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AP_BoardConfig: split SLCAN Interface params to there own class

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This commit is contained in:
Siddharth Purohit 2019-01-22 10:12:08 +08:00 committed by Andrew Tridgell
parent 70da885214
commit 2c0521654c
3 changed files with 72 additions and 29 deletions
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26
libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
View File

@ -84,27 +84,7 @@ const AP_Param::GroupInfo AP_BoardConfig_CAN::var_info[] = {
AP_SUBGROUPINFO(_drivers[2], "D3_", 6, AP_BoardConfig_CAN, AP_BoardConfig_CAN::Driver),
#endif
// @Param: SLCAN_RT
// @DisplayName: SLCAN Route
// @Description: CAN Driver ID to be routed to SLCAN, 0 means no routing
// @Range: 0 3
// @User: Advanced
AP_GROUPINFO("SLCAN_RT", 7, AP_BoardConfig_CAN, _slcan_rt, 1),
// @Param: SLCAN_SR
// @DisplayName: SLCAN Serial Port
// @Description: Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial
// @Range: 0 5
// @User: Advanced
AP_GROUPINFO("SLCAN_SR", 8, AP_BoardConfig_CAN, _slcan_sr, -1),
// @Param: SLCAN_TO
// @DisplayName: SLCAN Timeout
// @Description: Duration of inactivity after which SLCAN in seconds
// @Range: 0 255
// @User: Advanced
AP_GROUPINFO("SLCAN_TO", 9, AP_BoardConfig_CAN, _slcan_to, 0),
AP_SUBGROUPINFO(_slcan, "SLCAN_", 7, AP_BoardConfig_CAN, AP_BoardConfig_CAN::SLCAN_Interface),
AP_GROUPEND
};
@ -147,7 +127,7 @@ void AP_BoardConfig_CAN::init()
if (hal.can_mgr[drv_num - 1] != nullptr) {
initret = initret && hal.can_mgr[drv_num - 1]->begin(_interfaces[i]._bitrate, i);
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
if (_slcan_rt == (i+1) && hal.can_mgr[drv_num - 1] != nullptr ) {
if (_slcan._can_port == (i+1) && hal.can_mgr[drv_num - 1] != nullptr ) {
ChibiOS_CAN::CanDriver* drv = (ChibiOS_CAN::CanDriver*)hal.can_mgr[drv_num - 1]->get_driver();
slcan_router().init(drv->getIface(i), drv->getUpdateEvent());
}
@ -201,7 +181,7 @@ void AP_BoardConfig_CAN::init()
} else {
continue;
}
if (_slcan_rt == 0) {
if (_slcan._can_port == 0) {
_drivers[i]._driver->init(i, true);
} else {
_drivers[i]._driver->init(i, false);

26
libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
View File

@ -88,9 +88,9 @@ public:
static const struct AP_Param::GroupInfo var_info[];
int8_t get_slcan_serial() { return _slcan_sr; }
uint8_t get_slcan_timeout() { return _slcan_to; }
void reset_slcan_serial() { _slcan_sr.set_and_save_ifchanged(-1); }
int8_t get_slcan_serial() { return _slcan._ser_port; }
uint8_t get_slcan_timeout() { return _slcan._timeout; }
void reset_slcan_serial() { _slcan._ser_port.set_and_save_ifchanged(-1); }
private:
class Interface {
friend class AP_BoardConfig_CAN;
@ -130,12 +130,26 @@ private:
AP_HAL::CANProtocol* _tcan;
};
class SLCAN_Interface {
friend class AP_BoardConfig_CAN;
public:
SLCAN_Interface() {
AP_Param::setup_object_defaults(this, var_info);
}
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Int8 _can_port;
AP_Int8 _ser_port;
AP_Int16 _timeout;
};
Interface _interfaces[MAX_NUMBER_OF_CAN_INTERFACES];
Driver _drivers[MAX_NUMBER_OF_CAN_DRIVERS];
SLCAN_Interface _slcan;
uint8_t _num_drivers;
AP_Int8 _slcan_rt;
AP_Int8 _slcan_sr;
AP_Int8 _slcan_to;
static AP_BoardConfig_CAN *_singleton;
};

49
libraries/AP_BoardConfig/canbus_slcan.cpp Normal file
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@ -0,0 +1,49 @@
/*
* This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN
#include "AP_BoardConfig_CAN.h"
const AP_Param::GroupInfo AP_BoardConfig_CAN::SLCAN_Interface::var_info[] = {
// @Param: CPORT
// @DisplayName: SLCAN Route
// @Description: CAN Driver ID to be routed to SLCAN, 0 means no routing
// @Values: 0:Disabled,1:First driver,2:Second driver
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("CPORT", 1, AP_BoardConfig_CAN::SLCAN_Interface, _can_port, 1),
// @Param: SERNUM
// @DisplayName: SLCAN Serial Port
// @Description: Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial
// @Values: -1:Disabled,0:Serial0,1:Serial1,2:Serial2,3:Serial3,4:Serial4,5:Serial5,6:Serial6
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("SERNUM", 2, AP_BoardConfig_CAN::SLCAN_Interface, _ser_port, -1),
// @Param: TIMOUT
// @DisplayName: SLCAN Timeout
// @Description: Duration of inactivity after which SLCAN in seconds
// @Range: 0 32767
// @User: Standard
AP_GROUPINFO("TIMOUT", 3, AP_BoardConfig_CAN::SLCAN_Interface, _timeout, 0),
AP_GROUPEND
};
#endif