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AP_Arming: move to using CANManager library

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This commit is contained in:
Siddharth Purohit 2020-05-31 17:32:10 +05:30 committed by Andrew Tridgell
parent d65b43795a
commit 0fa6e2bbcc
1 changed files with 14 additions and 9 deletions
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23
libraries/AP_Arming/AP_Arming.cpp
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@ -39,8 +39,8 @@
#include <AP_RCMapper/AP_RCMapper.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
#if HAL_WITH_UAVCAN
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
#include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h>
@ -836,14 +836,14 @@ bool AP_Arming::proximity_checks(bool report) const
bool AP_Arming::can_checks(bool report)
{
#if HAL_WITH_UAVCAN
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
if (check_enabled(ARMING_CHECK_SYSTEM)) {
char fail_msg[50] = {};
uint8_t num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < num_drivers; i++) {
switch (AP::can().get_protocol_type(i)) {
case AP_BoardConfig_CAN::Protocol_Type_KDECAN: {
switch (AP::can().get_driver_type(i)) {
case AP_CANManager::Driver_Type_KDECAN: {
// To be replaced with macro saying if KDECAN library is included
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
AP_KDECAN *ap_kdecan = AP_KDECAN::get_kdecan(i);
@ -854,7 +854,7 @@ bool AP_Arming::can_checks(bool report)
#endif
break;
}
case AP_BoardConfig_CAN::Protocol_Type_PiccoloCAN: {
case AP_CANManager::Driver_Type_PiccoloCAN: {
#if HAL_PICCOLO_CAN_ENABLE
AP_PiccoloCAN *ap_pcan = AP_PiccoloCAN::get_pcan(i);
@ -869,7 +869,7 @@ bool AP_Arming::can_checks(bool report)
#endif
break;
}
case AP_BoardConfig_CAN::Protocol_Type_UAVCAN:
case AP_CANManager::Driver_Type_UAVCAN:
{
if (!AP::uavcan_dna_server().prearm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
check_failed(ARMING_CHECK_SYSTEM, report, "UAVCAN: %s", fail_msg);
@ -877,14 +877,19 @@ bool AP_Arming::can_checks(bool report)
}
break;
}
case AP_BoardConfig_CAN::Protocol_Type_ToshibaCAN:
case AP_CANManager::Driver_Type_ToshibaCAN:
{
// toshibacan doesn't currently have any prearm
// checks. Theres scope for adding a "not
// initialised" prearm check.
break;
}
case AP_BoardConfig_CAN::Protocol_Type_None:
case AP_CANManager::Driver_Type_CANTester:
{
check_failed(ARMING_CHECK_SYSTEM, report, "TestCAN: No Arming with TestCAN enabled");
break;
}
case AP_CANManager::Driver_Type_None:
break;
}
}