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AP_CANManager: redo filter configuration to make it work with STM32H7

This commit is contained in:
bugobliterator 2020-09-27 01:37:57 +05:30 committed by Peter Barker
parent e49891d605
commit 46827f0c91
1 changed files with 27 additions and 14 deletions
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41
libraries/AP_CANManager/AP_CANManager.cpp
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@ -147,24 +147,31 @@ void AP_CANManager::init()
}
// Initialise the interface we just allocated
if (hal.can[i] != nullptr) {
if (!hal.can[i]->init(_interfaces[i]._bitrate, AP_HAL::CANIface::NormalMode)) {
log_text(AP_CANManager::LOG_ERROR, LOG_TAG, "Failed to initialise CAN Interface %d", i+1);
continue;
}
} else {
if (hal.can[i] == nullptr) {
continue;
}
AP_HAL::CANIface* iface = hal.can[i];
// Find the driver type that we need to allocate and register this interface with
Driver_Type drv_type = _driver_type_cache[drv_num] = (Driver_Type) _drv_param[drv_num]._driver_type.get();
bool can_initialised = false;
// Check if this interface need hooking up to slcan passthrough
// instead of a driver
if (_slcan_interface.init_passthrough(i)) {
// we have slcan bridge setup pass that on as can iface
can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, AP_HAL::CANIface::NormalMode);
iface = &_slcan_interface;
} else if(drv_type == Driver_Type_UAVCAN) {
// We do Message ID filtering when using UAVCAN without SLCAN
can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, AP_HAL::CANIface::FilteredMode);
} else {
can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, AP_HAL::CANIface::NormalMode);
}
// Find the driver type that we need to allocate and register this interface with
Driver_Type drv_type = _driver_type_cache[drv_num] = (Driver_Type) _drv_param[drv_num]._driver_type.get();
if (!can_initialised) {
log_text(AP_CANManager::LOG_ERROR, LOG_TAG, "Failed to initialise CAN Interface %d", i+1);
continue;
}
log_text(AP_CANManager::LOG_INFO, LOG_TAG, "CAN Interface %d initialized well", i + 1);
@ -247,13 +254,19 @@ void AP_CANManager::init()
if (_drivers[drv_num] == nullptr) {
continue;
}
if ((_slcan_interface.get_iface_num() >= HAL_NUM_CAN_IFACES ||
_slcan_interface.get_iface_num() < 0) ||
(_interfaces[_slcan_interface.get_iface_num()]._driver_number != drv_num + 1)) {
_drivers[drv_num]->init(drv_num, true);
} else {
_drivers[drv_num]->init(drv_num, false);
bool enable_filter = false;
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
if (_interfaces[i]._driver_number == (drv_num+1) &&
hal.can[i] != nullptr &&
hal.can[i]->get_operating_mode() == AP_HAL::CANIface::FilteredMode) {
// Don't worry we don't enable Filters for Normal Ifaces under the driver
// this is just to ensure we enable them for the ones we already decided on
enable_filter = true;
break;
}
}
_drivers[drv_num]->init(drv_num, enable_filter);
}
}