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Copter: move to using CANManager library

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This commit is contained in:
Siddharth Purohit 2020-05-31 17:17:48 +05:30 committed by Andrew Tridgell
parent ddfd186618
commit 9b9954aa46
4 changed files with 9 additions and 9 deletions
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6
ArduCopter/AP_Arming.cpp
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@ -1,6 +1,6 @@
#include "Copter.h"
#if HAL_WITH_UAVCAN
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_ToshibaCAN/AP_ToshibaCAN.h>
#endif
@ -312,12 +312,12 @@ bool AP_Arming_Copter::motor_checks(bool display_failure)
}
// if this is a multicopter using ToshibaCAN ESCs ensure MOT_PMW_MIN = 1000, MOT_PWM_MAX = 2000
#if HAL_WITH_UAVCAN && (FRAME_CONFIG != HELI_FRAME)
#if HAL_MAX_CAN_PROTOCOL_DRIVERS && (FRAME_CONFIG != HELI_FRAME)
bool tcan_active = false;
uint8_t tcan_index = 0;
const uint8_t num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < num_drivers; i++) {
if (AP::can().get_protocol_type(i) == AP_BoardConfig_CAN::Protocol_Type_ToshibaCAN) {
if (AP::can().get_driver_type(i) == AP_CANManager::Driver_Type_ToshibaCAN) {
tcan_active = true;
tcan_index = i;
}

6
ArduCopter/Parameters.cpp
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@ -566,10 +566,10 @@ const AP_Param::Info Copter::var_info[] = {
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
GOBJECT(BoardConfig, "BRD_", AP_BoardConfig),
#if HAL_WITH_UAVCAN
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
// @Group: CAN_
// @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
GOBJECT(BoardConfig_CAN, "CAN_", AP_BoardConfig_CAN),
// @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
GOBJECT(can_mgr, "CAN_", AP_CANManager),
#endif
#if SPRAYER_ENABLED == ENABLED

2
ArduCopter/Parameters.h
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@ -54,7 +54,7 @@ public:
k_param_NavEKF2,
k_param_g2, // 2nd block of parameters
k_param_NavEKF3,
k_param_BoardConfig_CAN,
k_param_can_mgr,
k_param_osd,
// simulation

4
ArduCopter/system.cpp
View File

@ -22,8 +22,8 @@ void Copter::init_ardupilot()
#endif
BoardConfig.init();
#if HAL_WITH_UAVCAN
BoardConfig_CAN.init();
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
can_mgr.init();
#endif
// init cargo gripper