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AP_CANManager: fix comms between SLCAN and second CAN Iface

This commit is contained in:
bugobliterator 2020-09-02 19:45:38 +05:30 committed by Andrew Tridgell
parent 689902cb69
commit 27b1ce572e
3 changed files with 17 additions and 11 deletions
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6
libraries/AP_CANManager/AP_CANManager.cpp
View File

@ -245,7 +245,11 @@ void AP_CANManager::init()
if (_drivers[drv_num] == nullptr) {
continue;
}
if (_slcan_interface.get_drv_num() != drv_num) {
if (_slcan_interface.get_iface_num() >= HAL_NUM_CAN_IFACES ||
_slcan_interface.get_iface_num() < 0) {
continue;
}
if (_interfaces[_slcan_interface.get_iface_num()]._driver_number != drv_num + 1) {
_drivers[drv_num]->init(drv_num, true);
} else {
_drivers[drv_num]->init(drv_num, false);

16
libraries/AP_CANManager/AP_SLCANIface.cpp
View File

@ -253,7 +253,7 @@ bool SLCAN::CANIface::init_passthrough(uint8_t i)
}
_can_iface = hal.can[i];
_drv_num = _slcan_can_port - 1;
_iface_num = _slcan_can_port - 1;
_prev_ser_port = -1;
AP::can().log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Setting SLCAN Passthrough for CAN%d\n", _slcan_can_port - 1);
return true;
@ -470,11 +470,13 @@ void SLCAN::CANIface::update_slcan_port()
// to that until reboot
return;
}
_port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SLCAN, 0);
if (_port != nullptr) {
_port->lock_port(_serial_lock_key, _serial_lock_key);
_set_by_sermgr = true;
return;
if (_port == nullptr) {
_port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SLCAN, 0);
if (_port != nullptr) {
_port->lock_port(_serial_lock_key, _serial_lock_key);
_set_by_sermgr = true;
return;
}
}
if (_prev_ser_port != _slcan_ser_port) {
if (!_slcan_start_req) {
@ -491,7 +493,7 @@ void SLCAN::CANIface::update_slcan_port()
}
_port->lock_port(_serial_lock_key, _serial_lock_key);
_prev_ser_port = _slcan_ser_port;
gcs().send_text(MAV_SEVERITY_INFO, "CANManager: Starting SLCAN Passthrough on Serial %d with CAN%d", _slcan_ser_port.get(), _drv_num);
gcs().send_text(MAV_SEVERITY_INFO, "CANManager: Starting SLCAN Passthrough on Serial %d with CAN%d", _slcan_ser_port.get(), _iface_num);
_last_had_activity = AP_HAL::native_millis();
}
if (_port == nullptr) {

6
libraries/AP_CANManager/AP_SLCANIface.h
View File

@ -77,7 +77,7 @@ class CANIface: public AP_HAL::CANIface
bool _slcan_start_req;
uint32_t _slcan_start_req_time;
int8_t _prev_ser_port;
int8_t _drv_num = -1;
int8_t _iface_num = -1;
uint32_t _last_had_activity;
AP_HAL::CANIface* _can_iface; // Can interface to be used for interaction by SLCAN interface
HAL_Semaphore port_sem;
@ -103,9 +103,9 @@ public:
int set_port(AP_HAL::UARTDriver* port);
void reset_params();
int8_t get_drv_num() const
int8_t get_iface_num() const
{
return _drv_num;
return _iface_num;
}
// Overriden methods