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GCS_MAVLink: use AP_CANManager library

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also add support for handling enumeration cmd by KDETest
This commit is contained in:
Siddharth Purohit 2020-05-31 18:20:59 +05:30 committed by Andrew Tridgell
parent e473eed368
commit 42f5f986d8
1 changed files with 30 additions and 15 deletions
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45
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -56,8 +56,9 @@
#include <SITL/SITL.h>
#endif
#if HAL_WITH_UAVCAN
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
#include <AP_CANManager/AP_CANTester.h>
#include <AP_Common/AP_Common.h>
// To be replaced with macro saying if KDECAN library is included
@ -3592,7 +3593,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_calibration(const mavlink_comma
MAV_RESULT GCS_MAVLINK::handle_command_preflight_can(const mavlink_command_long_t &packet)
{
#if HAL_WITH_UAVCAN
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
if (hal.util->get_soft_armed()) {
// *preflight*, remember?
return MAV_RESULT_TEMPORARILY_REJECTED;
@ -3604,8 +3605,8 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_can(const mavlink_command_long_
uint8_t num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < num_drivers; i++) {
switch (AP::can().get_protocol_type(i)) {
case AP_BoardConfig_CAN::Protocol_Type_KDECAN: {
switch (AP::can().get_driver_type(i)) {
case AP_CANManager::Driver_Type_KDECAN: {
// 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)
AP_KDECAN *ap_kdecan = AP_KDECAN::get_kdecan(i);
@ -3619,11 +3620,25 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_can(const mavlink_command_long_
#endif
break;
}
case AP_BoardConfig_CAN::Protocol_Type_PiccoloCAN:
case AP_CANManager::Driver_Type_CANTester: {
// 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)) && (HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES)
CANTester *cantester = CANTester::get_cantester(i);
if (cantester != nullptr) {
can_exists = true;
result = cantester->run_kdecan_enumeration(start_stop) && result;
}
#else
UNUSED_RESULT(start_stop); // prevent unused variable error
#endif
break;
}
case AP_CANManager::Driver_Type_PiccoloCAN:
// TODO - Run PiccoloCAN pre-flight checks here
break;
case AP_BoardConfig_CAN::Protocol_Type_UAVCAN:
case AP_BoardConfig_CAN::Protocol_Type_None:
case AP_CANManager::Driver_Type_UAVCAN:
case AP_CANManager::Driver_Type_None:
default:
break;
}
@ -4708,12 +4723,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
blheli->send_esc_telemetry_mavlink(uint8_t(chan));
}
#endif
#if HAL_WITH_UAVCAN
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
uint8_t num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < num_drivers; i++) {
switch (AP::can().get_protocol_type(i)) {
case AP_BoardConfig_CAN::Protocol_Type_KDECAN: {
switch (AP::can().get_driver_type(i)) {
case AP_CANManager::Driver_Type_KDECAN: {
// 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)
AP_KDECAN *ap_kdecan = AP_KDECAN::get_kdecan(i);
@ -4723,7 +4738,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
#endif
break;
}
case AP_BoardConfig_CAN::Protocol_Type_ToshibaCAN: {
case AP_CANManager::Driver_Type_ToshibaCAN: {
AP_ToshibaCAN *ap_tcan = AP_ToshibaCAN::get_tcan(i);
if (ap_tcan != nullptr) {
ap_tcan->send_esc_telemetry_mavlink(uint8_t(chan));
@ -4731,7 +4746,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
}
#if HAL_PICCOLO_CAN_ENABLE
case AP_BoardConfig_CAN::Protocol_Type_PiccoloCAN: {
case AP_CANManager::Driver_Type_PiccoloCAN: {
AP_PiccoloCAN *ap_pcan = AP_PiccoloCAN::get_pcan(i);
if (ap_pcan != nullptr) {
ap_pcan->send_esc_telemetry_mavlink(uint8_t(chan));
@ -4739,14 +4754,14 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
break;
}
#endif
case AP_BoardConfig_CAN::Protocol_Type_UAVCAN: {
case AP_CANManager::Driver_Type_UAVCAN: {
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
if (ap_uavcan != nullptr) {
ap_uavcan->send_esc_telemetry_mavlink(uint8_t(chan));
}
break;
}
case AP_BoardConfig_CAN::Protocol_Type_None:
case AP_CANManager::Driver_Type_None:
default:
break;
}