fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 15:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Basic modifications; the build is terribly broken

Browse Source
This commit is contained in:
Pavel Kirienko
2015-06-29 19:01:33 +03:00
parent 7502a451e4
commit 350761fa7a
5 changed files with 150 additions and 325 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/include/uavcan/data_type.hpp
+7 -8
View File
@@ -31,8 +31,7 @@ static inline DataTypeKind getDataTypeKindForTransferType(const TransferType tt)
{
return DataTypeKindService;
}
else if (tt == TransferTypeMessageBroadcast ||
tt == TransferTypeMessageUnicast)
else if (tt == TransferTypeMessageBroadcast)
{
return DataTypeKindMessage;
}
@@ -46,19 +45,19 @@ static inline DataTypeKind getDataTypeKindForTransferType(const TransferType tt)
class UAVCAN_EXPORT DataTypeID
{
uint16_t value_;
uint32_t value_;
public:
static const uint16_t MaxServiceDataTypeIDValue = 511;
static const uint16_t MaxMessageDataTypeIDValue = 2047;
static const uint16_t MaxServiceDataTypeIDValue = 255;
static const uint16_t MaxMessageDataTypeIDValue = 65535;
static const uint16_t MaxPossibleDataTypeIDValue = MaxMessageDataTypeIDValue;
DataTypeID() : value_(0xFFFF) { }
DataTypeID() : value_(0xFFFFFFFFUL) { }
DataTypeID(uint16_t id) // Implicit
: value_(id)
{
UAVCAN_ASSERT(id < 0xFFFF);
UAVCAN_ASSERT(id <= MaxPossibleDataTypeIDValue);
}
static DataTypeID getMaxValueForDataTypeKind(const DataTypeKind dtkind);
@@ -68,7 +67,7 @@ public:
return value_ <= getMaxValueForDataTypeKind(dtkind).get();
}
uint16_t get() const { return value_; }
uint16_t get() const { return static_cast<uint16_t>(value_); }
bool operator==(DataTypeID rhs) const { return value_ == rhs.value_; }
bool operator!=(DataTypeID rhs) const { return value_ != rhs.value_; }
libuavcan/include/uavcan/transport/frame.hpp
+36 -41
View File
@@ -16,64 +16,57 @@ namespace uavcan
class UAVCAN_EXPORT Frame
{
uint8_t payload_[sizeof(CanFrame::data)];
enum { PayloadCapacity = 7 }; // Will be redefined when CAN FD is available
uint8_t payload_[PayloadCapacity];
TransferPriority transfer_priority_;
TransferType transfer_type_;
DataTypeID data_type_id_;
uint_fast8_t payload_len_;
NodeID src_node_id_;
NodeID dst_node_id_;
uint_fast8_t frame_index_;
TransferID transfer_id_;
bool last_frame_;
bool start_of_transfer_;
bool end_of_transfer_;
bool toggle_;
public:
static const uint8_t MaxIndexForService = 62; // 63 is reserved
static const uint8_t MaxIndexForMessage = 15;
Frame()
: transfer_priority_(TransferPriority(NumTransferPriorities)) // Invalid value
, transfer_type_(TransferType(NumTransferTypes)) // Invalid value
, payload_len_(0)
, frame_index_(0)
, transfer_id_(0)
, last_frame_(false)
Frame() :
transfer_type_(TransferType(NumTransferTypes)), // Invalid value
payload_len_(0),
start_of_transfer_(false),
end_of_transfer_(false),
toggle_(false)
{ }
Frame(DataTypeID data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false)
: transfer_priority_(getDefaultPriorityForTransferType(transfer_type))
, transfer_type_(transfer_type)
, data_type_id_(data_type_id)
, payload_len_(0)
, src_node_id_(src_node_id)
, dst_node_id_(dst_node_id)
, frame_index_(frame_index)
, transfer_id_(transfer_id)
, last_frame_(last_frame)
Frame(DataTypeID data_type_id,
TransferType transfer_type,
NodeID src_node_id,
NodeID dst_node_id,
TransferID transfer_id) :
transfer_priority_(TransferPriority::Default),
transfer_type_(transfer_type),
data_type_id_(data_type_id),
payload_len_(0),
src_node_id_(src_node_id),
dst_node_id_(dst_node_id),
transfer_id_(transfer_id),
start_of_transfer_(false),
end_of_transfer_(false),
toggle_(false)
{
UAVCAN_ASSERT((transfer_type == TransferTypeMessageBroadcast) == dst_node_id.isBroadcast());
UAVCAN_ASSERT(data_type_id.isValidForDataTypeKind(getDataTypeKindForTransferType(transfer_type)));
UAVCAN_ASSERT(src_node_id.isUnicast() ? (src_node_id != dst_node_id) : true);
UAVCAN_ASSERT(frame_index <= getMaxIndex());
}
static uint_fast8_t getMaxIndexForTransferType(const TransferType type);
uint_fast8_t getMaxIndex() const { return getMaxIndexForTransferType(transfer_type_); }
/**
* Priority can be set only for message transfers.
* Attempt to set priority of a service transfer will cause assertion failure in debug build; in release build
* it will be ignored.
*/
void setPriority(TransferPriority priority);
void setPriority(TransferPriority priority) { transfer_priority_ = priority; }
TransferPriority getPriority() const { return transfer_priority_; }
/**
* Max payload length depends on the transfer type and frame index.
*/
int getMaxPayloadLen() const;
uint8_t getPayloadCapacity() const { return PayloadCapacity; }
int setPayload(const uint8_t* data, unsigned len);
unsigned getPayloadLen() const { return payload_len_; }
@@ -84,13 +77,15 @@ public:
NodeID getSrcNodeID() const { return src_node_id_; }
NodeID getDstNodeID() const { return dst_node_id_; }
TransferID getTransferID() const { return transfer_id_; }
uint_fast8_t getIndex() const { return frame_index_; }
bool isLast() const { return last_frame_; }
void makeLast() { last_frame_ = true; }
void setIndex(int index) { frame_index_ = uint_fast8_t(index); }
void setStartOfTransfer(bool x) { start_of_transfer_ = x; }
void setEndOfTransfer(bool x) { end_of_transfer_ = x; }
bool isFirst() const { return frame_index_ == 0; }
bool isStartOfTransfer() const { return start_of_transfer_; }
bool isEndOfTransfer() const { return end_of_transfer_; }
void flipToggle() { toggle_ = !toggle_; }
bool getToggle() const { return toggle_; }
bool parse(const CanFrame& can_frame);
bool compile(CanFrame& can_frame) const;
libuavcan/include/uavcan/transport/transfer.hpp
+21 -53
View File
@@ -11,81 +11,49 @@
namespace uavcan
{
/**
* Refer to the UAVCAN specification for more info about transfers.
*/
static const unsigned MaxMessageBroadcastTransferPayloadLen = 126; ///< 16 frames, 8 bytes per frame, 2 byte CRC
static const unsigned MaxMessageUnicastTransferPayloadLen = 110; ///< 16 frames, 7 bytes per frame, 2 byte CRC
static const unsigned MaxServiceTransferPayloadLen = 439; ///< 63 frames, 7 bytes per frame, 2 byte CRC
static const unsigned GuaranteedPayloadLenPerFrame = 7; ///< Guaranteed for all transfers, all CAN standards
static const unsigned MaxPossibleTransferPayloadLen = MaxServiceTransferPayloadLen;
enum TransferType
{
TransferTypeServiceResponse = 0,
TransferTypeServiceRequest = 1,
TransferTypeMessageBroadcast = 2,
TransferTypeMessageUnicast = 3,
NumTransferTypes = 4
NumTransferTypes = 3
};
static inline unsigned getMaxPayloadLenForTransferType(const TransferType type)
class UAVCAN_EXPORT TransferPriority
{
static const unsigned lens[NumTransferTypes] =
{
MaxServiceTransferPayloadLen,
MaxServiceTransferPayloadLen,
MaxMessageBroadcastTransferPayloadLen,
MaxMessageUnicastTransferPayloadLen
};
if (static_cast<int>(type) < NumTransferTypes)
{
return lens[static_cast<int>(type)];
}
else
{
UAVCAN_ASSERT(0);
return 0;
}
}
uint8_t value_;
public:
static const uint8_t BitLen = 5U;
static const TransferPriority Default;
enum TransferPriority
{
TransferPriorityHigh = 0,
TransferPriorityNormal = 1,
TransferPriorityService = 2,
TransferPriorityLow = 3,
NumTransferPriorities = 4
TransferPriority() : value_(0xFF) { }
TransferPriority(uint8_t value) // Implicit
: value_(value)
{
UAVCAN_ASSERT(isValid());
}
uint8_t get() const { return value_; }
bool isValid() const { return value_ < (1U << BitLen); }
bool operator!=(TransferPriority rhs) const { return value_ != rhs.value_; }
bool operator==(TransferPriority rhs) const { return value_ == rhs.value_; }
};
static inline TransferPriority getDefaultPriorityForTransferType(const TransferType type)
{
if (type == TransferTypeServiceResponse || type == TransferTypeServiceRequest)
{
return TransferPriorityService;
}
else if (type == TransferTypeMessageBroadcast || type == TransferTypeMessageUnicast)
{
return TransferPriorityNormal;
}
else
{
UAVCAN_ASSERT(0);
return TransferPriority(0); // whatever
}
}
class UAVCAN_EXPORT TransferID
{
uint8_t value_;
public:
static const uint8_t BitLen = 3U;
static const uint8_t BitLen = 5U;
static const uint8_t Max = (1U << BitLen) - 1U;
TransferID()