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122 lines
3.4 KiB
122 lines
3.4 KiB
/* |
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* The MIT License (MIT) |
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* |
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* Copyright (c) 2014 Pavel Kirienko |
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* |
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* Permission is hereby granted, free of charge, to any person obtaining a copy of |
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* this software and associated documentation files (the "Software"), to deal in |
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* the Software without restriction, including without limitation the rights to |
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of |
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* the Software, and to permit persons to whom the Software is furnished to do so, |
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* subject to the following conditions: |
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* |
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* The above copyright notice and this permission notice shall be included in all |
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* copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS |
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR |
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER |
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN |
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
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*/ |
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/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* Modified for Ardupilot by Siddharth Bharat Purohit |
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*/ |
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#include "AP_HAL_ChibiOS.h" |
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#if HAL_WITH_UAVCAN |
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#include "CANThread.h" |
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#include "CANClock.h" |
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#include "CANIface.h" |
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#include "CANInternal.h" |
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namespace ChibiOS_CAN { |
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/* |
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* BusEvent |
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*/ |
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bool BusEvent::wait(uavcan::MonotonicDuration duration) |
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{ |
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// set maximum time to allow for 16 bit timers running at 1MHz |
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static const uavcan::int64_t MaxDelayUSec = 0x000FFFF; |
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const uavcan::int64_t usec = duration.toUSec(); |
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msg_t ret = msg_t(); |
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if (usec <= 0) { |
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# if (CH_KERNEL_MAJOR == 2) |
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ret = sem_.waitTimeout(TIME_IMMEDIATE); |
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# else // ChibiOS 3+ |
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ret = sem_.wait(TIME_IMMEDIATE); |
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# endif |
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} |
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else { |
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# if (CH_KERNEL_MAJOR == 2) |
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ret = sem_.waitTimeout((usec > MaxDelayUSec) ? US2ST(MaxDelayUSec) : US2ST(usec)); |
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# elif (CH_KERNEL_MAJOR >= 5) |
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ret = sem_.wait((usec > MaxDelayUSec) ? chTimeUS2I(MaxDelayUSec) : chTimeUS2I(usec)); |
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# else // ChibiOS 3+ |
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ret = sem_.wait((usec > MaxDelayUSec) ? US2ST(MaxDelayUSec) : US2ST(usec)); |
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# endif |
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} |
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# if (CH_KERNEL_MAJOR == 2) |
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return ret == RDY_OK; |
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# else // ChibiOS 3+ |
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return ret == MSG_OK; |
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# endif |
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} |
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void BusEvent::signal() |
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{ |
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sem_.signal(); |
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} |
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void BusEvent::signalFromInterrupt() |
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{ |
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# if (CH_KERNEL_MAJOR == 2) |
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chSysLockFromIsr(); |
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sem_.signalI(); |
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chSysUnlockFromIsr(); |
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# else // ChibiOS 3+ |
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chSysLockFromISR(); |
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sem_.signalI(); |
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chSysUnlockFromISR(); |
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# endif |
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} |
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/* |
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* Mutex |
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*/ |
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void Mutex::lock() |
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{ |
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mtx_.lock(); |
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} |
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void Mutex::unlock() |
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{ |
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# if (CH_KERNEL_MAJOR == 2) |
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chibios_rt::BaseThread::unlockMutex(); |
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# else // ChibiOS 3+ |
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mtx_.unlock(); |
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# endif |
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} |
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} |
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#endif //HAL_WITH_UAVCAN
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