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Merge pull request #2751 from PX4/master_uavcan_servers_single_iface 

UAVCAN: using only primary interface for firmware update and node ID allocation
This commit is contained in:
Lorenz Meier 2015-09-20 23:08:27 +02:00
parent 5ed223221c ae83543b63
commit 5fad70b0df
3 changed files with 14 additions and 12 deletions
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2
src/modules/uavcan/uavcan_main.cpp
View File

@ -194,7 +194,7 @@ int UavcanNode::start_fw_server()
if (_servers == nullptr) {
rv = UavcanServers::start(2, _node);
rv = UavcanServers::start(_node);
if (rv >= 0) {
/*

11
src/modules/uavcan/uavcan_servers.cpp
View File

@ -76,7 +76,7 @@
UavcanServers *UavcanServers::_instance;
UavcanServers::UavcanServers(uavcan::INode &main_node) :
_subnode_thread(-1),
_vdriver(UAVCAN_STM32_NUM_IFACES, uavcan_stm32::SystemClock::instance()),
_vdriver(NumIfaces, uavcan_stm32::SystemClock::instance()),
_subnode(_vdriver, uavcan_stm32::SystemClock::instance()),
_main_node(main_node),
_tracer(),
@ -101,7 +101,7 @@ UavcanServers::~UavcanServers()
_main_node.getDispatcher().removeRxFrameListener();
}
int UavcanServers::stop(void)
int UavcanServers::stop()
{
UavcanServers *server = instance();
@ -123,7 +123,7 @@ int UavcanServers::stop(void)
return 0;
}
int UavcanServers::start(unsigned num_ifaces, uavcan::INode &main_node)
int UavcanServers::start(uavcan::INode &main_node)
{
if (_instance != nullptr) {
warnx("Already started");
@ -140,7 +140,7 @@ int UavcanServers::start(unsigned num_ifaces, uavcan::INode &main_node)
return -2;
}
int rv = _instance->init(num_ifaces);
int rv = _instance->init();
if (rv < 0) {
warnx("Node init failed: %d", rv);
@ -174,7 +174,7 @@ int UavcanServers::start(unsigned num_ifaces, uavcan::INode &main_node)
return rv;
}
int UavcanServers::init(unsigned num_ifaces)
int UavcanServers::init()
{
errno = 0;
@ -268,6 +268,7 @@ int UavcanServers::init(unsigned num_ifaces)
return OK;
}
__attribute__((optimize("-O0")))
pthread_addr_t UavcanServers::run(pthread_addr_t)
{

13
src/modules/uavcan/uavcan_servers.hpp
View File

@ -72,9 +72,11 @@
*/
class UavcanServers
{
static constexpr unsigned NumIfaces = 1; // UAVCAN_STM32_NUM_IFACES
static constexpr unsigned MemPoolSize = 64 * uavcan::MemPoolBlockSize;
static constexpr unsigned MaxCanFramsPerTransfer = 63;
static constexpr unsigned MaxCanFramesPerTransfer = 63;
/**
* This number is based on the worst case max number of frames per interface. With
@ -84,7 +86,7 @@ class UavcanServers
* 1 instead of UAVCAN_STM32_NUM_IFACES into the constructor of the virtual CAN driver.
*/
static constexpr unsigned QueuePoolSize =
(UAVCAN_STM32_NUM_IFACES * uavcan::MemPoolBlockSize *MaxCanFramsPerTransfer);
(NumIfaces * uavcan::MemPoolBlockSize * MaxCanFramesPerTransfer);
static constexpr unsigned StackSize = 3500;
static constexpr unsigned Priority = 120;
@ -96,8 +98,8 @@ public:
virtual ~UavcanServers();
static int start(unsigned num_ifaces, uavcan::INode &main_node);
static int stop(void);
static int start(uavcan::INode &main_node);
static int stop();
SubNode &get_node() { return _subnode; }
@ -116,8 +118,7 @@ private:
pthread_t _subnode_thread;
pthread_mutex_t _subnode_mutex;
int init(unsigned num_ifaces);
void deinit(void);
int init();
pthread_addr_t run(pthread_addr_t);