From 13544906211fb086bfb6e94a30ec27d60ee4d7b0 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Tue, 8 Oct 2024 23:02:43 -0500
Subject: [PATCH] AP_PiccoloCAN: use 32 bit microsecond timeouts for read_frame
For consistency with other parts of the code.
Makes obvious the curious fact that the read_frame timeout is always 0.
---
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp | 8 ++++----
libraries/AP_PiccoloCAN/AP_PiccoloCAN.h | 2 +-
2 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
index e76b186bd4..92e9b9d689 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
@@ -209,7 +209,6 @@ void AP_PiccoloCAN::loop()
uint16_t ecuCmdRateMs = 1000 / _ecu_hz;
#endif
- uint64_t timeout = AP_HAL::micros64() + 250ULL;
// 1ms loop delay
hal.scheduler->delay_microseconds(1000);
@@ -235,7 +234,7 @@ void AP_PiccoloCAN::loop()
#endif
// Look for any message responses on the CAN bus
- while (read_frame(rxFrame, timeout)) {
+ while (read_frame(rxFrame, 0)) {
// Extract group and device ID values from the frame identifier
frame_id_group = (rxFrame.id >> 24) & 0x1F;
@@ -296,15 +295,16 @@ bool AP_PiccoloCAN::write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout)
}
// read frame on CAN bus, returns true on succses
-bool AP_PiccoloCAN::read_frame(AP_HAL::CANFrame &recv_frame, uint64_t timeout)
+bool AP_PiccoloCAN::read_frame(AP_HAL::CANFrame &recv_frame, uint32_t timeout_us)
{
if (!_initialized) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Driver not initialized for read_frame\n\r");
return false;
}
+
bool read_select = true;
bool write_select = false;
- bool ret = _can_iface->select(read_select, write_select, nullptr, timeout);
+ bool ret = _can_iface->select(read_select, write_select, nullptr, AP_HAL::micros64() + timeout_us);
if (!ret || !read_select) {
// No frame available
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
index 01fd2c0e6d..ee81242c03 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
@@ -86,7 +86,7 @@ private:
bool write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout);
// read frame on CAN bus, returns true on succses
- bool read_frame(AP_HAL::CANFrame &recv_frame, uint64_t timeout);
+ bool read_frame(AP_HAL::CANFrame &recv_frame, uint32_t timeout_us);
// send ESC commands over CAN
void send_esc_messages(void);