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LPC11C24: Simple UAVCAN node. Does nothing. There's some problem with TX reordering, it was solved temporarily by setting number of TX slots to one.

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This commit is contained in:
Pavel Kirienko
2014-04-16 13:53:30 +04:00
parent e934f54c9f
commit 58636c780c
2 changed files with 38 additions and 62 deletions
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libuavcan_drivers/lpc11c24/driver/src/can.cpp
+2 -2
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@@ -29,10 +29,10 @@ namespace
/**
* Hardware message objects are allocated as follows:
* - 0..NumTxMsgObjects - TX objects
* - NumRxMsgObjects..32 - RX objects
* - NumTxMsgObjects..32 - RX objects
*/
const unsigned NumMsgObjects = 32;
const unsigned NumTxMsgObjects = 3;
const unsigned NumTxMsgObjects = 1;
const unsigned NumRxMsgObjects = NumMsgObjects - NumTxMsgObjects;
/**
libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp
+36 -60
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@@ -1,83 +1,59 @@
/*
* Pavel Kirienko, 2014 <pavel.kirienko@gmail.com>
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <cstdio>
#include <board.hpp>
#include <chip.h>
#include <uavcan_lpc11c24/can.hpp>
#include <uavcan_lpc11c24/clock.hpp>
#include <uavcan_lpc11c24/uavcan_lpc11c24.hpp>
#define ENFORCE(x) \
if ((x) == 0) { \
while (true) { board::setErrorLed(true); } \
}
int main()
namespace
{
typedef uavcan::Node<2048> Node;
Node& getNode()
{
static Node node(uavcan_lpc11c24::CanDriver::instance(), uavcan_lpc11c24::SystemClock::instance());
return node;
}
__attribute__((noreturn))
void die()
{
while (true) { }
}
void init()
{
if (uavcan_lpc11c24::CanDriver::instance().init(1000000) < 0)
{
while (true) { }
die();
}
uavcan_lpc11c24::clock::init();
getNode().setNodeID(72);
getNode().setName("org.uavcan.lpc11c24_test");
uavcan::MonotonicTime prev_mono;
uavcan::MonotonicTime prev_time_pub_at;
while (getNode().start() < 0)
{
}
}
}
int main()
{
init();
while (true)
{
const uavcan::MonotonicTime ts_mono = uavcan_lpc11c24::clock::getMonotonic();
while (prev_mono >= ts_mono)
{
}
prev_mono = ts_mono;
board::setErrorLed(uavcan_lpc11c24::CanDriver::instance().getErrorCount() > 0 ||
uavcan_lpc11c24::CanDriver::instance().hadActivity());
uavcan::CanSelectMasks masks;
masks.read = 1;
masks.write = 1;
uavcan_lpc11c24::CanDriver::instance().select(masks, ts_mono + uavcan::MonotonicDuration::fromMSec(10));
if (masks.read == 1)
{
board::setStatusLed(true);
uavcan::CanFrame frm;
uavcan::UtcTime utc;
uavcan::MonotonicTime mono;
uavcan::CanIOFlags flags;
ENFORCE(1 == uavcan_lpc11c24::CanDriver::instance().receive(frm, mono, utc, flags));
if (masks.write == 1)
{
frm.id += 0x100;
ENFORCE(1 == uavcan_lpc11c24::CanDriver::instance().send(frm, mono, 0));
}
}
else
{
board::setStatusLed(false);
}
masks.read = 0;
masks.write = 1;
uavcan_lpc11c24::CanDriver::instance().select(masks, ts_mono + uavcan::MonotonicDuration::fromMSec(10));
if ((ts_mono - prev_time_pub_at).toMSec() >= 1000 && (masks.write == 1))
{
prev_time_pub_at = ts_mono;
uavcan::CanFrame frm;
frm.dlc = 8;
std::fill_n(frm.data, 8, 0);
snprintf(reinterpret_cast<char*>(frm.data), 8, "%u", unsigned(ts_mono.toMSec()));
frm.id = ts_mono.toMSec() | uavcan::CanFrame::FlagEFF;
ENFORCE(1 == uavcan_lpc11c24::CanDriver::instance().send(frm, ts_mono, 0));
}
const int res = getNode().spin(uavcan::MonotonicDuration::fromMSec(25));
board::setErrorLed(res < 0);
board::setStatusLed(uavcan_lpc11c24::CanDriver::instance().hadActivity());
}
}