // Check what we got
         if ((read && in_read) || (write && in_write)) {
             return true;