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AP_HAL_ChibiOS: create UAVCAN agnostic CANIface driver 

HAL_ChibiOS
This commit is contained in:
Siddharth Purohit 2020-05-31 17:47:00 +05:30 committed by Andrew Tridgell
parent 15abca8ba4
commit cdf8e369f1
20 changed files with 1257 additions and 3486 deletions
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2
libraries/AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h
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@ -26,6 +26,6 @@ namespace ChibiOS {
class Shared_DMA;
class SoftSigReader;
class SoftSigReaderInt;
class CANManager;
class CANIface;
class Flash;
}

77
libraries/AP_HAL_ChibiOS/CAN.h
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@ -1,77 +0,0 @@
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
#define CAN_STM32_LOG(fmt, ...) hal.console->printf("CANManager: " fmt "\n", ##__VA_ARGS__)
#include <uavcan/uavcan.hpp>
#include <uavcan/time.hpp>
#include "CANThread.h"
#include "CANClock.h"
#if defined(STM32H7XX)
#include "CANFDIface.h"
#else
#include "CANIface.h"
#endif
#define MAX_NUMBER_OF_CAN_INTERFACES 2
#define MAX_NUMBER_OF_CAN_DRIVERS 2
#define CAN_STM32_RX_QUEUE_SIZE 64
namespace ChibiOS {
/**
* Generic CAN driver.
*/
class CANManager: public AP_HAL::CANManager {
public:
CANManager()
: can_helper(), AP_HAL::CANManager(&can_helper.driver) { }
/**
* Whether at least one iface had at least one successful IO since previous call of this method.
* This is designed for use with iface activity LEDs.
*/
//bool hadActivity();
static CANManager *from(AP_HAL::CANManager *can)
{
return static_cast<CANManager*>(can);
}
bool begin(uint32_t bitrate, uint8_t can_number) override;
/*
Test if CAN manager is ready and initialized
return false - CAN manager not initialized
true - CAN manager is initialized
*/
bool is_initialized() override;
void initialized(bool val) override;
private:
bool initialized_;
ChibiOS_CAN::CanInitHelper<CAN_STM32_RX_QUEUE_SIZE> can_helper;
};
}
#endif

412
libraries/AP_HAL_ChibiOS/CANClock.cpp
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@ -1,412 +0,0 @@
/*
* The MIT License (MIT)
*
* Copyright (c) 2014 Pavel Kirienko
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Modified for Ardupilot by Siddharth Bharat Purohit
*/
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
#include "CANClock.h"
#include "CANThread.h"
#include "CANInternal.h"
#ifndef UAVCAN_STM32_TIMER_NUMBER
#define UAVCAN_STM32_TIMER_NUMBER 0
#endif
#if UAVCAN_STM32_TIMER_NUMBER
#include <cassert>
#include <cmath>
/*
* Timer instance
*/
# if (CH_KERNEL_MAJOR == 2)
# define TIMX UAVCAN_STM32_GLUE2(TIM, UAVCAN_STM32_TIMER_NUMBER)
# define TIMX_IRQn UAVCAN_STM32_GLUE3(TIM, UAVCAN_STM32_TIMER_NUMBER, _IRQn)
# define TIMX_INPUT_CLOCK STM32_TIMCLK1
# endif
# if (CH_KERNEL_MAJOR == 3 || CH_KERNEL_MAJOR == 4)
# define TIMX UAVCAN_STM32_GLUE2(STM32_TIM, UAVCAN_STM32_TIMER_NUMBER)
# define TIMX_IRQn UAVCAN_STM32_GLUE3(STM32_TIM, UAVCAN_STM32_TIMER_NUMBER, _NUMBER)
# define TIMX_IRQHandler UAVCAN_STM32_GLUE3(STM32_TIM, UAVCAN_STM32_TIMER_NUMBER, _HANDLER)
# define TIMX_INPUT_CLOCK STM32_TIMCLK1
# else
# define TIMX_IRQHandler UAVCAN_STM32_GLUE3(TIM, UAVCAN_STM32_TIMER_NUMBER, _IRQHandler)
# endif
# if UAVCAN_STM32_TIMER_NUMBER >= 2 && UAVCAN_STM32_TIMER_NUMBER <= 7
# define TIMX_RCC_ENR RCC->APB1ENR
# define TIMX_RCC_RSTR RCC->APB1RSTR
# define TIMX_RCC_ENR_MASK UAVCAN_STM32_GLUE3(RCC_APB1ENR_TIM, UAVCAN_STM32_TIMER_NUMBER, EN)
# define TIMX_RCC_RSTR_MASK UAVCAN_STM32_GLUE3(RCC_APB1RSTR_TIM, UAVCAN_STM32_TIMER_NUMBER, RST)
# else
# error "This UAVCAN_STM32_TIMER_NUMBER is not supported yet"
# endif
# if (TIMX_INPUT_CLOCK % 1000000) != 0
# error "No way, timer clock must be divisible to 1e6. FIXME!"
# endif
extern "C" UAVCAN_STM32_IRQ_HANDLER(TIMX_IRQHandler);
namespace ChibiOS_CAN {
namespace clock {
namespace {
const uavcan::uint32_t USecPerOverflow = 65536;
Mutex mutex;
bool initialized = false;
bool utc_set = false;
bool utc_locked = false;
uavcan::uint32_t utc_jump_cnt = 0;
UtcSyncParams utc_sync_params;
float utc_prev_adj = 0;
float utc_rel_rate_ppm = 0;
float utc_rel_rate_error_integral = 0;
uavcan::int32_t utc_accumulated_correction_nsec = 0;
uavcan::int32_t utc_correction_nsec_per_overflow = 0;
uavcan::MonotonicTime prev_utc_adj_at;
uavcan::uint64_t time_mono = 0;
uavcan::uint64_t time_utc = 0;
}
void init()
{
CriticalSectionLocker lock;
if (initialized) {
return;
}
initialized = true;
// Power-on and reset
TIMX_RCC_ENR |= TIMX_RCC_ENR_MASK;
TIMX_RCC_RSTR |= TIMX_RCC_RSTR_MASK;
TIMX_RCC_RSTR &= ~TIMX_RCC_RSTR_MASK;
// Enable IRQ
nvicEnableVector(TIMX_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
# if (TIMX_INPUT_CLOCK % 1000000) != 0
# error "No way, timer clock must be divisible to 1e6. FIXME!"
# endif
// Start the timer
TIMX->ARR = 0xFFFF;
TIMX->PSC = (TIMX_INPUT_CLOCK / 1000000) - 1; // 1 tick == 1 microsecond
TIMX->CR1 = TIM_CR1_URS;
TIMX->SR = 0;
TIMX->EGR = TIM_EGR_UG; // Reload immediately
TIMX->DIER = TIM_DIER_UIE;
TIMX->CR1 = TIM_CR1_CEN; // Start
}
void setUtc(uavcan::UtcTime time)
{
MutexLocker mlocker(mutex);
UAVCAN_ASSERT(initialized);
{
CriticalSectionLocker locker;
time_utc = time.toUSec();
}
utc_set = true;
utc_locked = false;
utc_jump_cnt++;
utc_prev_adj = 0;
utc_rel_rate_ppm = 0;
}
static uavcan::uint64_t sampleUtcFromCriticalSection()
{
UAVCAN_ASSERT(initialized);
UAVCAN_ASSERT(TIMX->DIER & TIM_DIER_UIE);
volatile uavcan::uint64_t time = time_utc;
volatile uavcan::uint32_t cnt = TIMX->CNT;
if (TIMX->SR & TIM_SR_UIF) {
cnt = TIMX->CNT;
const uavcan::int32_t add = uavcan::int32_t(USecPerOverflow) +
(utc_accumulated_correction_nsec + utc_correction_nsec_per_overflow) / 1000;
time = uavcan::uint64_t(uavcan::int64_t(time) + add);
}
return time + cnt;
}
uavcan::uint64_t getUtcUSecFromCanInterrupt()
{
return utc_set ? sampleUtcFromCriticalSection() : 0;
}
uavcan::MonotonicTime getMonotonic()
{
uavcan::uint64_t usec = 0;
// Scope Critical section
{
CriticalSectionLocker locker;
volatile uavcan::uint64_t time = time_mono;
volatile uavcan::uint32_t cnt = TIMX->CNT;
if (TIMX->SR & TIM_SR_UIF) {
cnt = TIMX->CNT;
time += USecPerOverflow;
}
usec = time + cnt;
# ifndef NDEBUG
static uavcan::uint64_t prev_usec = 0; // Self-test
UAVCAN_ASSERT(prev_usec <= usec);
(void)prev_usec;
prev_usec = usec;
# endif
} // End Scope Critical section
return uavcan::MonotonicTime::fromUSec(usec);
}
uavcan::UtcTime getUtc()
{
if (utc_set) {
uavcan::uint64_t usec = 0;
{
CriticalSectionLocker locker;
usec = sampleUtcFromCriticalSection();
}
return uavcan::UtcTime::fromUSec(usec);
}
return uavcan::UtcTime();
}
static float lowpass(float xold, float xnew, float corner, float dt)
{
const float tau = 1.F / corner;
return (dt * xnew + tau * xold) / (dt + tau);
}
static void updateRatePID(uavcan::UtcDuration adjustment)
{
const uavcan::MonotonicTime ts = getMonotonic();
const float dt = float((ts - prev_utc_adj_at).toUSec()) / 1e6F;
prev_utc_adj_at = ts;
const float adj_usec = float(adjustment.toUSec());
/*
* Target relative rate in PPM
* Positive to go faster
*/
const float target_rel_rate_ppm = adj_usec * utc_sync_params.offset_p;
/*
* Current relative rate in PPM
* Positive if the local clock is faster
*/
const float new_rel_rate_ppm = (utc_prev_adj - adj_usec) / dt; // rate error in [usec/sec], which is PPM
utc_prev_adj = adj_usec;
utc_rel_rate_ppm = lowpass(utc_rel_rate_ppm, new_rel_rate_ppm, utc_sync_params.rate_error_corner_freq, dt);
const float rel_rate_error = target_rel_rate_ppm - utc_rel_rate_ppm;
if (dt > 10) {
utc_rel_rate_error_integral = 0;
}
else {
utc_rel_rate_error_integral += rel_rate_error * dt * utc_sync_params.rate_i;
utc_rel_rate_error_integral =
uavcan::max(utc_rel_rate_error_integral, -utc_sync_params.max_rate_correction_ppm);
utc_rel_rate_error_integral =
uavcan::min(utc_rel_rate_error_integral, utc_sync_params.max_rate_correction_ppm);
}
/*
* Rate controller
*/
float total_rate_correction_ppm = rel_rate_error + utc_rel_rate_error_integral;
total_rate_correction_ppm = uavcan::max(total_rate_correction_ppm, -utc_sync_params.max_rate_correction_ppm);
total_rate_correction_ppm = uavcan::min(total_rate_correction_ppm, utc_sync_params.max_rate_correction_ppm);
utc_correction_nsec_per_overflow = uavcan::int32_t((USecPerOverflow * 1000) * (total_rate_correction_ppm / 1e6F));
// syslog("$ adj=%f rel_rate=%f rel_rate_eint=%f tgt_rel_rate=%f ppm=%f\n",
// adj_usec, utc_rel_rate_ppm, utc_rel_rate_error_integral, target_rel_rate_ppm,
// total_rate_correction_ppm);
}
void adjustUtc(uavcan::UtcDuration adjustment)
{
MutexLocker mlocker(mutex);
UAVCAN_ASSERT(initialized);
if (adjustment.getAbs() > utc_sync_params.min_jump || !utc_set) {
const uavcan::int64_t adj_usec = adjustment.toUSec();
{
CriticalSectionLocker locker;
if ((adj_usec < 0) && uavcan::uint64_t(-adj_usec) > time_utc) {
time_utc = 1;
}
else {
time_utc = uavcan::uint64_t(uavcan::int64_t(time_utc) + adj_usec);
}
}
utc_set = true;
utc_locked = false;
utc_jump_cnt++;
utc_prev_adj = 0;
utc_rel_rate_ppm = 0;
}
else {
updateRatePID(adjustment);
if (!utc_locked) {
utc_locked =
(std::abs(utc_rel_rate_ppm) < utc_sync_params.lock_thres_rate_ppm) &&
(std::abs(utc_prev_adj) < utc_sync_params.lock_thres_offset.toUSec());
}
}
}
float getUtcRateCorrectionPPM()
{
MutexLocker mlocker(mutex);
const float rate_correction_mult = float(utc_correction_nsec_per_overflow) / float(USecPerOverflow * 1000);
return 1e6F * rate_correction_mult;
}
uavcan::uint32_t getUtcJumpCount()
{
MutexLocker mlocker(mutex);
return utc_jump_cnt;
}
bool isUtcLocked()
{
MutexLocker mlocker(mutex);
return utc_locked;
}
UtcSyncParams getUtcSyncParams()
{
MutexLocker mlocker(mutex);
return utc_sync_params;
}
void setUtcSyncParams(const UtcSyncParams& params)
{
MutexLocker mlocker(mutex);
// Add some sanity check
utc_sync_params = params;
}
} // namespace clock
SystemClock& SystemClock::get_singleton()
{
static union SystemClockStorage {
uavcan::uint8_t buffer[sizeof(SystemClock)];
long long _aligner_1;
long double _aligner_2;
} storage;
SystemClock* const ptr = reinterpret_cast<SystemClock*>(storage.buffer);
if (!clock::initialized) {
MutexLocker mlocker(clock::mutex);
clock::init();
new (ptr)SystemClock();
}
return *ptr;
}
} // namespace uavcan_stm32
/**
* Timer interrupt handler
*/
extern "C"
UAVCAN_STM32_IRQ_HANDLER(TIMX_IRQHandler)
{
UAVCAN_STM32_IRQ_PROLOGUE();
TIMX->SR = 0;
using namespace uavcan_stm32::clock;
UAVCAN_ASSERT(initialized);
time_mono += USecPerOverflow;
if (utc_set) {
time_utc += USecPerOverflow;
utc_accumulated_correction_nsec += utc_correction_nsec_per_overflow;
if (std::abs(utc_accumulated_correction_nsec) >= 1000) {
time_utc = uavcan::uint64_t(uavcan::int64_t(time_utc) + utc_accumulated_correction_nsec / 1000);
utc_accumulated_correction_nsec %= 1000;
}
// Correction decay - 1 nsec per 65536 usec
if (utc_correction_nsec_per_overflow > 0) {
utc_correction_nsec_per_overflow--;
}
else if (utc_correction_nsec_per_overflow < 0) {
utc_correction_nsec_per_overflow++;
}
else {
; // Zero
}
}
UAVCAN_STM32_IRQ_EPILOGUE();
}
#endif
#endif //HAL_WITH_UAVCAN

165
libraries/AP_HAL_ChibiOS/CANClock.h
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@ -1,165 +0,0 @@
/*
* The MIT License (MIT)
*
* Copyright (c) 2014 Pavel Kirienko
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Modified for Ardupilot by Siddharth Bharat Purohit
*/
#pragma once
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
#include <uavcan/driver/system_clock.hpp>
namespace ChibiOS_CAN {
namespace clock {
/**
* Starts the clock.
* Can be called multiple times, only the first call will be effective.
*/
void init();
/**
* Returns current monotonic time since the moment when clock::init() was called.
* This function is thread safe.
*/
uavcan::MonotonicTime getMonotonic();
/**
* Sets the driver's notion of the system UTC. It should be called
* at startup and any time the system clock is updated from an
* external source that is not the UAVCAN Timesync master.
* This function is thread safe.
*/
void setUtc(uavcan::UtcTime time);
/**
* Returns UTC time if it has been set, otherwise returns zero time.
* This function is thread safe.
*/
uavcan::UtcTime getUtc();
/**
* Performs UTC phase and frequency adjustment.
* The UTC time will be zero until first adjustment has been performed.
* This function is thread safe.
*/
void adjustUtc(uavcan::UtcDuration adjustment);
/**
* UTC clock synchronization parameters
*/
struct UtcSyncParams {
float offset_p; ///< PPM per one usec error
float rate_i; ///< PPM per one PPM error for second
float rate_error_corner_freq;
float max_rate_correction_ppm;
float lock_thres_rate_ppm;
uavcan::UtcDuration lock_thres_offset;
uavcan::UtcDuration min_jump; ///< Min error to jump rather than change rate
UtcSyncParams()
: offset_p(0.01F)
, rate_i(0.02F)
, rate_error_corner_freq(0.01F)
, max_rate_correction_ppm(300.0F)
, lock_thres_rate_ppm(2.0F)
, lock_thres_offset(uavcan::UtcDuration::fromMSec(4))
, min_jump(uavcan::UtcDuration::fromMSec(10))
{ }
};
/**
* Clock rate error.
* Positive if the hardware timer is slower than reference time.
* This function is thread safe.
*/
float getUtcRateCorrectionPPM();
/**
* Number of non-gradual adjustments performed so far.
* Ideally should be zero.
* This function is thread safe.
*/
uavcan::uint32_t getUtcJumpCount();
/**
* Whether UTC is synchronized and locked.
* This function is thread safe.
*/
bool isUtcLocked();
/**
* UTC sync params get/set.
* Both functions are thread safe.
*/
UtcSyncParams getUtcSyncParams();
void setUtcSyncParams(const UtcSyncParams& params);
}
/**
* Adapter for uavcan::ISystemClock.
*/
class SystemClock : public uavcan::ISystemClock, uavcan::Noncopyable {
SystemClock() { }
virtual void adjustUtc(uavcan::UtcDuration adjustment) override
{
clock::adjustUtc(adjustment);
}
public:
virtual uavcan::MonotonicTime getMonotonic() const override
{
return clock::getMonotonic();
}
virtual uavcan::UtcTime getUtc() const override
{
return clock::getUtc();
}
/**
* Calls clock::init() as needed.
* This function is thread safe.
*/
static SystemClock& get_singleton();
};
}
#endif //HAL_WITH_UAVCAN

917
libraries/AP_HAL_ChibiOS/CANFDIface.cpp
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498
libraries/AP_HAL_ChibiOS/CANFDIface.h
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@ -41,104 +41,57 @@
#pragma once
#include "AP_HAL_ChibiOS.h"
#include "EventSource.h"
#if HAL_WITH_UAVCAN
#if HAL_NUM_CAN_IFACES
#include "CANThread.h"
#include "fdcan.hpp"
#ifndef HAL_CAN_RX_STORAGE_SIZE
#define HAL_CAN_RX_QUEUE_SIZE 128
#endif
class SLCANRouter;
namespace ChibiOS_CAN
{
/**
* Driver error codes.
* These values can be returned from driver functions negated.
*/
//static const uavcan::int16_t ErrUnknown = 1000; ///< Reserved for future use
static const uavcan::int16_t ErrNotImplemented = 1001; ///< Feature not implemented
static const uavcan::int16_t ErrInvalidBitRate = 1002; ///< Bit rate not supported
static const uavcan::int16_t ErrLogic = 1003; ///< Internal logic error
static const uavcan::int16_t ErrUnsupportedFrame = 1004; ///< Frame not supported (e.g. RTR, CAN FD, etc)
static const uavcan::int16_t ErrMsrInakNotSet = 1005; ///< INAK bit of the MSR register is not 1
static const uavcan::int16_t ErrMsrInakNotCleared = 1006; ///< INAK bit of the MSR register is not 0
static const uavcan::int16_t ErrBitRateNotDetected = 1007; ///< Auto bit rate detection could not be finished
static const uavcan::int16_t ErrFilterNumConfigs = 1008; ///< Number of filters is more than supported
/**
* RX queue item.
* The application shall not use this directly.
*/
struct CanRxItem {
uavcan::uint64_t utc_usec;
uavcan::CanFrame frame;
uavcan::CanIOFlags flags;
CanRxItem()
: utc_usec(0)
, flags(0)
{ }
};
static_assert(HAL_CAN_RX_QUEUE_SIZE <= 254, "Invalid CAN Rx queue size");
/**
* Single CAN iface.
* The application shall not use this directly.
*/
class CanIface : public uavcan::ICanIface, uavcan::Noncopyable
class ChibiOS::CANIface : public AP_HAL::CANIface
{
#if AP_UAVCAN_SLCAN_ENABLED
friend class ::SLCANRouter;
static SLCANRouter _slcan_router;
#endif
class RxQueue
{
CanRxItem* const buf_;
const uavcan::uint8_t capacity_;
uavcan::uint8_t in_;
uavcan::uint8_t out_;
uavcan::uint8_t len_;
uavcan::uint32_t overflow_cnt_;
void registerOverflow();
static constexpr unsigned long IDE = (0x40000000U); // Identifier Extension
static constexpr unsigned long STID_MASK = (0x1FFC0000U); // Standard Identifier Mask
static constexpr unsigned long EXID_MASK = (0x1FFFFFFFU); // Extended Identifier Mask
static constexpr unsigned long RTR = (0x20000000U); // Remote Transmission Request
static constexpr unsigned long DLC_MASK = (0x000F0000U); // Data Length Code
public:
RxQueue(CanRxItem* buf, uavcan::uint8_t capacity)
: buf_(buf)
, capacity_(capacity)
, in_(0)
, out_(0)
, len_(0)
, overflow_cnt_(0)
{ }
/**
* CANx register sets
*/
typedef FDCAN_GlobalTypeDef CanType;
void push(const uavcan::CanFrame& frame, const uint64_t& utc_usec, uavcan::CanIOFlags flags);
void pop(uavcan::CanFrame& out_frame, uavcan::uint64_t& out_utc_usec, uavcan::CanIOFlags& out_flags);
void reset();
unsigned getLength() const
struct CriticalSectionLocker {
CriticalSectionLocker()
{
return len_;
chSysSuspend();
}
uavcan::uint32_t getOverflowCount() const
~CriticalSectionLocker()
{
return overflow_cnt_;
chSysEnable();
}
};
struct MessageRAM {
uavcan::uint32_t StandardFilterSA;
uavcan::uint32_t ExtendedFilterSA;
uavcan::uint32_t RxFIFO0SA;
uavcan::uint32_t RxFIFO1SA;
uavcan::uint32_t TxFIFOQSA;
uavcan::uint32_t EndAddress;
uint32_t StandardFilterSA;
uint32_t ExtendedFilterSA;
uint32_t RxFIFO0SA;
uint32_t RxFIFO1SA;
uint32_t TxFIFOQSA;
uint32_t EndAddress;
} MessageRam_;
struct Timings {
uavcan::uint16_t prescaler;
uavcan::uint8_t sjw;
uavcan::uint8_t bs1;
uavcan::uint8_t bs2;
uint16_t prescaler;
uint8_t sjw;
uint8_t bs1;
uint8_t bs2;
Timings()
: prescaler(0)
@ -148,307 +101,140 @@ class CanIface : public uavcan::ICanIface, uavcan::Noncopyable
{ }
};
struct TxItem {
uavcan::MonotonicTime deadline;
uavcan::CanFrame frame;
bool loopback;
bool abort_on_error;
uint8_t index;
TxItem() :
loopback(false),
abort_on_error(false)
{ }
};
enum { NumTxMailboxes = 32 };
static const uavcan::uint32_t TSR_ABRQx[NumTxMailboxes];
static uint32_t FDCANMessageRAMOffset_;
RxQueue rx_queue_;
fdcan::CanType* const can_;
uavcan::uint64_t error_cnt_;
uavcan::uint32_t served_aborts_cnt_;
BusEvent& update_event_;
TxItem pending_tx_[NumTxMailboxes];
uavcan::uint8_t peak_tx_mailbox_index_;
const uavcan::uint8_t self_index_;
CanType* can_;
ObjectBuffer<CanRxItem> rx_queue_;
CanTxItem pending_tx_[NumTxMailboxes];
uint8_t peak_tx_mailbox_index_;
bool irq_init_;
bool initialised_;
bool had_activity_;
int computeTimings(uavcan::uint32_t target_bitrate, Timings& out_timings);
AP_HAL::EventHandle* event_handle_;
static ChibiOS::EventSource evt_src_;
const uint8_t self_index_;
virtual uavcan::int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline,
uavcan::CanIOFlags flags) override;
virtual uavcan::int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags) override;
virtual uavcan::int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs,
uavcan::uint16_t num_configs) override;
virtual uavcan::uint16_t getNumFilters() const override;
bool computeTimings(uint32_t target_bitrate, Timings& out_timings);
void setupMessageRam(void);
static uint32_t FDCAN2MessageRAMOffset_;
public:
enum { MaxRxQueueCapacity = 254 };
bool readRxFIFO(uint8_t fifo_index);
enum OperatingMode {
NormalMode,
SilentMode
};
void discardTimedOutTxMailboxes(uint64_t current_time);
CanIface(fdcan::CanType* can, BusEvent& update_event, uavcan::uint8_t self_index,
CanRxItem* rx_queue_buffer, uavcan::uint8_t rx_queue_capacity);
bool canAcceptNewTxFrame() const;
/**
* Initializes the hardware CAN controller.
* Assumes:
* - Iface clock is enabled
* - Iface has been resetted via RCC
* - Caller will configure NVIC by itself
*/
int init(const uavcan::uint32_t bitrate, const OperatingMode mode);
void handleTxCompleteInterrupt(uavcan::uint64_t utc_usec);
void handleRxInterrupt(uavcan::uint8_t fifo_index);
bool readRxFIFO(uavcan::uint8_t fifo_index);
/**
* This method is used to count errors and abort transmission on error if necessary.
* This functionality used to be implemented in the SCE interrupt handler, but that approach was
* generating too much processing overhead, especially on disconnected interfaces.
*
* Should be called from RX ISR, TX ISR, and select(); interrupts must be enabled.
*/
void pollErrorFlagsFromISR();
void discardTimedOutTxMailboxes(uavcan::MonotonicTime current_time);
bool canAcceptNewTxFrame(const uavcan::CanFrame& frame) const;
bool isRxBufferEmpty() const;
/**
* Number of RX frames lost due to queue overflow.
* This is an atomic read, it doesn't require a critical section.
*/
uavcan::uint32_t getRxQueueOverflowCount() const
{
return rx_queue_.getOverflowCount();
}
bool recover_from_busoff();
/**
* Total number of hardware failures and other kinds of errors (e.g. queue overruns).
* May increase continuously if the interface is not connected to the bus.
*/
virtual uavcan::uint64_t getErrorCount() const override;
void pollErrorFlags();
/**
* Number of times the driver exercised library's requirement to abort transmission on first error.
* This is an atomic read, it doesn't require a critical section.
* See @ref uavcan::CanIOFlagAbortOnError.
*/
uavcan::uint32_t getVoluntaryTxAbortCount() const
{
return served_aborts_cnt_;
}
void checkAvailable(bool& read, bool& write,
const AP_HAL::CANFrame* pending_tx) const;
/**
* Returns the number of frames pending in the RX queue.
* This is intended for debug use only.
*/
unsigned getRxQueueLength() const;
// Reset the error states like Bus Off Error
void clearErrors();
/**
* Whether this iface had at least one successful IO since the previous call of this method.
* This is designed for use with iface activity LEDs.
*/
bool hadActivity();
/**
* Peak number of TX mailboxes used concurrently since initialization.
* Range is [1, 3].
* Value of 3 suggests that priority inversion could be taking place.
*/
uavcan::uint8_t getPeakNumTxMailboxesUsed() const
{
return uavcan::uint8_t(peak_tx_mailbox_index_ + 1);
}
fdcan::CanType* can_reg(void)
{
return can_;
}
#if AP_UAVCAN_SLCAN_ENABLED
static SLCANRouter &slcan_router() { return _slcan_router; }
#endif
};
/**
* CAN driver, incorporates all available CAN ifaces.
* Please avoid direct use, prefer @ref CanInitHelper instead.
*/
class CanDriver : public uavcan::ICanDriver, uavcan::Noncopyable
{
BusEvent update_event_;
static uint32_t FDCAN2MessageRAMOffset_;
static bool clock_init_;
CanIface if0_;
#if UAVCAN_STM32_NUM_IFACES > 1
CanIface if1_;
#endif
bool initialized_by_me_[UAVCAN_STM32_NUM_IFACES];
uavcan::uint8_t num_ifaces_;
uavcan::uint8_t if_int_to_gl_index_[UAVCAN_STM32_NUM_IFACES];
bool _detected_bus_off;
virtual uavcan::int16_t select(uavcan::CanSelectMasks& inout_masks,
const uavcan::CanFrame* (& pending_tx)[uavcan::MaxCanIfaces],
uavcan::MonotonicTime blocking_deadline) override;
static void initOnce();
static void initOnce(uavcan::uint8_t can_number, bool enable_irqs);
struct {
uint32_t tx_requests;
uint32_t tx_rejected;
uint32_t tx_success;
uint32_t tx_timedout;
uint32_t tx_abort;
uint32_t rx_received;
uint32_t rx_overflow;
uint32_t rx_errors;
uint32_t num_busoff_err;
uint32_t num_events;
} stats;
public:
template <unsigned RxQueueCapacity>
CanDriver(CanRxItem(&rx_queue_storage)[UAVCAN_STM32_NUM_IFACES][RxQueueCapacity])
: update_event_(*this)
, if0_(fdcan::Can[0], update_event_, 0, rx_queue_storage[0], RxQueueCapacity)
#if UAVCAN_STM32_NUM_IFACES > 1
, if1_(fdcan::Can[1], update_event_, 1, rx_queue_storage[1], RxQueueCapacity)
/******************************************
* Common CAN methods *
* ****************************************/
CANIface(uint8_t index);
// Initialise CAN Peripheral
bool init(const uint32_t bitrate, const OperatingMode mode) override;
// Put frame into Tx FIFO returns negative on error, 0 on buffer full,
// 1 on successfully pushing a frame into FIFO
int16_t send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
CanIOFlags flags) override;
// Receive frame from Rx Buffer, returns negative on error, 0 on nothing available,
// 1 on successfully poping a frame
int16_t receive(AP_HAL::CANFrame& out_frame, uint64_t& out_timestamp_us,
CanIOFlags& out_flags) override;
// Set Filters to ignore frames not to be handled by us
bool configureFilters(const CanFilterConfig* filter_configs,
uint16_t num_configs) override;
// returns true if busoff state was detected and not handled yet
bool is_busoff() const override
{
return _detected_bus_off;
}
// Clear the Rx buffer
void clear_rx() override;
// Get number of Filter configurations
uint16_t getNumFilters() const override;
// Get total number of Errors discovered
uint32_t getErrorCount() const override;
// returns true if init was successfully called
bool is_initialized() const override
{
return initialised_;
}
/******************************************
* Select Method *
* ****************************************/
// wait until selected event is available, false when timed out waiting else true
bool select(bool &read, bool &write,
const AP_HAL::CANFrame* const pending_tx,
uint64_t blocking_deadline) override;
// setup event handle for waiting on events
bool set_event_handle(AP_HAL::EventHandle* handle) override;
// fetch stats text and return the size of the same,
// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
uint32_t get_stats(char* data, uint32_t max_size) override;
/************************************
* Methods used inside interrupt *
************************************/
void handleTxCompleteInterrupt(uint64_t timestamp_us);
void handleRxInterrupt(uint8_t fifo_index);
void handleBusOffInterrupt();
// handle if any error occured, and do the needful such as,
// droping the frame, and counting errors
void pollErrorFlagsFromISR(void);
// CAN Peripheral register structure
static constexpr CanType* const Can[HAL_NUM_CAN_IFACES] = {
reinterpret_cast<CanType*>(FDCAN1_BASE)
#if HAL_NUM_CAN_IFACES > 1
,
reinterpret_cast<CanType*>(FDCAN2_BASE)
#endif
{
uavcan::StaticAssert<(RxQueueCapacity <= CanIface::MaxRxQueueCapacity)>::check();
}
/**
* This function returns select masks indicating which interfaces are available for read/write.
*/
uavcan::CanSelectMasks makeSelectMasks(const uavcan::CanFrame* (& pending_tx)[uavcan::MaxCanIfaces]) const;
BusEvent* getUpdateEvent()
{
return &update_event_;
}
/**
* Whether there's at least one interface where receive() would return a frame.
*/
bool hasReadableInterfaces() const;
/**
* Returns zero if OK.
* Returns negative value if failed (e.g. invalid bitrate).
*/
int init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode);
int init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode, uavcan::uint8_t can_number);
virtual CanIface* getIface(uavcan::uint8_t iface_index) override;
virtual uavcan::uint8_t getNumIfaces() const override
{
return num_ifaces_;
}
/**
* Whether at least one iface had at least one successful IO since previous call of this method.
* This is designed for use with iface activity LEDs.
*/
bool hadActivity();
};
};
/**
* Helper class.
* Normally only this class should be used by the application.
* 145 usec per Extended CAN frame @ 1 Mbps, e.g. 32 RX slots * 145 usec --> 4.6 msec before RX queue overruns.
*/
template <unsigned RxQueueCapacity = 128>
class CanInitHelper
{
CanRxItem queue_storage_[UAVCAN_STM32_NUM_IFACES][RxQueueCapacity];
public:
enum { BitRateAutoDetect = 0 };
CanDriver driver;
CanInitHelper() :
driver(queue_storage_)
{ }
/**
* This overload simply configures the provided bitrate.
* Auto bit rate detection will not be performed.
* Bitrate value must be positive.
* @return Negative value on error; non-negative on success. Refer to constants Err*.
*/
int init(uavcan::uint32_t bitrate)
{
return driver.init(bitrate, CanIface::NormalMode);
}
int init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode, uavcan::uint8_t can_number)
{
return driver.init(bitrate, mode, can_number);
}
/**
* This function can either initialize the driver at a fixed bit rate, or it can perform
* automatic bit rate detection. For theory please refer to the CiA application note #801.
*
* @param delay_callable A callable entity that suspends execution for strictly more than one second.
* The callable entity will be invoked without arguments.
* @ref getRecommendedListeningDelay().
*
* @param inout_bitrate Fixed bit rate or zero. Zero invokes the bit rate detection process.
* If auto detection was used, the function will update the argument
* with established bit rate. In case of an error the value will be undefined.
*
* @return Negative value on error; non-negative on success. Refer to constants Err*.
*/
template <typename DelayCallable>
int init(DelayCallable delay_callable, uavcan::uint32_t& inout_bitrate = BitRateAutoDetect)
{
if (inout_bitrate > 0) {
return driver.init(inout_bitrate, CanIface::NormalMode);
} else {
static const uavcan::uint32_t StandardBitRates[] = {
1000000,
500000,
250000,
125000
};
for (uavcan::uint8_t br = 0; br < sizeof(StandardBitRates) / sizeof(StandardBitRates[0]); br++) {
inout_bitrate = StandardBitRates[br];
const int res = driver.init(inout_bitrate, CanIface::SilentMode);
delay_callable();
if (res >= 0) {
for (uavcan::uint8_t iface = 0; iface < driver.getNumIfaces(); iface++) {
if (!driver.getIface(iface)->isRxBufferEmpty()) {
// Re-initializing in normal mode
return driver.init(inout_bitrate, CanIface::NormalMode);
}
}
}
}
return -ErrBitRateNotDetected;
}
}
/**
* Use this value for listening delay during automatic bit rate detection.
*/
static uavcan::MonotonicDuration getRecommendedListeningDelay()
{
return uavcan::MonotonicDuration::fromMSec(1050);
}
};
}
#include "CANSerialRouter.h"
#endif //HAL_WITH_UAVCAN
#endif //HAL_NUM_CAN_IFACES

513
libraries/AP_HAL_ChibiOS/CANIface.h
View File

@ -41,98 +41,47 @@
#pragma once
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
# if defined(STM32H7XX)
#include "CANFDIface.h"
#else
#include "CANThread.h"
#include "CANIface.h"
# else
#if HAL_NUM_CAN_IFACES
#include "bxcan.hpp"
#include "EventSource.h"
class SLCANRouter;
#ifndef HAL_CAN_RX_STORAGE_SIZE
#define HAL_CAN_RX_QUEUE_SIZE 128
#endif
namespace ChibiOS_CAN {
/**
* Driver error codes.
* These values can be returned from driver functions negated.
*/
//static const uavcan::int16_t ErrUnknown = 1000; ///< Reserved for future use
static const uavcan::int16_t ErrNotImplemented = 1001; ///< Feature not implemented
static const uavcan::int16_t ErrInvalidBitRate = 1002; ///< Bit rate not supported
static const uavcan::int16_t ErrLogic = 1003; ///< Internal logic error
static const uavcan::int16_t ErrUnsupportedFrame = 1004; ///< Frame not supported (e.g. RTR, CAN FD, etc)
static const uavcan::int16_t ErrMsrInakNotSet = 1005; ///< INAK bit of the MSR register is not 1
static const uavcan::int16_t ErrMsrInakNotCleared = 1006; ///< INAK bit of the MSR register is not 0
static const uavcan::int16_t ErrBitRateNotDetected = 1007; ///< Auto bit rate detection could not be finished
static const uavcan::int16_t ErrFilterNumConfigs = 1008; ///< Number of filters is more than supported
/**
* RX queue item.
* The application shall not use this directly.
*/
struct CanRxItem {
uavcan::uint64_t utc_usec;
uavcan::CanFrame frame;
uavcan::CanIOFlags flags;
CanRxItem()
: utc_usec(0)
, flags(0)
{ }
};
static_assert(HAL_CAN_RX_QUEUE_SIZE <= 254, "Invalid CAN Rx queue size");
/**
* Single CAN iface.
* The application shall not use this directly.
*/
class CanIface : public uavcan::ICanIface, uavcan::Noncopyable {
class ChibiOS::CANIface : public AP_HAL::CANIface
{
static constexpr unsigned long IDE = (0x40000000U); // Identifier Extension
static constexpr unsigned long STID_MASK = (0x1FFC0000U); // Standard Identifier Mask
static constexpr unsigned long EXID_MASK = (0x1FFFFFFFU); // Extended Identifier Mask
static constexpr unsigned long RTR = (0x20000000U); // Remote Transmission Request
static constexpr unsigned long DLC_MASK = (0x000F0000U); // Data Length Code
#if AP_UAVCAN_SLCAN_ENABLED
friend class ::SLCANRouter;
static SLCANRouter _slcan_router;
#endif
class RxQueue {
CanRxItem* const buf_;
const uavcan::uint8_t capacity_;
uavcan::uint8_t in_;
uavcan::uint8_t out_;
uavcan::uint8_t len_;
uavcan::uint32_t overflow_cnt_;
void registerOverflow();
public:
RxQueue(CanRxItem* buf, uavcan::uint8_t capacity)
: buf_(buf)
, capacity_(capacity)
, in_(0)
, out_(0)
, len_(0)
, overflow_cnt_(0)
{ }
void push(const uavcan::CanFrame& frame, const uint64_t& utc_usec, uavcan::CanIOFlags flags);
void pop(uavcan::CanFrame& out_frame, uavcan::uint64_t& out_utc_usec, uavcan::CanIOFlags& out_flags);
void reset();
unsigned getLength() const
struct CriticalSectionLocker {
CriticalSectionLocker()
{
return len_;
chSysSuspend();
}
uavcan::uint32_t getOverflowCount() const
~CriticalSectionLocker()
{
return overflow_cnt_;
chSysEnable();
}
};
struct Timings {
uavcan::uint16_t prescaler;
uavcan::uint8_t sjw;
uavcan::uint8_t bs1;
uavcan::uint8_t bs2;
uint16_t prescaler;
uint8_t sjw;
uint8_t bs1;
uint8_t bs2;
Timings()
: prescaler(0)
@ -142,317 +91,141 @@ class CanIface : public uavcan::ICanIface, uavcan::Noncopyable {
{ }
};
struct TxItem {
uavcan::MonotonicTime deadline;
uavcan::CanFrame frame;
bool pending;
bool loopback;
bool abort_on_error;
TxItem()
: pending(false)
, loopback(false)
, abort_on_error(false)
{ }
};
enum { NumTxMailboxes = 3 };
enum { NumFilters = 14 };
static const uint32_t TSR_ABRQx[NumTxMailboxes];
static const uavcan::uint32_t TSR_ABRQx[NumTxMailboxes];
RxQueue rx_queue_;
bxcan::CanType* const can_;
uavcan::uint64_t error_cnt_;
uavcan::uint32_t served_aborts_cnt_;
BusEvent& update_event_;
TxItem pending_tx_[NumTxMailboxes];
uavcan::uint8_t peak_tx_mailbox_index_;
const uavcan::uint8_t self_index_;
ChibiOS::bxcan::CanType* can_;
uint64_t error_cnt_;
ObjectBuffer<CanRxItem> rx_queue_;
CanTxItem pending_tx_[NumTxMailboxes];
bool irq_init_;
bool initialised_;
bool had_activity_;
AP_HAL::EventHandle* event_handle_;
static ChibiOS::EventSource evt_src_;
int computeTimings(uavcan::uint32_t target_bitrate, Timings& out_timings);
const uint8_t self_index_;
virtual uavcan::int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline,
uavcan::CanIOFlags flags) override;
bool computeTimings(uint32_t target_bitrate, Timings& out_timings);
virtual uavcan::int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags) override;
void setupMessageRam(void);
virtual uavcan::int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs,
uavcan::uint16_t num_configs) override;
bool readRxFIFO(uint8_t fifo_index);
virtual uavcan::uint16_t getNumFilters() const override
void discardTimedOutTxMailboxes(uint64_t current_time);
bool canAcceptNewTxFrame(const AP_HAL::CANFrame& frame) const;
bool isRxBufferEmpty() const;
bool recover_from_busoff();
void pollErrorFlags();
void checkAvailable(bool& read, bool& write,
const AP_HAL::CANFrame* pending_tx) const;
bool waitMsrINakBitStateChange(bool target_state);
void handleTxMailboxInterrupt(uint8_t mailbox_index, bool txok, const uint64_t timestamp_us);
void initOnce(bool enable_irq);
struct {
uint32_t tx_requests;
uint32_t tx_rejected;
uint32_t tx_success;
uint32_t tx_timedout;
uint32_t tx_loopback;
uint32_t tx_abort;
uint32_t rx_received;
uint32_t rx_overflow;
uint32_t rx_errors;
uint32_t num_busoff_err;
uint32_t num_events;
} stats;
public:
/******************************************
* Common CAN methods *
* ****************************************/
CANIface(uint8_t index);
// Initialise CAN Peripheral
bool init(const uint32_t bitrate, const OperatingMode mode) override;
// Put frame into Tx FIFO returns negative on error, 0 on buffer full,
// 1 on successfully pushing a frame into FIFO
int16_t send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
CanIOFlags flags) override;
// Receive frame from Rx Buffer, returns negative on error, 0 on nothing available,
// 1 on successfully poping a frame
int16_t receive(AP_HAL::CANFrame& out_frame, uint64_t& out_timestamp_us,
CanIOFlags& out_flags) override;
// Set Filters to ignore frames not to be handled by us
bool configureFilters(const CanFilterConfig* filter_configs,
uint16_t num_configs) override;
// In BxCAN the Busoff error is cleared automatically,
// so always return false
bool is_busoff() const override
{
return false;
}
void clear_rx() override;
// Get number of Filter configurations
uint16_t getNumFilters() const override
{
return NumFilters;
}
void handleTxMailboxInterrupt(uavcan::uint8_t mailbox_index, bool txok, uavcan::uint64_t utc_usec);
// Get total number of Errors discovered
uint32_t getErrorCount() const override;
bool waitMsrINakBitStateChange(bool target_state);
// returns true if init was successfully called
bool is_initialized() const override
{
return initialised_;
}
public:
enum { MaxRxQueueCapacity = 254 };
/******************************************
* Select Method *
* ****************************************/
// wait until selected event is available, false when timed out waiting else true
bool select(bool &read, bool &write,
const AP_HAL::CANFrame* const pending_tx,
uint64_t blocking_deadline) override;
// setup event handle for waiting on events
bool set_event_handle(AP_HAL::EventHandle* handle) override;
enum OperatingMode {
NormalMode,
SilentMode
// fetch stats text and return the size of the same,
// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
uint32_t get_stats(char* data, uint32_t max_size) override;
/************************************
* Methods used inside interrupt *
************************************/
void handleTxInterrupt(uint64_t timestamp_us);
void handleRxInterrupt(uint8_t fifo_index, uint64_t timestamp_us);
// handle if any error occured, and do the needful such as,
// droping the frame, and counting errors
void pollErrorFlagsFromISR(void);
// CAN Peripheral register structure
static constexpr bxcan::CanType* const Can[HAL_NUM_CAN_IFACES] = {
reinterpret_cast<bxcan::CanType*>(0x40006400)
#if HAL_NUM_CAN_IFACES > 1
,
reinterpret_cast<bxcan::CanType*>(0x40006800)
#endif
};
CanIface(bxcan::CanType* can, BusEvent& update_event, uavcan::uint8_t self_index,
CanRxItem* rx_queue_buffer, uavcan::uint8_t rx_queue_capacity)
: rx_queue_(rx_queue_buffer, rx_queue_capacity)
, can_(can)
, error_cnt_(0)
, served_aborts_cnt_(0)
, update_event_(update_event)
, peak_tx_mailbox_index_(0)
, self_index_(self_index)
, had_activity_(false)
{
UAVCAN_ASSERT(self_index_ < UAVCAN_STM32_NUM_IFACES);
}
/**
* Initializes the hardware CAN controller.
* Assumes:
* - Iface clock is enabled
* - Iface has been resetted via RCC
* - Caller will configure NVIC by itself
*/
int init(const uavcan::uint32_t bitrate, const OperatingMode mode);
void handleTxInterrupt(uavcan::uint64_t utc_usec);
void handleRxInterrupt(uavcan::uint8_t fifo_index, uavcan::uint64_t utc_usec);
/**
* This method is used to count errors and abort transmission on error if necessary.
* This functionality used to be implemented in the SCE interrupt handler, but that approach was
* generating too much processing overhead, especially on disconnected interfaces.
*
* Should be called from RX ISR, TX ISR, and select(); interrupts must be enabled.
*/
void pollErrorFlagsFromISR();
void discardTimedOutTxMailboxes(uavcan::MonotonicTime current_time);
bool canAcceptNewTxFrame(const uavcan::CanFrame& frame) const;
bool isRxBufferEmpty() const;
/**
* Number of RX frames lost due to queue overflow.
* This is an atomic read, it doesn't require a critical section.
*/
uavcan::uint32_t getRxQueueOverflowCount() const
{
return rx_queue_.getOverflowCount();
}
/**
* Total number of hardware failures and other kinds of errors (e.g. queue overruns).
* May increase continuously if the interface is not connected to the bus.
*/
virtual uavcan::uint64_t getErrorCount() const override;
/**
* Number of times the driver exercised library's requirement to abort transmission on first error.
* This is an atomic read, it doesn't require a critical section.
* See @ref uavcan::CanIOFlagAbortOnError.
*/
uavcan::uint32_t getVoluntaryTxAbortCount() const
{
return served_aborts_cnt_;
}
/**
* Returns the number of frames pending in the RX queue.
* This is intended for debug use only.
*/
unsigned getRxQueueLength() const;
/**
* Whether this iface had at least one successful IO since the previous call of this method.
* This is designed for use with iface activity LEDs.
*/
bool hadActivity();
/**
* Peak number of TX mailboxes used concurrently since initialization.
* Range is [1, 3].
* Value of 3 suggests that priority inversion could be taking place.
*/
uavcan::uint8_t getPeakNumTxMailboxesUsed() const
{
return uavcan::uint8_t(peak_tx_mailbox_index_ + 1);
}
#if AP_UAVCAN_SLCAN_ENABLED
static SLCANRouter &slcan_router() { return _slcan_router; }
#endif
};
/**
* CAN driver, incorporates all available CAN ifaces.
* Please avoid direct use, prefer @ref CanInitHelper instead.
*/
class CanDriver : public uavcan::ICanDriver, uavcan::Noncopyable {
BusEvent update_event_;
CanIface if0_;
#if UAVCAN_STM32_NUM_IFACES > 1
CanIface if1_;
#endif
bool initialized_by_me_[UAVCAN_STM32_NUM_IFACES];
uavcan::uint8_t num_ifaces_;
uavcan::uint8_t if_int_to_gl_index_[UAVCAN_STM32_NUM_IFACES];
virtual uavcan::int16_t select(uavcan::CanSelectMasks& inout_masks,
const uavcan::CanFrame* (& pending_tx)[uavcan::MaxCanIfaces],
uavcan::MonotonicTime blocking_deadline) override;
static void initOnce();
static void initOnce(uavcan::uint8_t can_number, bool enable_irqs);
public:
template <unsigned RxQueueCapacity>
CanDriver(CanRxItem(&rx_queue_storage)[UAVCAN_STM32_NUM_IFACES][RxQueueCapacity])
: update_event_(*this)
, if0_(bxcan::Can[0], update_event_, 0, rx_queue_storage[0], RxQueueCapacity)
#if UAVCAN_STM32_NUM_IFACES > 1
, if1_(bxcan::Can[1], update_event_, 1, rx_queue_storage[1], RxQueueCapacity)
#endif
{
uavcan::StaticAssert<(RxQueueCapacity <= CanIface::MaxRxQueueCapacity)>::check();
}
/**
* This function returns select masks indicating which interfaces are available for read/write.
*/
uavcan::CanSelectMasks makeSelectMasks(const uavcan::CanFrame* (& pending_tx)[uavcan::MaxCanIfaces]) const;
BusEvent* getUpdateEvent()
{
return &update_event_;
}
/**
* Whether there's at least one interface where receive() would return a frame.
*/
bool hasReadableInterfaces() const;
/**
* Returns zero if OK.
* Returns negative value if failed (e.g. invalid bitrate).
*/
int init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode);
int init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode, uavcan::uint8_t can_number);
virtual CanIface* getIface(uavcan::uint8_t iface_index) override;
virtual uavcan::uint8_t getNumIfaces() const override
{
return num_ifaces_;
}
/**
* Whether at least one iface had at least one successful IO since previous call of this method.
* This is designed for use with iface activity LEDs.
*/
bool hadActivity();
};
/**
* Helper class.
* Normally only this class should be used by the application.
* 145 usec per Extended CAN frame @ 1 Mbps, e.g. 32 RX slots * 145 usec --> 4.6 msec before RX queue overruns.
*/
template <unsigned RxQueueCapacity = 128>
class CanInitHelper {
CanRxItem queue_storage_[UAVCAN_STM32_NUM_IFACES][RxQueueCapacity];
public:
enum { BitRateAutoDetect = 0 };
CanDriver driver;
CanInitHelper() :
driver(queue_storage_)
{ }
/**
* This overload simply configures the provided bitrate.
* Auto bit rate detection will not be performed.
* Bitrate value must be positive.
* @return Negative value on error; non-negative on success. Refer to constants Err*.
*/
int init(uavcan::uint32_t bitrate)
{
return driver.init(bitrate, CanIface::NormalMode);
}
int init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode, uavcan::uint8_t can_number)
{
return driver.init(bitrate, mode, can_number);
}
/**
* This function can either initialize the driver at a fixed bit rate, or it can perform
* automatic bit rate detection. For theory please refer to the CiA application note #801.
*
* @param delay_callable A callable entity that suspends execution for strictly more than one second.
* The callable entity will be invoked without arguments.
* @ref getRecommendedListeningDelay().
*
* @param inout_bitrate Fixed bit rate or zero. Zero invokes the bit rate detection process.
* If auto detection was used, the function will update the argument
* with established bit rate. In case of an error the value will be undefined.
*
* @return Negative value on error; non-negative on success. Refer to constants Err*.
*/
template <typename DelayCallable>
int init(DelayCallable delay_callable, uavcan::uint32_t& inout_bitrate = BitRateAutoDetect)
{
if (inout_bitrate > 0) {
return driver.init(inout_bitrate, CanIface::NormalMode);
}
else {
static const uavcan::uint32_t StandardBitRates[] = {
1000000,
500000,
250000,
125000
};
for (uavcan::uint8_t br = 0; br < sizeof(StandardBitRates) / sizeof(StandardBitRates[0]); br++) {
inout_bitrate = StandardBitRates[br];
const int res = driver.init(inout_bitrate, CanIface::SilentMode);
delay_callable();
if (res >= 0) {
for (uavcan::uint8_t iface = 0; iface < driver.getNumIfaces(); iface++) {
if (!driver.getIface(iface)->isRxBufferEmpty()) {
// Re-initializing in normal mode
return driver.init(inout_bitrate, CanIface::NormalMode);
}
}
}
}
return -ErrBitRateNotDetected;
}
}
/**
* Use this value for listening delay during automatic bit rate detection.
*/
static uavcan::MonotonicDuration getRecommendedListeningDelay()
{
return uavcan::MonotonicDuration::fromMSec(1050);
}
};
}
#include "CANSerialRouter.h"
#endif // defined(STM32H7XX)
#endif //HAL_WITH_UAVCAN
#endif //HAL_NUM_CAN_IFACES
#endif //# if defined(STM32H7XX)

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/*
* The MIT License (MIT)
*
* Copyright (c) 2014 Pavel Kirienko
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Siddharth Bharat Purohit
*/
#pragma once
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
#include <hal.h>
#include <ch.h>
/**
* Debug output
*/
#ifndef UAVCAN_STM32_LOG
# if 0
# define UAVCAN_STM32_LOG(fmt, ...) syslog("uavcan_stm32: " fmt "\n", ##__VA_ARGS__)
# else
# define UAVCAN_STM32_LOG(...) ((void)0)
# endif
#endif
/**
* IRQ handler macros
*/
# define UAVCAN_STM32_IRQ_HANDLER(id) CH_IRQ_HANDLER(id)
# define UAVCAN_STM32_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
# define UAVCAN_STM32_IRQ_EPILOGUE() CH_IRQ_EPILOGUE()
/**
* Priority mask for timer and CAN interrupts.
*/
# ifndef UAVCAN_STM32_IRQ_PRIORITY_MASK
# if (CH_KERNEL_MAJOR == 2)
# define UAVCAN_STM32_IRQ_PRIORITY_MASK CORTEX_PRIORITY_MASK(CORTEX_MAX_KERNEL_PRIORITY)
# else // ChibiOS 3+
# define UAVCAN_STM32_IRQ_PRIORITY_MASK CORTEX_MAX_KERNEL_PRIORITY
# endif
# endif
/**
* Glue macros
*/
#define UAVCAN_STM32_GLUE2_(A, B) A##B
#define UAVCAN_STM32_GLUE2(A, B) UAVCAN_STM32_GLUE2_(A, B)
#define UAVCAN_STM32_GLUE3_(A, B, C) A##B##C
#define UAVCAN_STM32_GLUE3(A, B, C) UAVCAN_STM32_GLUE3_(A, B, C)
namespace ChibiOS_CAN {
struct CriticalSectionLocker {
CriticalSectionLocker()
{
chSysSuspend();
}
~CriticalSectionLocker()
{
chSysEnable();
}
};
namespace clock {
uint64_t getUtcUSecFromCanInterrupt();
}
}
#endif //HAL_WITH_UAVCAN

58
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@ -1,58 +0,0 @@
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
* Based on stm32 can driver by Pavel Kirienko
*/
#include "CAN.h"
#if HAL_WITH_UAVCAN
#include "CANInternal.h"
#include "CANClock.h"
extern const AP_HAL::HAL& hal;
using namespace ChibiOS;
namespace ChibiOS_CAN {
uint64_t clock::getUtcUSecFromCanInterrupt()
{
return AP_HAL::micros64();
}
uavcan::MonotonicTime clock::getMonotonic()
{
return uavcan::MonotonicTime::fromUSec(AP_HAL::micros64());
}
}
bool CANManager::begin(uint32_t bitrate, uint8_t can_number)
{
return (can_helper.init(bitrate, ChibiOS_CAN::CanIface::OperatingMode::NormalMode, can_number) == 0);
}
bool CANManager::is_initialized()
{
return initialized_;
}
void CANManager::initialized(bool val)
{
initialized_ = val;
}
#endif //HAL_WITH_UAVCAN

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libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
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@ -1,165 +0,0 @@
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Siddharth Bharat Purohit
*/
#include "CANSerialRouter.h"
#if AP_UAVCAN_SLCAN_ENABLED
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
extern const AP_HAL::HAL& hal;
void SLCANRouter::init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* update_event)
{
_can_if = can_if;
_update_event = update_event;
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&SLCANRouter::timer, void));
}
void SLCANRouter::run()
{
_port = AP::can().get_slcan_serial();
if (_port == nullptr) {
return;
}
if (_slcan_if.init(921600, SLCAN::CAN::OperatingMode::NormalMode, _port) < 0) {
return;
}
_slcan_rt_timeout = AP::can().get_slcan_timeout();
if (!_thread_started) {
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&SLCANRouter::can2slcan_router_trampoline, void), "C2SRouter", 512, AP_HAL::Scheduler::PRIORITY_CAN, 0);
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&SLCANRouter::slcan2can_router_trampoline, void), "S2CRouter", 512, AP_HAL::Scheduler::PRIORITY_CAN, 0);
_thread_started = true;
_thread_suspended = false;
}
else if (_thread_suspended) { //wake up threads
chSysLock();
if (_c2s_thd_ref && _s2c_thd_ref) {
chThdResumeS(&_c2s_thd_ref, MSG_OK);
chThdResumeS(&_s2c_thd_ref, MSG_OK);
_thread_suspended = false;
}
chSysUnlock();
}
}
void SLCANRouter::timer()
{
if ((!_thread_started || _thread_suspended) && (AP::can().get_slcan_serial() != nullptr)) {
run();
AP::can().reset_slcan_serial();
_last_active_time = AP_HAL::millis();
}
if (!_slcan_if.closed()) {
_last_active_time = AP_HAL::millis();
}
if (_thread_suspended) {
return;
}
if (AP_HAL::millis() - _last_active_time > (_slcan_rt_timeout * 1000) && _slcan_rt_timeout != 0) {
chSysLock();
_port->lock_port(0, 0);
_port->flush();
_thread_suspended = true;
chSysUnlock();
}
}
void SLCANRouter::route_frame_to_slcan(ChibiOS_CAN::CanIface* can_if, const uavcan::CanFrame& frame, uint64_t timestamp_usec)
{
if (_can_if != can_if) {
return;
}
CanRouteItem it;
it.frame = frame;
it.utc_usec = timestamp_usec;
if (_slcan_tx_queue.space() == 0) {
_slcan_tx_queue.pop();
}
_slcan_tx_queue.push(it);
}
void SLCANRouter::route_frame_to_can(const uavcan::CanFrame& frame, uint64_t timestamp_usec)
{
CanRouteItem it;
it.frame = frame;
it.utc_usec = timestamp_usec;
if (_can_tx_queue.space() == 0) {
_can_tx_queue.pop();
}
_can_tx_queue.push(it);
}
void SLCANRouter::slcan2can_router_trampoline(void)
{
CanRouteItem it;
while (true) {
chSysLock();
_s2c_thd_ref = nullptr;
if (_thread_suspended) {
chThdSuspendS(&_s2c_thd_ref);
_port->flush();
}
chSysUnlock();
_slcan_if.reader();
while (_can_tx_queue.available() && _can_if) {
if (!_can_tx_queue.peek(it)) {
break;
}
if (_can_if->send(it.frame, uavcan::MonotonicTime::fromUSec(AP_HAL::micros64() + 1000), 0)) {
if (!_can_tx_queue.pop()) {
break;
}
} else {
break;
}
hal.scheduler->delay_microseconds(100);
}
hal.scheduler->delay_microseconds(100);
}
}
void SLCANRouter::can2slcan_router_trampoline(void)
{
CanRouteItem it;
while (true) {
chSysLock();
_c2s_thd_ref = nullptr;
if (_thread_suspended) {
chThdSuspendS(&_c2s_thd_ref);
}
chSysUnlock();
_update_event->wait(uavcan::MonotonicDuration::fromUSec(1000));
while (_slcan_tx_queue.available()) {
if (!_slcan_tx_queue.peek(it)) {
break;
}
if (_slcan_if.send(it.frame, uavcan::MonotonicTime::fromUSec(AP_HAL::micros64() + 1000), 0)) {
if (!_slcan_tx_queue.pop()) {
break;
}
} else {
break;
}
hal.scheduler->delay_microseconds(100);
}
hal.scheduler->delay_microseconds(100);
}
}
#endif

68
libraries/AP_HAL_ChibiOS/CANSerialRouter.h
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@ -1,68 +0,0 @@
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Siddharth Bharat Purohit
*/
#pragma once
#include "AP_HAL_ChibiOS.h"
#if AP_UAVCAN_SLCAN_ENABLED
#include "CAN.h"
#include <AP_UAVCAN/AP_UAVCAN_SLCAN.h>
#include "CANThread.h"
#include "CANClock.h"
#include "CANIface.h"
#define SLCAN_ROUTER_QUEUE_SIZE 64
struct CanRouteItem {
uint64_t utc_usec;
uavcan::CanFrame frame;
CanRouteItem() :
utc_usec(0)
{
}
};
class SLCANRouter {
ChibiOS_CAN::CanIface* _can_if;
SLCAN::CAN _slcan_if;
ObjectBuffer<CanRouteItem> _can_tx_queue;
ObjectBuffer<CanRouteItem> _slcan_tx_queue;
ChibiOS_CAN::BusEvent* _update_event;
uint32_t _last_active_time = 0;
uint32_t _slcan_rt_timeout = 0;
bool _thread_started = false;
bool _thread_suspended = false;
HAL_Semaphore router_sem;
thread_reference_t _s2c_thd_ref;
thread_reference_t _c2s_thd_ref;
void timer(void);
AP_HAL::UARTDriver* _port;
public:
SLCANRouter() : _slcan_if(SLCAN_DRIVER_INDEX, SLCAN_RX_QUEUE_SIZE), _can_tx_queue(SLCAN_ROUTER_QUEUE_SIZE), _slcan_tx_queue(SLCAN_ROUTER_QUEUE_SIZE)
{}
void init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* update_event);
void route_frame_to_slcan(ChibiOS_CAN::CanIface* can_if, const uavcan::CanFrame& frame, uint64_t timestamp_usec);
void route_frame_to_can(const uavcan::CanFrame& frame, uint64_t timestamp_usec);
void slcan2can_router_trampoline(void);
void can2slcan_router_trampoline(void);
void run(void);
};
#endif // AP_UAVCAN_SLCAN_ENABLED

122
libraries/AP_HAL_ChibiOS/CANThread.cpp
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/*
* The MIT License (MIT)
*
* Copyright (c) 2014 Pavel Kirienko
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Modified for Ardupilot by Siddharth Bharat Purohit
*/
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
#include "CANThread.h"
#include "CANClock.h"
#include "CANIface.h"
#include "CANInternal.h"
namespace ChibiOS_CAN {
/*
* BusEvent
*/
bool BusEvent::wait(uavcan::MonotonicDuration duration)
{
// set maximum time to allow for 16 bit timers running at 1MHz
static const uavcan::int64_t MaxDelayUSec = 0x000FFFF;
const uavcan::int64_t usec = duration.toUSec();
msg_t ret = msg_t();
if (usec <= 0) {
# if (CH_KERNEL_MAJOR == 2)
ret = sem_.waitTimeout(TIME_IMMEDIATE);
# else // ChibiOS 3+
ret = sem_.wait(TIME_IMMEDIATE);
# endif
}
else {
# if (CH_KERNEL_MAJOR == 2)
ret = sem_.waitTimeout((usec > MaxDelayUSec) ? US2ST(MaxDelayUSec) : US2ST(usec));
# elif (CH_KERNEL_MAJOR >= 5)
ret = sem_.wait((usec > MaxDelayUSec) ? chTimeUS2I(MaxDelayUSec) : chTimeUS2I(usec));
# else // ChibiOS 3+
ret = sem_.wait((usec > MaxDelayUSec) ? US2ST(MaxDelayUSec) : US2ST(usec));
# endif
}
# if (CH_KERNEL_MAJOR == 2)
return ret == RDY_OK;
# else // ChibiOS 3+
return ret == MSG_OK;
# endif
}
void BusEvent::signal()
{
sem_.signal();
}
void BusEvent::signalFromInterrupt()
{
# if (CH_KERNEL_MAJOR == 2)
chSysLockFromIsr();
sem_.signalI();
chSysUnlockFromIsr();
# else // ChibiOS 3+
chSysLockFromISR();
sem_.signalI();
chSysUnlockFromISR();
# endif
}
/*
* Mutex
*/
void Mutex::lock()
{
mtx_.lock();
}
void Mutex::unlock()
{
# if (CH_KERNEL_MAJOR == 2)
chibios_rt::BaseThread::unlockMutex();
# else // ChibiOS 3+
mtx_.unlock();
# endif
}
}
#endif //HAL_WITH_UAVCAN

97
libraries/AP_HAL_ChibiOS/CANThread.h
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/*
* The MIT License (MIT)
*
* Copyright (c) 2014 Pavel Kirienko
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Modified for Ardupilot by Siddharth Bharat Purohit
*/
#pragma once
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
# include <ch.hpp>
#include <uavcan/uavcan.hpp>
namespace ChibiOS_CAN {
class CanDriver;
class BusEvent {
chibios_rt::CounterSemaphore sem_;
public:
BusEvent(CanDriver& can_driver)
: sem_(0)
{
(void)can_driver;
}
bool wait(uavcan::MonotonicDuration duration);
void signal();
void signalFromInterrupt();
};
class Mutex {
chibios_rt::Mutex mtx_;
public:
void lock();
void unlock();
};
class MutexLocker {
Mutex& mutex_;
public:
MutexLocker(Mutex& mutex)
: mutex_(mutex)
{
mutex_.lock();
}
~MutexLocker()
{
mutex_.unlock();
}
};
}
#endif //HAL_WITH_UAVCAN

1385
libraries/AP_HAL_ChibiOS/CanIface.cpp
View File

File diff suppressed because it is too large Load Diff

7
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
View File

@ -103,6 +103,9 @@ static ChibiOS::Flash flashDriver;
static Empty::Flash flashDriver;
#endif
#if HAL_NUM_CAN_IFACES > 0
static ChibiOS::CANIface* canDrivers[HAL_NUM_CAN_IFACES];
#endif
#if HAL_WITH_IO_MCU
HAL_UART_IO_DRIVER;
@ -133,7 +136,11 @@ HAL_ChibiOS::HAL_ChibiOS() :
&opticalFlowDriver,
&flashDriver,
&dspDriver,
#if HAL_NUM_CAN_IFACES
(AP_HAL::CANIface**)canDrivers
#else
nullptr
#endif
)
{}

4
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.h
View File

@ -35,5 +35,7 @@ public:
void run(int argc, char* const* argv, Callbacks* callbacks) const override;
};
void hal_chibios_set_priority(uint8_t priority);
#if HAL_NUM_CAN_IFACES
typedef ChibiOS::CANIface HAL_CANIface;
#endif
thread_t* get_main_thread(void);

2
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -25,7 +25,7 @@
#include <AP_HAL_ChibiOS/Storage.h>
#include <AP_HAL_ChibiOS/RCOutput.h>
#include <AP_HAL_ChibiOS/RCInput.h>
#include <AP_HAL_ChibiOS/CAN.h>
#include <AP_HAL_ChibiOS/CANIface.h>
#include <AP_InternalError/AP_InternalError.h>
#if CH_CFG_USE_DYNAMIC == TRUE

43
libraries/AP_HAL_ChibiOS/bxcan.hpp
View File

@ -42,51 +42,37 @@
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
#if HAL_NUM_CAN_IFACES
# if !defined(STM32H7XX)
#include <uavcan/uavcan.hpp>
#include <stdint.h>
#ifndef UAVCAN_CPP_VERSION
# error UAVCAN_CPP_VERSION
#endif
#if UAVCAN_CPP_VERSION < UAVCAN_CPP11
// #undef'ed at the end of this file
# define constexpr const
#endif
namespace ChibiOS_CAN
namespace ChibiOS
{
namespace bxcan
{
struct TxMailboxType
{
struct TxMailboxType {
volatile uint32_t TIR;
volatile uint32_t TDTR;
volatile uint32_t TDLR;
volatile uint32_t TDHR;
};
struct RxMailboxType
{
struct RxMailboxType {
volatile uint32_t RIR;
volatile uint32_t RDTR;
volatile uint32_t RDLR;
volatile uint32_t RDHR;
};
struct FilterRegisterType
{
struct FilterRegisterType {
volatile uint32_t FR1;
volatile uint32_t FR2;
};
struct CanType
{
struct CanType {
volatile uint32_t MCR; /*!< CAN master control register, Address offset: 0x00 */
volatile uint32_t MSR; /*!< CAN master status register, Address offset: 0x04 */
volatile uint32_t TSR; /*!< CAN transmit status register, Address offset: 0x08 */
@ -111,18 +97,6 @@ struct CanType
FilterRegisterType FilterRegister[28]; /*!< CAN Filter Register, Address offset: 0x240-0x31C */
};
/**
* CANx register sets
*/
CanType* const Can[UAVCAN_STM32_NUM_IFACES] =
{
reinterpret_cast<CanType*>(0x40006400)
#if UAVCAN_STM32_NUM_IFACES > 1
,
reinterpret_cast<CanType*>(0x40006800)
#endif
};
/* CAN master control register */
constexpr unsigned long MCR_INRQ = (1U << 0); /* Bit 0: Initialization Request */
@ -323,8 +297,5 @@ constexpr unsigned long FMR_FINIT = (1U << 0); /* Bit 0: Filter Init
}
}
#if UAVCAN_CPP_VERSION < UAVCAN_CPP11
# undef constexpr
#endif
#endif //!defined(STM32H7XX)
#endif //HAL_WITH_UAVCAN
#endif //HAL_NUM_CAN_IFACES

90
libraries/AP_HAL_ChibiOS/fdcan.hpp
View File

@ -1,90 +0,0 @@
/*
* The MIT License (MIT)
*
* Copyright (c) 2014 Pavel Kirienko
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Siddharth Bharat Purohit
*/
#pragma once
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
#if defined(STM32H7XX)
#include <uavcan/uavcan.hpp>
#include <stdint.h>
#ifndef UAVCAN_CPP_VERSION
# error UAVCAN_CPP_VERSION
#endif
#if UAVCAN_CPP_VERSION < UAVCAN_CPP11
// #undef'ed at the end of this file
# define constexpr const
#endif
namespace ChibiOS_CAN
{
namespace fdcan
{
typedef FDCAN_GlobalTypeDef CanType;
constexpr unsigned long IDE = (0x40000000U); // Identifier Extension
constexpr unsigned long STID_MASK = (0x1FFC0000U); // Standard Identifier Mask
constexpr unsigned long EXID_MASK = (0x1FFFFFFFU); // Extended Identifier Mask
constexpr unsigned long RTR = (0x20000000U); // Remote Transmission Request
constexpr unsigned long DLC_MASK = (0x000F0000U); // Data Length Code
/**
* CANx register sets
*/
CanType* const Can[UAVCAN_STM32_NUM_IFACES] = {
reinterpret_cast<CanType*>(FDCAN1_BASE)
#if UAVCAN_STM32_NUM_IFACES > 1
,
reinterpret_cast<CanType*>(FDCAN2_BASE)
#endif
};
}
}
#if UAVCAN_CPP_VERSION < UAVCAN_CPP11
# undef constexpr
#endif
#endif //defined(STM32H7XX)
#endif //HAL_WITH_UAVCAN

13
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -588,10 +588,10 @@ def make_line(label):
return line
def enable_can(f):
def enable_can(f, num_ifaces):
'''setup for a CAN enabled board'''
f.write('#define HAL_WITH_UAVCAN 1\n')
env_vars['HAL_WITH_UAVCAN'] = '1'
f.write('#define HAL_NUM_CAN_IFACES %d\n' % num_ifaces)
env_vars['HAL_NUM_CAN_IFACES'] = str(num_ifaces)
def has_sdcard_spi():
@ -646,7 +646,10 @@ def write_mcu_config(f):
if 'OTG2' in bytype:
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
if have_type_prefix('CAN') and 'AP_PERIPH' not in env_vars:
enable_can(f)
if 'CAN1' in bytype and 'CAN2' in bytype:
enable_can(f, 2)
else:
enable_can(f, 1)
if get_config('PROCESS_STACK', required=False):
env_vars['PROCESS_STACK'] = get_config('PROCESS_STACK')
@ -1195,7 +1198,7 @@ def write_UART_config(f):
if OTG2_index is not None:
f.write('#define HAL_OTG2_UART_INDEX %d\n' % OTG2_index)
f.write('''
#if HAL_WITH_UAVCAN
#if HAL_NUM_CAN_IFACES
#ifndef HAL_OTG2_PROTOCOL
#define HAL_OTG2_PROTOCOL SerialProtocol_SLCAN
#endif