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BoardConfig_CAN: add parameters for serial port selection and timeout

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This commit is contained in:
Siddharth Purohit 2019-01-04 17:46:04 +08:00 committed by Andrew Tridgell
parent 5cefd251f9
commit 979a8dea6d
2 changed files with 21 additions and 1 deletions
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17
libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
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@ -89,7 +89,22 @@ const AP_Param::GroupInfo AP_BoardConfig_CAN::var_info[] = {
// @Description: CAN Driver ID to be routed to SLCAN, 0 means no routing
// @Range: 0 3
// @User: Advanced
AP_GROUPINFO("SLCAN_RT", 7, AP_BoardConfig_CAN, _slcan_rt, 0),
AP_GROUPINFO("SLCAN_RT", 7, AP_BoardConfig_CAN, _slcan_rt, 1),
// @Param: SLCAN_SR
// @DisplayName: SLCAN Serial Port
// @Description: Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial
// @Range: 0 5
// @User: Advanced
AP_GROUPINFO("SLCAN_SR", 8, AP_BoardConfig_CAN, _slcan_sr, -1),
// @Param: SLCAN_TO
// @DisplayName: SLCAN Timeout
// @Description: Duration of inactivity after which SLCAN in seconds
// @Range: 0 255
// @User: Advanced
AP_GROUPINFO("SLCAN_TO", 9, AP_BoardConfig_CAN, _slcan_to, 0),
AP_GROUPEND
};

5
libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
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@ -88,6 +88,9 @@ public:
static const struct AP_Param::GroupInfo var_info[];
int8_t get_slcan_serial() { return _slcan_sr; }
uint8_t get_slcan_timeout() { return _slcan_to; }
void reset_slcan_serial() { _slcan_sr.set_and_save_ifchanged(-1); }
private:
class Interface {
friend class AP_BoardConfig_CAN;
@ -131,6 +134,8 @@ private:
Driver _drivers[MAX_NUMBER_OF_CAN_DRIVERS];
uint8_t _num_drivers;
AP_Int8 _slcan_rt;
AP_Int8 _slcan_sr;
AP_Int8 _slcan_to;
static AP_BoardConfig_CAN *_singleton;
};