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AP_HAL: support of several CAN managers (virtual drivers)

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This commit is contained in:
Eugene Shamaev 2017-05-06 12:12:19 +03:00 committed by Francisco Ferreira
parent 7314b515c0
commit 8f2306fd19
2 changed files with 25 additions and 4 deletions
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4
libraries/AP_HAL/CAN.h
View File

@ -29,6 +29,9 @@
#include <uavcan/driver/can.hpp> #include <uavcan/driver/can.hpp>
#include <uavcan/time.hpp> #include <uavcan/time.hpp>
#define MAX_NUMBER_OF_CAN_INTERFACES 2
#define MAX_NUMBER_OF_CAN_DRIVERS 2
class AP_UAVCAN; class AP_UAVCAN;
/** /**
@ -108,6 +111,7 @@ public:
true - CAN manager is initialized true - CAN manager is initialized
*/ */
virtual bool is_initialized() = 0; virtual bool is_initialized() = 0;
virtual void initialized(bool val);
virtual AP_UAVCAN *get_UAVCAN(void); virtual AP_UAVCAN *get_UAVCAN(void);
virtual void set_UAVCAN(AP_UAVCAN *uavcan); virtual void set_UAVCAN(AP_UAVCAN *uavcan);

25
libraries/AP_HAL/HAL.h
View File

@ -34,7 +34,11 @@ public:
AP_HAL::Scheduler* _scheduler, AP_HAL::Scheduler* _scheduler,
AP_HAL::Util* _util, AP_HAL::Util* _util,
AP_HAL::OpticalFlow *_opticalflow, AP_HAL::OpticalFlow *_opticalflow,
AP_HAL::CANManager* _can_mgr) #if HAL_WITH_UAVCAN
AP_HAL::CANManager* _can_mgr[MAX_NUMBER_OF_CAN_DRIVERS])
#else
AP_HAL::CANManager** _can_mgr)
#endif
: :
uartA(_uartA), uartA(_uartA),
uartB(_uartB), uartB(_uartB),
@ -52,9 +56,18 @@ public:
rcout(_rcout), rcout(_rcout),
scheduler(_scheduler), scheduler(_scheduler),
util(_util), util(_util),
opticalflow(_opticalflow), opticalflow(_opticalflow)
can_mgr(_can_mgr)
{ {
#if HAL_WITH_UAVCAN
if (_can_mgr == nullptr) {
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++)
can_mgr[i] = nullptr;
} else {
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++)
can_mgr[i] = _can_mgr[i];
}
#endif
AP_HAL::init(); AP_HAL::init();
} }
@ -93,5 +106,9 @@ public:
AP_HAL::Scheduler* scheduler; AP_HAL::Scheduler* scheduler;
AP_HAL::Util *util; AP_HAL::Util *util;
AP_HAL::OpticalFlow *opticalflow; AP_HAL::OpticalFlow *opticalflow;
AP_HAL::CANManager* can_mgr; #if HAL_WITH_UAVCAN
AP_HAL::CANManager* can_mgr[MAX_NUMBER_OF_CAN_DRIVERS];
#else
AP_HAL::CANManager** can_mgr;
#endif
}; };