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