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AP_Periph: implement can inface masking per message

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this prevents sending duplicate messages on an interface when a send
fails on a 2nd interface
This commit is contained in:
Andrew Tridgell 2023-09-01 19:04:38 +10:00
parent 3623d20479
commit 78faa5c6b0
1 changed files with 6 additions and 2 deletions
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8
Tools/AP_Periph/can.cpp
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@ -36,7 +36,7 @@
#include <AP_HAL_SITL/CANSocketIface.h>
#endif
#define IFACE_ALL ((1U<<(HAL_NUM_CAN_IFACES+1U))-1U)
#define IFACE_ALL ((1U<<(HAL_NUM_CAN_IFACES))-1U)
#include "i2c.h"
#include <utility>
@ -1091,7 +1091,7 @@ bool AP_Periph_FW::canard_broadcast(uint64_t data_type_signature,
void AP_Periph_FW::processTx(void)
{
for (const CanardCANFrame* txf = NULL; (txf = canardPeekTxQueue(&dronecan.canard)) != NULL;) {
for (CanardCANFrame* txf = NULL; (txf = canardPeekTxQueue(&dronecan.canard)) != NULL;) {
AP_HAL::CANFrame txmsg {};
txmsg.dlc = AP_HAL::CANFrame::dataLengthToDlc(txf->data_len);
memcpy(txmsg.data, txf->data, txf->data_len);
@ -1130,6 +1130,10 @@ void AP_Periph_FW::processTx(void)
if (stats == nullptr || now_us - stats->last_transmit_us < 2000000UL) {
sent = false;
}
} else {
#if CANARD_MULTI_IFACE
txf->iface_mask &= ~(1U<<_ins.index);
#endif
}
}
if (sent) {