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AP_HAL_ChibiOS: disable EventSource only when CH_CFG_USE_EVENTS is false

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(cherry picked from commit 6e7542a70ca2343ab8d18470deaf5fc2d27390af) from bugobliterator
This commit is contained in:
Tom Pittenger 2021-04-27 14:30:30 -07:00 committed by Andrew Tridgell
parent f09abc705b
commit f764bd6547
6 changed files with 19 additions and 18 deletions
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8
libraries/AP_HAL_ChibiOS/CANFDIface.cpp
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@ -94,7 +94,7 @@ static_assert(STM32_FDCANCLK <= 80U*1000U*1000U, "FDCAN clock must be max 80MHz"
using namespace ChibiOS; using namespace ChibiOS;
#if HAL_MAX_CAN_PROTOCOL_DRIVERS #if HAL_MAX_CAN_PROTOCOL_DRIVERS && !defined(HAL_BUILD_AP_PERIPH)
#define Debug(fmt, args...) do { AP::can().log_text(AP_CANManager::LOG_DEBUG, "CANFDIface", fmt, ##args); } while (0) #define Debug(fmt, args...) do { AP::can().log_text(AP_CANManager::LOG_DEBUG, "CANFDIface", fmt, ##args); } while (0)
#else #else
#define Debug(fmt, args...) #define Debug(fmt, args...)
@ -763,7 +763,7 @@ void CANIface::handleTxCompleteInterrupt(const uint64_t timestamp_us)
} }
if (event_handle_ != nullptr) { if (event_handle_ != nullptr) {
stats.num_events++; stats.num_events++;
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD) #if CH_CFG_USE_EVENTS == TRUE
evt_src_.signalI(1 << self_index_); evt_src_.signalI(1 << self_index_);
#endif #endif
} }
@ -868,7 +868,7 @@ void CANIface::handleRxInterrupt(uint8_t fifo_index)
} }
if (event_handle_ != nullptr) { if (event_handle_ != nullptr) {
stats.num_events++; stats.num_events++;
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD) #if CH_CFG_USE_EVENTS == TRUE
evt_src_.signalI(1 << self_index_); evt_src_.signalI(1 << self_index_);
#endif #endif
} }
@ -936,7 +936,7 @@ uint32_t CANIface::getErrorCount() const
stats.tx_timedout; stats.tx_timedout;
} }
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD) #if CH_CFG_USE_EVENTS == TRUE
ChibiOS::EventSource CANIface::evt_src_; ChibiOS::EventSource CANIface::evt_src_;
bool CANIface::set_event_handle(AP_HAL::EventHandle* handle) bool CANIface::set_event_handle(AP_HAL::EventHandle* handle)
{ {

6
libraries/AP_HAL_ChibiOS/CANFDIface.h
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@ -116,7 +116,7 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
bool initialised_; bool initialised_;
bool had_activity_; bool had_activity_;
AP_HAL::EventHandle* event_handle_; AP_HAL::EventHandle* event_handle_;
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD) #if CH_CFG_USE_EVENTS == TRUE
static ChibiOS::EventSource evt_src_; static ChibiOS::EventSource evt_src_;
#endif #endif
const uint8_t self_index_; const uint8_t self_index_;
@ -216,10 +216,12 @@ public:
const AP_HAL::CANFrame* const pending_tx, const AP_HAL::CANFrame* const pending_tx,
uint64_t blocking_deadline) override; uint64_t blocking_deadline) override;
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD) #if CH_CFG_USE_EVENTS == TRUE
// setup event handle for waiting on events // setup event handle for waiting on events
bool set_event_handle(AP_HAL::EventHandle* handle) override; bool set_event_handle(AP_HAL::EventHandle* handle) override;
#endif
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
// fetch stats text and return the size of the same, // fetch stats text and return the size of the same,
// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt // results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
void get_stats(ExpandingString &str) override; void get_stats(ExpandingString &str) override;

7
libraries/AP_HAL_ChibiOS/CANIface.h
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@ -109,7 +109,7 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
bool irq_init_:1; bool irq_init_:1;
bool initialised_:1; bool initialised_:1;
bool had_activity_:1; bool had_activity_:1;
#ifndef HAL_BUILD_AP_PERIPH #if CH_CFG_USE_EVENTS == TRUE
AP_HAL::EventHandle* event_handle_; AP_HAL::EventHandle* event_handle_;
static ChibiOS::EventSource evt_src_; static ChibiOS::EventSource evt_src_;
#endif #endif
@ -217,10 +217,11 @@ public:
const AP_HAL::CANFrame* const pending_tx, const AP_HAL::CANFrame* const pending_tx,
uint64_t blocking_deadline) override; uint64_t blocking_deadline) override;
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD) #if CH_CFG_USE_EVENTS == TRUE
// setup event handle for waiting on events // setup event handle for waiting on events
bool set_event_handle(AP_HAL::EventHandle* handle) override; bool set_event_handle(AP_HAL::EventHandle* handle) override;
#endif
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
// fetch stats text and return the size of the same, // fetch stats text and return the size of the same,
// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt // results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
void get_stats(ExpandingString &str) override; void get_stats(ExpandingString &str) override;

11
libraries/AP_HAL_ChibiOS/CanIface.cpp
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@ -509,7 +509,7 @@ void CANIface::handleTxInterrupt(const uint64_t utc_usec)
handleTxMailboxInterrupt(2, txok, utc_usec); handleTxMailboxInterrupt(2, txok, utc_usec);
} }
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD) #if CH_CFG_USE_EVENTS == TRUE
if (event_handle_ != nullptr) { if (event_handle_ != nullptr) {
PERF_STATS(stats.num_events); PERF_STATS(stats.num_events);
evt_src_.signalI(1 << self_index_); evt_src_.signalI(1 << self_index_);
@ -577,7 +577,7 @@ void CANIface::handleRxInterrupt(uint8_t fifo_index, uint64_t timestamp_us)
had_activity_ = true; had_activity_ = true;
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD) #if CH_CFG_USE_EVENTS == TRUE
if (event_handle_ != nullptr) { if (event_handle_ != nullptr) {
PERF_STATS(stats.num_events); PERF_STATS(stats.num_events);
evt_src_.signalI(1 << self_index_); evt_src_.signalI(1 << self_index_);
@ -687,6 +687,9 @@ uint32_t CANIface::getErrorCount() const
stats.tx_timedout; stats.tx_timedout;
} }
#endif // #if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
#if CH_CFG_USE_EVENTS == TRUE
ChibiOS::EventSource CANIface::evt_src_; ChibiOS::EventSource CANIface::evt_src_;
bool CANIface::set_event_handle(AP_HAL::EventHandle* handle) bool CANIface::set_event_handle(AP_HAL::EventHandle* handle)
{ {
@ -696,7 +699,7 @@ bool CANIface::set_event_handle(AP_HAL::EventHandle* handle)
return event_handle_->register_event(1 << self_index_); return event_handle_->register_event(1 << self_index_);
} }
#endif // #if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD) #endif // #if CH_CFG_USE_EVENTS == TRUE
void CANIface::checkAvailable(bool& read, bool& write, const AP_HAL::CANFrame* pending_tx) const void CANIface::checkAvailable(bool& read, bool& write, const AP_HAL::CANFrame* pending_tx) const
{ {
@ -729,7 +732,7 @@ bool CANIface::select(bool &read, bool &write,
return true; return true;
} }
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD) #if CH_CFG_USE_EVENTS == TRUE
// we don't support blocking select in AP_Periph and bootloader // we don't support blocking select in AP_Periph and bootloader
while (time < blocking_deadline) { while (time < blocking_deadline) {
if (event_handle_ == nullptr) { if (event_handle_ == nullptr) {

3
libraries/AP_HAL_ChibiOS/EventSource.cpp
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@ -1,7 +1,5 @@
#include "EventSource.h" #include "EventSource.h"
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
using namespace ChibiOS; using namespace ChibiOS;
#if CH_CFG_USE_EVENTS == TRUE #if CH_CFG_USE_EVENTS == TRUE
@ -33,4 +31,3 @@ void EventSource::signalI(uint32_t evt_mask)
chSysUnlockFromISR(); chSysUnlockFromISR();
} }
#endif //#if CH_CFG_USE_EVENTS == TRUE #endif //#if CH_CFG_USE_EVENTS == TRUE
#endif //#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)

2
libraries/AP_HAL_ChibiOS/EventSource.h
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@ -1,7 +1,6 @@
#pragma once #pragma once
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
#include <stdint.h> #include <stdint.h>
#include <AP_HAL/AP_HAL_Boards.h> #include <AP_HAL/AP_HAL_Boards.h>
#include <AP_HAL/AP_HAL_Macros.h> #include <AP_HAL/AP_HAL_Macros.h>
@ -25,4 +24,3 @@ public:
bool wait(uint64_t duration, AP_HAL::EventHandle* evt_handle) override; bool wait(uint64_t duration, AP_HAL::EventHandle* evt_handle) override;
}; };
#endif //#if CH_CFG_USE_EVENTS == TRUE #endif //#if CH_CFG_USE_EVENTS == TRUE
#endif //#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)