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AP_Arming: added support for Piccolo CAN ESCs

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Oliver Walters 2019-12-09 15:31:29 +11:00 committed by Andrew Tridgell
parent 9821d52b72
commit 2e0d2e2db0
1 changed files with 22 additions and 0 deletions
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22
libraries/AP_Arming/AP_Arming.cpp
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@ -39,6 +39,8 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <AP_PiccoloCAN/AP_PiccoloCAN.h>
// To be replaced with macro saying if KDECAN library is included // To be replaced with macro saying if KDECAN library is included
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub) #if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
#include <AP_KDECAN/AP_KDECAN.h> #include <AP_KDECAN/AP_KDECAN.h>
@ -764,6 +766,26 @@ bool AP_Arming::can_checks(bool report)
return false; return false;
} }
break; break;
#endif
}
case AP_BoardConfig_CAN::Protocol_Type_PiccoloCAN: {
#if HAL_PICCOLO_CAN_ENABLE
AP_PiccoloCAN *ap_pcan = AP_PiccoloCAN::get_pcan(i);
if (ap_pcan != nullptr && !ap_pcan->pre_arm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
if (fail_msg == nullptr) {
check_failed(ARMING_CHECK_SYSTEM, report, "PiccoloCAN failed");
} else {
check_failed(ARMING_CHECK_SYSTEM, report, "%s", fail_msg);
}
return false;
}
break;
#else
check_failed(ARMING_CHECK_SYSTEM, report, "PiccoloCAN not enabled");
return false;
#endif #endif
} }
case AP_BoardConfig_CAN::Protocol_Type_UAVCAN: case AP_BoardConfig_CAN::Protocol_Type_UAVCAN: