Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-28 18:53:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Periph: support CAN switch and LED defines

Browse Source 
this allows for hwdef entries like this:

PB1 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
PB3 GPIO_CAN1_TERM_LED OUTPUT PUSHPULL SPEED_LOW LOW
PB0 GPIO_CAN1_TERM_SWITCH INPUT FLOAT

that specifies a termination pin controllable by either a parameter or
a hardware switch, with an LED to indicate if termination is active
This commit is contained in:
Andrew Tridgell 2025-01-29 16:05:18 +11:00 committed by Peter Barker
parent 0679282ce2
commit 30e3533cef
1 changed files with 33 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
Tools/AP_Periph/can.cpp
View File

@ -1616,15 +1616,45 @@ void AP_Periph_FW::can_start()
}
#endif // HAL_PERIPH_ENFORCE_AT_LEAST_ONE_PORT_IS_UAVCAN_1MHz
{
/*
support termination parameters, and also a hardware switch
to force termination and an LED to indicate if termination
is active
*/
#ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM
palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM, g.can_terminate[0]);
bool can1_term = g.can_terminate[0];
# ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM_SWITCH
can1_term |= palReadLine(HAL_GPIO_PIN_GPIO_CAN1_TERM_SWITCH);
# endif
palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM, can1_term);
# ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM_LED
palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM_LED, can1_term? HAL_LED_ON : !HAL_LED_ON);
# endif
#endif
#ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM
palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM, g.can_terminate[1]);
bool can2_term = g.can_terminate[1];
# ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM_SWITCH
can2_term |= palReadLine(HAL_GPIO_PIN_GPIO_CAN2_TERM_SWITCH);
# endif
palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM, can2_term);
# ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM_LED
palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM_LED, can2_term? HAL_LED_ON : !HAL_LED_ON);
# endif
#endif
#ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM
palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM, g.can_terminate[2]);
bool can3_term = g.can_terminate[2];
# ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM_SWITCH
can3_term |= palReadLine(HAL_GPIO_PIN_GPIO_CAN3_TERM_SWITCH);
# endif
palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM, can3_term);
# ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM_LED
palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM_LED, can3_term? HAL_LED_ON : !HAL_LED_ON);
# endif
#endif
}
for (uint8_t i=0; i<HAL_NUM_CAN_IFACES; i++) {
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS