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AP_PiccoloCAN: use 32 bit microsecond timeouts for write_frame

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For consistency with other parts of the code.

Note that now different frames in a group could have slightly different
deadlines.
This commit is contained in:
Thomas Watson 2024-10-08 23:11:25 -05:00 committed by Andrew Tridgell
parent 1354490621
commit f2a9075d43
2 changed files with 11 additions and 17 deletions
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26
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
View File

@ -275,7 +275,7 @@ void AP_PiccoloCAN::loop()
}
// write frame on CAN bus, returns true on success
bool AP_PiccoloCAN::write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout)
bool AP_PiccoloCAN::write_frame(AP_HAL::CANFrame &out_frame, uint32_t timeout_us)
{
if (!_initialized) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Driver not initialized for write_frame\n\r");
@ -284,14 +284,14 @@ bool AP_PiccoloCAN::write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout)
bool read_select = false;
bool write_select = true;
bool ret = _can_iface->select(read_select, write_select, &out_frame, timeout);
const uint64_t deadline_us = AP_HAL::micros64() + timeout_us;
bool ret = _can_iface->select(read_select, write_select, &out_frame, deadline_us);
if (!ret || !write_select) {
return false;
}
return (_can_iface->send(out_frame, timeout, AP_HAL::CANIface::AbortOnError) == 1);
return (_can_iface->send(out_frame, deadline_us, AP_HAL::CANIface::AbortOnError) == 1);
}
// read frame on CAN bus, returns true on succses
@ -409,8 +409,6 @@ void AP_PiccoloCAN::send_servo_messages(void)
{
AP_HAL::CANFrame txFrame {};
uint64_t timeout = AP_HAL::micros64() + 1000ULL;
// No servos are selected? Don't send anything!
if (_srv_bm == 0x00) {
return;
@ -445,7 +443,7 @@ void AP_PiccoloCAN::send_servo_messages(void)
// Servo is not enabled
encodeServo_EnablePacket(&txFrame);
txFrame.id |= (idx + 1);
write_frame(txFrame, timeout);
write_frame(txFrame, 1000);
} else if (_servos[idx].newCommand) {
// A new command is provided
send_cmd = true;
@ -467,7 +465,7 @@ void AP_PiccoloCAN::send_servo_messages(void)
// Broadcast the command to all servos
txFrame.id |= 0xFF;
write_frame(txFrame, timeout);
write_frame(txFrame, 1000);
}
}
}
@ -478,8 +476,6 @@ void AP_PiccoloCAN::send_esc_messages(void)
{
AP_HAL::CANFrame txFrame {};
uint64_t timeout = AP_HAL::micros64() + 1000ULL;
// No ESCs are selected? Don't send anything
if (_esc_bm == 0x00) {
return;
@ -515,7 +511,7 @@ void AP_PiccoloCAN::send_esc_messages(void)
if (is_esc_present(idx) && !is_esc_enabled(idx)) {
encodeESC_EnablePacket(&txFrame);
txFrame.id |= (idx + 1);
write_frame(txFrame, timeout);
write_frame(txFrame, 1000);
}
else if (_escs[idx].newCommand) {
send_cmd = true;
@ -540,7 +536,7 @@ void AP_PiccoloCAN::send_esc_messages(void)
// Broadcast the command to all ESCs
txFrame.id |= 0xFF;
write_frame(txFrame, timeout);
write_frame(txFrame, 1000);
}
}
@ -553,7 +549,7 @@ void AP_PiccoloCAN::send_esc_messages(void)
// Set the ESC address to the broadcast ID (0xFF)
txFrame.id |= 0xFF;
write_frame(txFrame, timeout);
write_frame(txFrame, 1000);
}
}
@ -609,8 +605,6 @@ void AP_PiccoloCAN::send_ecu_messages(void)
{
AP_HAL::CANFrame txFrame {};
const uint64_t timeout = AP_HAL::micros64() + 1000ULL;
// No ECU node id set, don't send anything
if (_ecu_id == 0) {
return;
@ -622,7 +616,7 @@ void AP_PiccoloCAN::send_ecu_messages(void)
_ecu_info.newCommand = false;
write_frame(txFrame, timeout);
write_frame(txFrame, 1000);
}
}

2
libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
View File

@ -83,7 +83,7 @@ private:
void loop();
// write frame on CAN bus, returns true on success
bool write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout);
bool write_frame(AP_HAL::CANFrame &out_frame, uint32_t timeout_us);
// read frame on CAN bus, returns true on succses
bool read_frame(AP_HAL::CANFrame &recv_frame, uint32_t timeout_us);