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AP_Periph: add parameters for setting up FD Bitrates

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bugobliterator 2022-02-23 13:51:20 +05:30 committed by Andrew Tridgell
parent 28b76474cd
commit 29673de4f3
3 changed files with 35 additions and 4 deletions
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32
Tools/AP_Periph/Parameters.cpp
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@ -124,6 +124,34 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
GARRAY(can_protocol, 2, "CAN3_PROTOCOL", AP_CANManager::Driver_Type_UAVCAN),
#endif
#if HAL_CANFD_SUPPORTED
// @Param: CAN_FDMODE
// @DisplayName: Enable CANFD mode
// @Description: Enabling this option sets the CAN bus to be in CANFD mode with BRS.
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @RebootRequired: True
GSCALAR(can_fdmode, "CAN_FDMODE", 0),
// @Param: CAN_FDBAUDRATE
// @DisplayName: Set up bitrate for data section on CAN1
// @Description: This sets the bitrate for the data section of CAN1.
// @Values: 1:1M, 2:2M, 4:4M, 5:5M, 8:8M
// @User: Advanced
// @RebootRequired: True
GARRAY(can_fdbaudrate, 0, "CAN_FDBAUDRATE", HAL_CANFD_SUPPORTED),
#if HAL_NUM_CAN_IFACES >= 2
// @Param: CAN2_FDBAUDRATE
// @DisplayName: Set up bitrate for data section on CAN2
// @Description: This sets the bitrate for the data section of CAN2.
// @Values: 1:1M, 2:2M, 4:4M, 5:5M, 8:8M
// @User: Advanced
// @RebootRequired: True
GARRAY(can_fdbaudrate, 1, "CAN2_FDBAUDRATE", HAL_CANFD_SUPPORTED),
#endif
#endif
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
// @Param: FLASH_BOOTLOADER
// @DisplayName: Trigger bootloader update
@ -375,10 +403,6 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
GOBJECT(scripting, "SCR_", AP_Scripting),
#endif
#if HAL_CANFD_SUPPORTED
// can node FD Out mode
GSCALAR(can_fdmode, "CAN_FDMODE", 0),
#endif
AP_VAREND
};

3
Tools/AP_Periph/Parameters.h
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@ -52,6 +52,8 @@ public:
k_param_scripting,
k_param_esc_telem_port,
k_param_can_fdmode,
k_param_can_fdbaudrate0,
k_param_can_fdbaudrate1,
};
AP_Int16 format_version;
@ -126,6 +128,7 @@ public:
#if HAL_CANFD_SUPPORTED
AP_Int8 can_fdmode;
AP_Int8 can_fdbaudrate[HAL_NUM_CAN_IFACES];
#else
static constexpr uint8_t can_fdmode = 0;
#endif

4
Tools/AP_Periph/can.cpp
View File

@ -1470,7 +1470,11 @@ void AP_Periph_FW::can_start()
CANSensor::set_periph(i, can_protocol_cached[i], can_iface_periph[i]);
#endif
if (can_iface_periph[i] != nullptr) {
#if HAL_CANFD_SUPPORTED
can_iface_periph[i]->init(g.can_baudrate[i], g.can_fdbaudrate[i]*1000000U, AP_HAL::CANIface::NormalMode);
#else
can_iface_periph[i]->init(g.can_baudrate[i], AP_HAL::CANIface::NormalMode);
#endif
}
canardInit(&instances[i].canard, (uint8_t *)instances[i].canard_memory_pool, sizeof(instances[i].canard_memory_pool),
onTransferReceived, shouldAcceptTransfer, NULL);