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AP_Periph: add support for SLCAN

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This commit is contained in:
Tom Pittenger 2022-10-06 20:19:55 -07:00 committed by Andrew Tridgell
parent af56837752
commit 53e0c4175e
4 changed files with 37 additions and 1 deletions
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4
Tools/AP_Periph/AP_Periph.h
View File

@ -108,6 +108,10 @@ public:
static HALSITL::CANIface* can_iface_periph[HAL_NUM_CAN_IFACES];
#endif
#ifdef HAL_PERIPH_ENABLE_SLCAN
static SLCAN::CANIface slcan_interface;
#endif
AP_SerialManager serial_manager;
#if AP_STATS_ENABLED

10
Tools/AP_Periph/Parameters.cpp
View File

@ -92,6 +92,16 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// @RebootRequired: True
GARRAY(can_baudrate, 0, "CAN_BAUDRATE", 1000000),
#ifdef HAL_PERIPH_ENABLE_SLCAN
// @Param: CAN_SLCAN_CPORT
// @DisplayName: SLCAN Route
// @Description: CAN Interface ID to be routed to SLCAN, 0 means no routing
// @Values: 0:Disabled,1:First interface,2:Second interface
// @User: Standard
// @RebootRequired: True
GSCALAR(can_slcan_cport, "CAN_SLCAN_CPORT", 1),
#endif
#if HAL_NUM_CAN_IFACES >= 2
// @Param: CAN_PROTOCOL
// @DisplayName: Enable use of specific protocol to be used on this port

5
Tools/AP_Periph/Parameters.h
View File

@ -60,6 +60,7 @@ public:
k_param_efi_port,
k_param_efi_baudrate,
k_param_esc_telem_rate,
k_param_can_slcan_cport,
};
AP_Int16 format_version;
@ -70,6 +71,10 @@ public:
AP_Enum<AP_CANManager::Driver_Type> can_protocol[HAL_NUM_CAN_IFACES];
#endif
#ifdef HAL_PERIPH_ENABLE_SLCAN
AP_Int8 can_slcan_cport;
#endif
#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
AP_Int8 buzz_volume;
#endif

19
Tools/AP_Periph/can.cpp
View File

@ -85,7 +85,7 @@ static struct instance_t {
uint8_t index;
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
ChibiOS::CANIface* iface;
AP_HAL::CANIface* iface;
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
HALSITL::CANIface* iface;
#endif
@ -159,6 +159,9 @@ ChibiOS::CANIface* AP_Periph_FW::can_iface_periph[HAL_NUM_CAN_IFACES];
HALSITL::CANIface* AP_Periph_FW::can_iface_periph[HAL_NUM_CAN_IFACES];
#endif
#ifdef HAL_PERIPH_ENABLE_SLCAN
SLCAN::CANIface AP_Periph_FW::slcan_interface;
#endif
/*
* Node status variables
@ -1516,6 +1519,20 @@ void AP_Periph_FW::can_start()
#endif
}
}
#ifdef HAL_PERIPH_ENABLE_SLCAN
const uint8_t slcan_selected_index = g.can_slcan_cport - 1;
if (slcan_selected_index < HAL_NUM_CAN_IFACES) {
slcan_interface.set_can_iface(can_iface_periph[slcan_selected_index]);
instances[slcan_selected_index].iface = (AP_HAL::CANIface*)&slcan_interface;
// ensure there's a serial port mapped to SLCAN
if (!periph.serial_manager.have_serial(AP_SerialManager::SerialProtocol_SLCAN, 0)) {
periph.serial_manager.set_protocol_and_baud(SERIALMANAGER_NUM_PORTS-1, AP_SerialManager::SerialProtocol_SLCAN, 1500000);
}
}
#endif
canardInit(&dronecan.canard, (uint8_t *)dronecan.canard_memory_pool, sizeof(dronecan.canard_memory_pool),
onTransferReceived, shouldAcceptTransfer, NULL);