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RX logic revisited

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This commit is contained in:
Pavel Kirienko
2015-07-20 18:07:29 +03:00
parent 8364249587
commit 035f107ab5
7 changed files with 64 additions and 108 deletions
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libuavcan/include/uavcan/transport/transfer.hpp
+1
View File
@@ -74,6 +74,7 @@ class UAVCAN_EXPORT TransferID
public:
static const uint8_t BitLen = 5U;
static const uint8_t Max = (1U << BitLen) - 1U;
static const uint8_t Half = (1U << BitLen) / 2U;
TransferID()
: value_(0)
libuavcan/include/uavcan/transport/transfer_receiver.hpp
+5 -22
View File
@@ -21,8 +21,7 @@ public:
static const uint16_t MinTransferIntervalMSec = 1;
static const uint16_t MaxTransferIntervalMSec = 0xFFFF;
static const uint16_t DefaultTransferIntervalMSec = 1000;
static const uint16_t MessageMaxTFallbackMSec = 1000;
static const uint16_t ServiceTFallbackMSec = 500;
static const uint16_t DefaultTidTimeoutMSec = 1000;
static MonotonicDuration getDefaultTransferInterval()
{
@@ -32,11 +31,9 @@ public:
static MonotonicDuration getMaxTransferInterval() { return MonotonicDuration::fromMSec(MaxTransferIntervalMSec); }
private:
enum TidRelation { TidSame, TidRepeat, TidFuture };
enum { IfaceIndexNotSet = MaxCanIfaces };
enum { ErrorCntMask = 15 };
enum { ErrorCntMask = 31 };
enum { IfaceIndexMask = MaxCanIfaces };
MonotonicTime prev_transfer_ts_;
@@ -50,22 +47,19 @@ private:
TransferID tid_; // 1 byte field
// 1 byte aligned bitfields:
uint8_t tt_service_ : 1;
uint8_t next_toggle_ : 1;
uint8_t iface_index_ : 2;
mutable uint8_t error_cnt_ : 4;
mutable uint8_t error_cnt_ : 5;
bool isInitialized() const { return iface_index_ != IfaceIndexNotSet; }
bool isMidTransfer() const { return buffer_write_pos_ > 0; }
MonotonicDuration getTFallback() const;
MonotonicDuration getTTimeout() const;
MonotonicDuration getIfaceSwitchDelay() const;
MonotonicDuration getTidTimeout() const;
void registerError() const;
TidRelation getTidRelation(const RxFrame& frame) const;
void updateTransferTimings();
void prepareForNextTransfer();
@@ -78,17 +72,6 @@ public:
transfer_interval_msec_(DefaultTransferIntervalMSec),
this_transfer_crc_(0),
buffer_write_pos_(0),
tt_service_(false),
next_toggle_(false),
iface_index_(IfaceIndexNotSet),
error_cnt_(0)
{ }
TransferReceiver(const TransferType transfer_type) :
transfer_interval_msec_(DefaultTransferIntervalMSec),
this_transfer_crc_(0),
buffer_write_pos_(0),
tt_service_((transfer_type == TransferTypeServiceRequest) || (transfer_type == TransferTypeServiceResponse)),
next_toggle_(false),
iface_index_(IfaceIndexNotSet),
error_cnt_(0)