From cfc25c41612854ba445285d12c9e2bcc3d7f81a5 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 12 Nov 2021 21:12:11 +1100 Subject: [PATCH] AP_CANManager: support Benewake CAN --- libraries/AP_CANManager/AP_CANDriver.cpp | 4 ++-- libraries/AP_CANManager/AP_CANManager.h | 1 + libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp | 2 +- libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h | 2 +- 4 files changed, 5 insertions(+), 4 deletions(-) diff --git a/libraries/AP_CANManager/AP_CANDriver.cpp b/libraries/AP_CANManager/AP_CANDriver.cpp index 76f18a5588..027382ff9c 100644 --- a/libraries/AP_CANManager/AP_CANDriver.cpp +++ b/libraries/AP_CANManager/AP_CANDriver.cpp @@ -32,8 +32,8 @@ const AP_Param::GroupInfo AP_CANManager::CANDriver_Params::var_info[] = { // @Param: PROTOCOL // @DisplayName: Enable use of specific protocol over virtual driver // @Description: Enabling this option starts selected protocol that will use this virtual driver - // @Values{Copter,Plane,Sub,Rover}: 0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,8:KDECAN,9:PacketDigitalCAN - // @Values: 0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,6:EFI_NWPMU,7:USD1,8:KDECAN,9:PacketDigital + // @Values{Copter,Plane,Sub,Rover}: 0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,8:KDECAN,9:PacketDigitalCAN,11:Benewake + // @Values: 0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,6:EFI_NWPMU,7:USD1,8:KDECAN,9:PacketDigital,11:Benewake // @User: Advanced // @RebootRequired: True AP_GROUPINFO("PROTOCOL", 1, AP_CANManager::CANDriver_Params, _driver_type, AP_CANManager::Driver_Type_UAVCAN), diff --git a/libraries/AP_CANManager/AP_CANManager.h b/libraries/AP_CANManager/AP_CANManager.h index 1a75a26cbb..3972f21ccd 100644 --- a/libraries/AP_CANManager/AP_CANManager.h +++ b/libraries/AP_CANManager/AP_CANManager.h @@ -61,6 +61,7 @@ public: Driver_Type_USD1 = 7, Driver_Type_KDECAN = 8, Driver_Type_MPPT_PacketDigital = 9, + Driver_Type_Benewake = 11, }; void init(void); diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp index 2d4b76fccf..42468bce5f 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp @@ -27,7 +27,7 @@ const AP_Param::GroupInfo AP_RangeFinder_Benewake_CAN::var_info[] = { constructor */ AP_RangeFinder_Benewake_CAN::AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) : - CANSensor("Benewake", 3072), + CANSensor("Benewake"), AP_RangeFinder_Backend(_state, _params) { AP_Param::setup_object_defaults(this, var_info); diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h index a769b772a0..40bcacecfc 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h +++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h @@ -5,7 +5,7 @@ #if HAL_MAX_CAN_PROTOCOL_DRIVERS -class AP_RangeFinder_Benewake_CAN : public CANSensor, public AP_RangeFinder_Backend { +class AP_RangeFinder_Benewake_CAN : public AP_RangeFinder_Backend, public CANSensor { public: AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);