Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-25 00:31:36 +08:00
Code Issues Actions 7 Packages Projects Releases Wiki Activity

uavcan_stm32h7:can driver add proper timeouts

Browse Source
This commit is contained in:
David Sidrane
2021-03-18 08:55:02 -07:00
committed by Lorenz Meier
parent 4bf894a35d
commit 52a29ac6cf
2 changed files with 41 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include/uavcan_stm32h7/can.hpp
+6 -2
View File
@@ -20,10 +20,12 @@ static const uavcan::int16_t ErrNotImplemented = 1001; ///< Feature not
static const uavcan::int16_t ErrInvalidBitRate = 1002; ///< Bit rate not supported
static const uavcan::int16_t ErrLogic = 1003; ///< Internal logic error
static const uavcan::int16_t ErrUnsupportedFrame = 1004; ///< Frame not supported (e.g. RTR, CAN FD, etc)
static const uavcan::int16_t ErrMsrInakNotSet = 1005; ///< INAK bit of the MSR register is not 1
static const uavcan::int16_t ErrMsrInakNotCleared = 1006; ///< INAK bit of the MSR register is not 0
static const uavcan::int16_t ErrCCCrCSANotSet = 1005; ///< CSA bit of the CCCR register is not 1
static const uavcan::int16_t ErrCCCrCSANotCleared = 1006; ///< CSA bit of the CCCR register is not 0
static const uavcan::int16_t ErrBitRateNotDetected = 1007; ///< Auto bit rate detection could not be finished
static const uavcan::int16_t ErrFilterNumConfigs = 1008; ///< Number of filters is more than supported
static const uavcan::int16_t ErrCCCrINITNotSet = 1000; ///< INIT bit of the CCCR register is not 1
static const uavcan::int16_t ErrCCCrINITNotCleared = 1010; ///< INIT bit of the CCCR register is not 0
/**
* RX queue item.
@@ -139,6 +141,8 @@ class CanIface : public uavcan::ICanIface, uavcan::Noncopyable
virtual uavcan::uint16_t getNumFilters() const { return NumFilters; }
bool waitCCCRBitStateChange(uint32_t mask, bool target_state);
public:
enum { MaxRxQueueCapacity = 64 };
src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_can.cpp
+35 -4
View File
@@ -522,6 +522,29 @@ uavcan::int16_t CanIface::configureFilters(const uavcan::CanFilterConfig *filter
return 0;
}
bool CanIface::waitCCCRBitStateChange(uint32_t mask, bool target_state)
{
#if UAVCAN_STM32_NUTTX
const unsigned Timeout = 1000;
#else
const unsigned Timeout = 2000000;
#endif
for (unsigned wait_ack = 0; wait_ack < Timeout; wait_ack++) {
const bool state = (can_->CCCR & mask) != 0;
if (state == target_state) {
return true;
}
#if UAVCAN_STM32_NUTTX
::usleep(1000);
#endif
}
return false;
}
int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
{
/*
@@ -533,13 +556,20 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
// Exit Power-down / Sleep mode, then wait for acknowledgement
can_->CCCR &= ~FDCAN_CCCR_CSR;
// TODO: add timeout
while ((can_->CCCR & FDCAN_CCCR_CSA) == FDCAN_CCCR_CSA) {}
if (!waitCCCRBitStateChange(FDCAN_CCCR_CSA, false)) {
UAVCAN_STM32H7_LOG("CCCR CCCR_CSA not cleared");
can_->CCCR |= FDCAN_CCCR_INIT;
return -ErrCCCrCSANotCleared;
}
// Request Init mode, then wait for completion
can_->CCCR |= FDCAN_CCCR_INIT;
while ((can_->CCCR & FDCAN_CCCR_INIT) == 0) {}
if (!waitCCCRBitStateChange(FDCAN_CCCR_INIT, true)) {
UAVCAN_STM32H7_LOG("CCCR FDCAN_CCCR_INIT not set");
return -ErrCCCrINITNotSet;
}
// Configuration Changes Enable. Can only be set during Init mode;
// cleared when INIT bit is cleared.
@@ -547,7 +577,8 @@ int CanIface::init(const uavcan::uint32_t bitrate, const OperatingMode mode)
// Disable interrupts while we configure the hardware
can_->IE = 0;
}
} // End Critcal section
/*
* Object state - interrupts are disabled, so it's safe to modify it now