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AP_CANManager: use 32 bit timeout #28399

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merged 3 commits into from
Nov 16, 2024
Merged

AP_CANManager: use 32 bit timeout #28399

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d68db13
AP_CANManager: use 32 bit timeout for write_frame
tpwrules Oct 14, 2024
f3d2d4f
AP_CANManager: use 32 bit timeout for write_aux_frame
tpwrules Oct 14, 2024
7d4dbda
AP_DroneCAN: use 32 bit timeout for write_aux_frame
tpwrules Oct 14, 2024
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2 changes: 1 addition & 1 deletion libraries/AP_CANManager/AP_CANDriver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,5 +40,5 @@ class AP_CANDriver
virtual bool add_11bit_driver(CANSensor *sensor) { return false; }

// handler for outgoing frames for auxillary drivers
virtual bool write_aux_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us) { return false; }
virtual bool write_aux_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us) { return false; }
};
6 changes: 3 additions & 3 deletions libraries/AP_CANManager/AP_CANSensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,7 +135,7 @@ bool CANSensor::add_interface(AP_HAL::CANIface* can_iface)
return true;
}

bool CANSensor::write_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us)
bool CANSensor::write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us)
{
if (!_initialized) {
debug_can(AP_CANManager::LOG_ERROR, "Driver not initialized for write_frame");
Expand Down Expand Up @@ -171,12 +171,12 @@ void CANSensor::loop()
#endif

while (true) {
uint64_t timeout = AP_HAL::micros64() + LOOP_INTERVAL_US;
uint64_t deadline_us = AP_HAL::micros64() + LOOP_INTERVAL_US;

// wait to receive frame
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, deadline_us);
if (ret && read_select) {
uint64_t time;
AP_HAL::CANIface::CanIOFlags flags {};
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_CANManager/AP_CANSensor.h
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Expand Up @@ -43,7 +43,7 @@ class CANSensor : public AP_CANDriver {
virtual void handle_frame(AP_HAL::CANFrame &frame) = 0;

// handler for outgoing frames
bool write_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us);
bool write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us);

#ifdef HAL_BUILD_AP_PERIPH
static void set_periph(const uint8_t i, const AP_CAN::Protocol protocol, AP_HAL::CANIface* iface) {
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_DroneCAN/AP_Canard_iface.cpp
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Expand Up @@ -456,7 +456,7 @@ bool CanardInterface::add_11bit_driver(CANSensor *sensor)
}

// handler for outgoing frames for auxillary drivers
bool CanardInterface::write_aux_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us)
bool CanardInterface::write_aux_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us)
{
const uint64_t tx_deadline_us = AP_HAL::micros64() + timeout_us;
bool ret = false;
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_DroneCAN/AP_Canard_iface.h
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Expand Up @@ -54,7 +54,7 @@ class CanardInterface : public Canard::Interface {
bool add_11bit_driver(CANSensor *sensor);

// handler for outgoing frames for auxillary drivers
bool write_aux_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us);
bool write_aux_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us);

#if AP_TEST_DRONECAN_DRIVERS
static CanardInterface& get_test_iface() { return test_iface; }
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_DroneCAN/AP_DroneCAN.cpp
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Expand Up @@ -1956,7 +1956,7 @@ bool AP_DroneCAN::add_11bit_driver(CANSensor *sensor)
}

// handler for outgoing frames for auxillary drivers
bool AP_DroneCAN::write_aux_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us)
bool AP_DroneCAN::write_aux_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us)
{
if (out_frame.isExtended()) {
// don't allow extended frames to be sent by auxillary driver
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_DroneCAN/AP_DroneCAN.h
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Expand Up @@ -95,7 +95,7 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
bool add_11bit_driver(CANSensor *sensor) override;

// handler for outgoing frames for auxillary drivers
bool write_aux_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us) override;
bool write_aux_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us) override;

uint8_t get_driver_index() const { return _driver_index; }

Expand Down
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