AP_HAL_ChibiOS: remove CAN thread management

libraries/AP_HAL_ChibiOS/CAN.cpp

@@ -56,23 +56,4 @@ void CANManager::initialized(bool val)
     initialized_ = val;
 }
 
-AP_UAVCAN *CANManager::get_UAVCAN(void)
-{
-    return p_uavcan;
-}
-
-void CANManager::set_UAVCAN(AP_UAVCAN *uavcan)
-{
-    p_uavcan = uavcan;
-}
-
-void CANManager::_timer_tick()
-{
-    if (!initialized_) return;
-
-    if (p_uavcan != nullptr) {
-        p_uavcan->do_cyclic();
-    }
-}
-
 #endif //HAL_WITH_UAVCAN

libraries/AP_HAL_ChibiOS/CAN.h

@@ -21,7 +21,7 @@
 
 #if HAL_WITH_UAVCAN
 
-#define UAVCAN_STM32_LOG(fmt, ...)  hal.console->printf("CANManager: " fmt "\n", ##__VA_ARGS__)
+#define CAN_STM32_LOG(fmt, ...)  hal.console->printf("CANManager: " fmt "\n", ##__VA_ARGS__)
 
 #include <uavcan/uavcan.hpp>
 #include <uavcan/time.hpp>
@@ -30,12 +30,9 @@
 #include <uavcan_stm32/clock.hpp>
 #include <uavcan_stm32/can.hpp>
 
-#include <AP_UAVCAN/AP_UAVCAN.h>
-
 #define MAX_NUMBER_OF_CAN_INTERFACES    2
 #define MAX_NUMBER_OF_CAN_DRIVERS       2
 #define CAN_STM32_RX_QUEUE_SIZE         64
-class AP_UAVCAN;
 
 namespace ChibiOS {
 /**
@@ -67,12 +64,7 @@ public:
     bool is_initialized() override;
     void initialized(bool val) override;
 
-    AP_UAVCAN *get_UAVCAN(void) override;
-    void set_UAVCAN(AP_UAVCAN *uavcan) override;
-    void _timer_tick();
-
 private:
-    AP_UAVCAN *p_uavcan;
     bool initialized_;
     uavcan_stm32::CanInitHelper<CAN_STM32_RX_QUEUE_SIZE> can_helper;
 };

libraries/AP_HAL_ChibiOS/Scheduler.cpp

@@ -43,9 +43,6 @@ THD_WORKING_AREA(_timer_thread_wa, 2048);
 THD_WORKING_AREA(_rcin_thread_wa, 512);
 THD_WORKING_AREA(_io_thread_wa, 2048);
 THD_WORKING_AREA(_storage_thread_wa, 2048);
-#if HAL_WITH_UAVCAN
-THD_WORKING_AREA(_uavcan_thread_wa, 4096);
-#endif
 
 Scheduler::Scheduler()
 {
@@ -62,14 +59,6 @@ void Scheduler::init()
                      _timer_thread,             /* Thread function.     */
                      this);                     /* Thread parameter.    */
 
-    // setup the uavcan thread - this will call tasks at 1kHz
-#if HAL_WITH_UAVCAN
-    _uavcan_thread_ctx = chThdCreateStatic(_uavcan_thread_wa,
-                     sizeof(_uavcan_thread_wa),
-                     APM_UAVCAN_PRIORITY,        /* Initial priority.    */
-                     _uavcan_thread,            /* Thread function.     */
-                     this);                     /* Thread parameter.    */
-#endif
     // setup the RCIN thread - this will call tasks at 1kHz
     _rcin_thread_ctx = chThdCreateStatic(_rcin_thread_wa,
                      sizeof(_rcin_thread_wa),
@@ -286,24 +275,6 @@ void Scheduler::_timer_thread(void *arg)
         hal.rcout->timer_tick();
     }
 }
-#if HAL_WITH_UAVCAN
-void Scheduler::_uavcan_thread(void *arg)
-{
-    Scheduler *sched = (Scheduler *)arg;
-    chRegSetThreadName("apm_uavcan");
-    while (!sched->_hal_initialized) {
-        sched->delay_microseconds(20000);
-    }
-    while (true) {
-        sched->delay_microseconds(300);
-        for (int i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
-            if (AP_UAVCAN::get_uavcan(i) != nullptr) {
-                CANManager::from(hal.can_mgr[i])->_timer_tick();
-            }
-        }
-    }
-}
-#endif
 
 void Scheduler::_rcin_thread(void *arg)
 {

libraries/AP_HAL_ChibiOS/Scheduler.h

@@ -43,12 +43,8 @@
 #define APM_SPI_PRIORITY        181
 #endif
 
-#ifndef APM_UAVCAN_PRIORITY
-#define APM_UAVCAN_PRIORITY     178
-#endif
-
 #ifndef APM_CAN_PRIORITY
-#define APM_CAN_PRIORITY        177
+#define APM_CAN_PRIORITY        178
 #endif
 
 #ifndef APM_I2C_PRIORITY
@@ -96,14 +92,14 @@ public:
       create a new thread
      */
     bool thread_create(AP_HAL::MemberProc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) override;
-    
+
 private:
     bool _initialized;
     volatile bool _hal_initialized;
     AP_HAL::Proc _failsafe;
     bool _called_boost;
     bool _priority_boosted;
-    
+
 
     AP_HAL::MemberProc _timer_proc[CHIBIOS_SCHEDULER_MAX_TIMER_PROCS];
     uint8_t _num_timer_procs;
@@ -117,9 +113,7 @@ private:
     thread_t* _rcin_thread_ctx;
     thread_t* _io_thread_ctx;
     thread_t* _storage_thread_ctx;
-#if HAL_WITH_UAVCAN
-    thread_t* _uavcan_thread_ctx;
-#endif
+
 #if CH_CFG_USE_SEMAPHORES == TRUE
     binary_semaphore_t _timer_semaphore;
     binary_semaphore_t _io_semaphore;
@@ -129,9 +123,7 @@ private:
     static void _io_thread(void *arg);
     static void _storage_thread(void *arg);
     static void _uart_thread(void *arg);
-#if HAL_WITH_UAVCAN
-    static void _uavcan_thread(void *arg);
-#endif
+
     void _run_timers();
     void _run_io(void);
     static void thread_create_trampoline(void *ctx);