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https://github.com/ArduPilot/ardupilot
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AP_CANManager: fix comms between SLCAN and second CAN Iface
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parent
689902cb69
commit
27b1ce572e
libraries/AP_CANManager
@ -245,7 +245,11 @@ void AP_CANManager::init()
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if (_drivers[drv_num] == nullptr) {
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if (_drivers[drv_num] == nullptr) {
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continue;
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continue;
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}
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}
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if (_slcan_interface.get_drv_num() != drv_num) {
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if (_slcan_interface.get_iface_num() >= HAL_NUM_CAN_IFACES ||
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_slcan_interface.get_iface_num() < 0) {
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continue;
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}
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if (_interfaces[_slcan_interface.get_iface_num()]._driver_number != drv_num + 1) {
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_drivers[drv_num]->init(drv_num, true);
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_drivers[drv_num]->init(drv_num, true);
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} else {
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} else {
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_drivers[drv_num]->init(drv_num, false);
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_drivers[drv_num]->init(drv_num, false);
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@ -253,7 +253,7 @@ bool SLCAN::CANIface::init_passthrough(uint8_t i)
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}
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}
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_can_iface = hal.can[i];
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_can_iface = hal.can[i];
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_drv_num = _slcan_can_port - 1;
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_iface_num = _slcan_can_port - 1;
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_prev_ser_port = -1;
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_prev_ser_port = -1;
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AP::can().log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Setting SLCAN Passthrough for CAN%d\n", _slcan_can_port - 1);
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AP::can().log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Setting SLCAN Passthrough for CAN%d\n", _slcan_can_port - 1);
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return true;
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return true;
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@ -470,11 +470,13 @@ void SLCAN::CANIface::update_slcan_port()
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// to that until reboot
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// to that until reboot
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return;
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return;
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}
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}
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_port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SLCAN, 0);
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if (_port == nullptr) {
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if (_port != nullptr) {
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_port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SLCAN, 0);
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_port->lock_port(_serial_lock_key, _serial_lock_key);
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if (_port != nullptr) {
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_set_by_sermgr = true;
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_port->lock_port(_serial_lock_key, _serial_lock_key);
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return;
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_set_by_sermgr = true;
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return;
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}
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}
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}
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if (_prev_ser_port != _slcan_ser_port) {
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if (_prev_ser_port != _slcan_ser_port) {
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if (!_slcan_start_req) {
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if (!_slcan_start_req) {
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@ -491,7 +493,7 @@ void SLCAN::CANIface::update_slcan_port()
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}
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}
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_port->lock_port(_serial_lock_key, _serial_lock_key);
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_port->lock_port(_serial_lock_key, _serial_lock_key);
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_prev_ser_port = _slcan_ser_port;
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_prev_ser_port = _slcan_ser_port;
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gcs().send_text(MAV_SEVERITY_INFO, "CANManager: Starting SLCAN Passthrough on Serial %d with CAN%d", _slcan_ser_port.get(), _drv_num);
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gcs().send_text(MAV_SEVERITY_INFO, "CANManager: Starting SLCAN Passthrough on Serial %d with CAN%d", _slcan_ser_port.get(), _iface_num);
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_last_had_activity = AP_HAL::native_millis();
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_last_had_activity = AP_HAL::native_millis();
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}
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}
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if (_port == nullptr) {
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if (_port == nullptr) {
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@ -77,7 +77,7 @@ class CANIface: public AP_HAL::CANIface
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bool _slcan_start_req;
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bool _slcan_start_req;
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uint32_t _slcan_start_req_time;
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uint32_t _slcan_start_req_time;
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int8_t _prev_ser_port;
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int8_t _prev_ser_port;
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int8_t _drv_num = -1;
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int8_t _iface_num = -1;
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uint32_t _last_had_activity;
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uint32_t _last_had_activity;
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AP_HAL::CANIface* _can_iface; // Can interface to be used for interaction by SLCAN interface
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AP_HAL::CANIface* _can_iface; // Can interface to be used for interaction by SLCAN interface
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HAL_Semaphore port_sem;
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HAL_Semaphore port_sem;
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@ -103,9 +103,9 @@ public:
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int set_port(AP_HAL::UARTDriver* port);
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int set_port(AP_HAL::UARTDriver* port);
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void reset_params();
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void reset_params();
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int8_t get_drv_num() const
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int8_t get_iface_num() const
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{
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{
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return _drv_num;
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return _iface_num;
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}
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}
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// Overriden methods
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// Overriden methods
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