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TransferReceiver timing fix

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This commit is contained in:
Pavel Kirienko
2015-07-15 21:22:28 +03:00
parent da3d41307d
commit 29c295bf11
4 changed files with 160 additions and 107 deletions
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libuavcan/include/uavcan/transport/transfer_receiver.hpp
+20 -7
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@@ -21,6 +21,8 @@ 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 MonotonicDuration getDefaultTransferInterval()
{
@@ -34,7 +36,7 @@ private:
enum { IfaceIndexNotSet = MaxCanIfaces };
enum { ErrorCntMask = 31 };
enum { ErrorCntMask = 15 };
enum { IfaceIndexMask = MaxCanIfaces };
MonotonicTime prev_transfer_ts_;
@@ -48,14 +50,18 @@ 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_ : 5;
mutable uint8_t error_cnt_ : 4;
bool isInitialized() const { return iface_index_ != IfaceIndexNotSet; }
bool isMidTransfer() const { return buffer_write_pos_ > 0; }
MonotonicDuration getTFallback() const;
MonotonicDuration getTTimeout() const;
void registerError() const;
TidRelation getTidRelation(const RxFrame& frame) const;
@@ -72,14 +78,21 @@ 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)
{
#if UAVCAN_DEBUG
StaticAssert<sizeof(TransferReceiver) == 32>::check();
#endif
}
{ }
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)
{ }
bool isTimedOut(MonotonicTime current_ts) const;