ardupilot/libraries/AP_HAL_ChibiOS/CANThread.cpp

123 lines
3.4 KiB
C++

/*
* 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