fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 23:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

uc_can_acceptance_filter_configurator.cpp formatting corrections and getNumFilters() extra check

Browse Source
This commit is contained in:
ilia-sheremet
2015-06-27 17:40:53 +02:00
parent 876ef38097
commit 0ce069fce2
1 changed files with 14 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp
+14 -10
View File
@@ -21,7 +21,7 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration()
CanFilterConfig service_resp_cfg; CanFilterConfig service_resp_cfg;
service_resp_cfg.id = ServiceRespFrameID; service_resp_cfg.id = ServiceRespFrameID;
service_resp_cfg.mask = ServiceRespFrameMask; service_resp_cfg.mask = ServiceRespFrameMask;
if (multiset_configs_.emplace(service_resp_cfg) == NULL) if (multiset_configs_.emplace(service_resp_cfg) == NULL)
{ {
return -ErrMemory; return -ErrMemory;
} }
@@ -34,9 +34,9 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration()
cfg.id |= static_cast<uint32_t>(p->getDataTypeDescriptor().getKind()) << 8; cfg.id |= static_cast<uint32_t>(p->getDataTypeDescriptor().getKind()) << 8;
cfg.mask = DefaultFilterMsgMask; cfg.mask = DefaultFilterMsgMask;
if (multiset_configs_.emplace(cfg) == NULL) if (multiset_configs_.emplace(cfg) == NULL)
{ {
return -ErrMemory; return -ErrMemory;
} }
p = p->getNextListNode(); p = p->getNextListNode();
} }
@@ -48,9 +48,9 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration()
cfg.id |= static_cast<uint32_t>(p1->getDataTypeDescriptor().getID().get()) << 17; cfg.id |= static_cast<uint32_t>(p1->getDataTypeDescriptor().getID().get()) << 17;
cfg.mask = DefaultFilterServiceRequestMask; cfg.mask = DefaultFilterServiceRequestMask;
if (multiset_configs_.emplace(cfg) == NULL) if (multiset_configs_.emplace(cfg) == NULL)
{ {
return -ErrMemory; return -ErrMemory;
} }
p1 = p1->getNextListNode(); p1 = p1->getNextListNode();
} }
@@ -75,6 +75,11 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration()
int16_t CanAcceptanceFilterConfigurator::computeConfiguration() int16_t CanAcceptanceFilterConfigurator::computeConfiguration()
{ {
const uint16_t acceptance_filters_number = getNumFilters(); const uint16_t acceptance_filters_number = getNumFilters();
if (acceptance_filters_number == 0)
{
UAVCAN_TRACE("CanAcceptanceFilter", "No HW filters available");
return -ErrDriver;
}
UAVCAN_ASSERT(multiset_configs_.getSize() != 0); UAVCAN_ASSERT(multiset_configs_.getSize() != 0);
while (acceptance_filters_number < multiset_configs_.getSize()) while (acceptance_filters_number < multiset_configs_.getSize())
@@ -89,7 +94,7 @@ int16_t CanAcceptanceFilterConfigurator::computeConfiguration()
for (uint16_t j_ind = static_cast<uint8_t>(i_ind + 1); j_ind < multiset_array_size; j_ind++) for (uint16_t j_ind = static_cast<uint8_t>(i_ind + 1); j_ind < multiset_array_size; j_ind++)
{ {
CanFilterConfig temp_config = mergeFilters(*multiset_configs_.getByIndex(i_ind), CanFilterConfig temp_config = mergeFilters(*multiset_configs_.getByIndex(i_ind),
*multiset_configs_.getByIndex(j_ind)); *multiset_configs_.getByIndex(j_ind));
uint8_t rank = countBits(temp_config.mask); uint8_t rank = countBits(temp_config.mask);
if (rank > best_rank) if (rank > best_rank)
{ {
@@ -180,7 +185,6 @@ int CanAcceptanceFilterConfigurator::configureFilters()
uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
{ {
static const uint16_t InvalidOut = 0xFFFF; static const uint16_t InvalidOut = 0xFFFF;
uint16_t out = InvalidOut; uint16_t out = InvalidOut;
ICanDriver& can_driver = node_.getDispatcher().getCanIOManager().getCanDriver(); ICanDriver& can_driver = node_.getDispatcher().getCanIOManager().getCanDriver();
@@ -205,7 +209,7 @@ uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
return (out == InvalidOut) ? 0 : out; return (out == InvalidOut) ? 0 : out;
} }
CanFilterConfig CanAcceptanceFilterConfigurator::mergeFilters(CanFilterConfig &a_, CanFilterConfig &b_) CanFilterConfig CanAcceptanceFilterConfigurator::mergeFilters(CanFilterConfig& a_, CanFilterConfig& b_)
{ {
CanFilterConfig temp_arr; CanFilterConfig temp_arr;
temp_arr.mask = a_.mask & b_.mask & ~(a_.id ^ b_.id); temp_arr.mask = a_.mask & b_.mask & ~(a_.id ^ b_.id);