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AP_CANManager: set _driver_type_cache for *all* ifaces

This commit is contained in:
Tom Pittenger 2023-04-15 17:17:12 -07:00 committed by Andrew Tridgell
parent e21063522d
commit 2bbd7d8d91
1 changed files with 10 additions and 12 deletions
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22
libraries/AP_CANManager/AP_CANManager.cpp
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@ -215,14 +215,8 @@ void AP_CANManager::init()
AP_Param::load_object_from_eeprom((AP_DroneCAN*)_drivers[drv_num], AP_DroneCAN::var_info); AP_Param::load_object_from_eeprom((AP_DroneCAN*)_drivers[drv_num], AP_DroneCAN::var_info);
} else } else
#endif #endif
if (drv_type[drv_num] == Driver_Type_KDECAN) {
#if AP_KDECAN_ENABLED
// cache the driver type so we can detect that it is in the params via get_driver_type().
// Normally it is cached after init but this driver's init is handled by CANSensor later on
_driver_type_cache[drv_num] = drv_type[drv_num];
#endif
} else if (drv_type[drv_num] == Driver_Type_PiccoloCAN) {
#if HAL_PICCOLO_CAN_ENABLE #if HAL_PICCOLO_CAN_ENABLE
if (drv_type[drv_num] == Driver_Type_PiccoloCAN) {
_drivers[drv_num] = _drv_param[drv_num]._piccolocan = new AP_PiccoloCAN; _drivers[drv_num] = _drv_param[drv_num]._piccolocan = new AP_PiccoloCAN;
if (_drivers[drv_num] == nullptr) { if (_drivers[drv_num] == nullptr) {
@ -231,9 +225,10 @@ void AP_CANManager::init()
} }
AP_Param::load_object_from_eeprom((AP_PiccoloCAN*)_drivers[drv_num], AP_PiccoloCAN::var_info); AP_Param::load_object_from_eeprom((AP_PiccoloCAN*)_drivers[drv_num], AP_PiccoloCAN::var_info);
} else
#endif #endif
} else if (drv_type[drv_num] == Driver_Type_CANTester) {
#if HAL_NUM_CAN_IFACES > 1 && !HAL_MINIMIZE_FEATURES && HAL_ENABLE_CANTESTER #if HAL_NUM_CAN_IFACES > 1 && !HAL_MINIMIZE_FEATURES && HAL_ENABLE_CANTESTER
if (drv_type[drv_num] == Driver_Type_CANTester) {
_drivers[drv_num] = _drv_param[drv_num]._testcan = new CANTester; _drivers[drv_num] = _drv_param[drv_num]._testcan = new CANTester;
if (_drivers[drv_num] == nullptr) { if (_drivers[drv_num] == nullptr) {
@ -241,8 +236,9 @@ void AP_CANManager::init()
continue; continue;
} }
AP_Param::load_object_from_eeprom((CANTester*)_drivers[drv_num], CANTester::var_info); AP_Param::load_object_from_eeprom((CANTester*)_drivers[drv_num], CANTester::var_info);
} else
#endif #endif
} else { {
continue; continue;
} }
@ -256,6 +252,11 @@ void AP_CANManager::init()
for (uint8_t drv_num = 0; drv_num < HAL_MAX_CAN_PROTOCOL_DRIVERS; drv_num++) { for (uint8_t drv_num = 0; drv_num < HAL_MAX_CAN_PROTOCOL_DRIVERS; drv_num++) {
//initialise all the Drivers //initialise all the Drivers
// Cache the driver type, initialized or not, so we can detect that it is in the params at boot via get_driver_type().
// This allows drivers that are initialized by CANSensor instead of CANManager to know if they should init or not
_driver_type_cache[drv_num] = drv_type[drv_num];
if (_drivers[drv_num] == nullptr) { if (_drivers[drv_num] == nullptr) {
continue; continue;
} }
@ -272,9 +273,6 @@ void AP_CANManager::init()
} }
_drivers[drv_num]->init(drv_num, enable_filter); _drivers[drv_num]->init(drv_num, enable_filter);
// Finally initialise driver type, this will be used
// to find and reference protocol drivers
_driver_type_cache[drv_num] = drv_type[drv_num];
} }
} }
#else #else