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HAL_ChibiOS: fixed CAN statistics on F4/L4/F3/F7

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This commit is contained in:
Andrew Tridgell 2023-09-14 08:18:57 +10:00
parent 273b9ea354
commit ebffc8fc65
2 changed files with 5 additions and 1 deletions
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3
libraries/AP_HAL_ChibiOS/CANIface.h
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@ -218,7 +218,9 @@ public:
// fetch stats text and return the size of the same, // fetch stats text and return the size of the same,
// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt // results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
void get_stats(ExpandingString &str) override; void get_stats(ExpandingString &str) override;
#endif
#if !defined(HAL_BOOTLOADER_BUILD)
/* /*
return statistics structure return statistics structure
*/ */
@ -226,6 +228,7 @@ public:
return &stats; return &stats;
} }
#endif #endif
/************************************ /************************************
* Methods used inside interrupt * * Methods used inside interrupt *
************************************/ ************************************/

3
libraries/AP_HAL_ChibiOS/CanIface.cpp
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@ -292,6 +292,7 @@ int16_t CANIface::send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
if (frame.isErrorFrame() || frame.dlc > 8) { if (frame.isErrorFrame() || frame.dlc > 8) {
return -1; return -1;
} }
PERF_STATS(stats.tx_requests);
/* /*
* Normally we should perform the same check as in @ref canAcceptNewTxFrame(), because * Normally we should perform the same check as in @ref canAcceptNewTxFrame(), because
@ -323,7 +324,7 @@ int16_t CANIface::send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
} else if ((can_->TSR & bxcan::TSR_TME2) == bxcan::TSR_TME2) { } else if ((can_->TSR & bxcan::TSR_TME2) == bxcan::TSR_TME2) {
txmailbox = 2; txmailbox = 2;
} else { } else {
PERF_STATS(stats.tx_rejected); PERF_STATS(stats.tx_overflow);
return 0; // No transmission for you. return 0; // No transmission for you.
} }