Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_CANManager: setup CANManager for DroneCAN Driver tests

This commit is contained in:
bugobliterator 2023-01-22 18:31:16 +11:00 committed by Andrew Tridgell
parent 3ca65aae4f
commit 44e897cf2d
1 changed files with 20 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
libraries/AP_CANManager/AP_CANManager.cpp
View File

@ -115,6 +115,7 @@ AP_CANManager::AP_CANManager()
_singleton = this;
}
#if !AP_TEST_DRONECAN_DRIVERS
void AP_CANManager::init()
{
WITH_SEMAPHORE(_sem);
@ -282,7 +283,26 @@ void AP_CANManager::init()
_driver_type_cache[drv_num] = drv_type[drv_num];
}
}
#else
void AP_CANManager::init()
{
WITH_SEMAPHORE(_sem);
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
if ((Driver_Type) _drv_param[i]._driver_type.get() == Driver_Type_UAVCAN) {
_drivers[i] = _drv_param[i]._uavcan = new AP_UAVCAN(i);
if (_drivers[i] == nullptr) {
AP_BoardConfig::allocation_error("uavcan %d", i + 1);
continue;
}
AP_Param::load_object_from_eeprom((AP_UAVCAN*)_drivers[i], AP_UAVCAN::var_info);
_drivers[i]->init(i, true);
_driver_type_cache[i] = (Driver_Type) _drv_param[i]._driver_type.get();
}
}
}
#endif
/*
register a new CAN driver
*/