mirror of https://github.com/ArduPilot/ardupilot
Tools: move and rename CAN Driver_Type enumeration
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@ -20,7 +20,8 @@
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#include "../AP_Bootloader/app_comms.h"
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#include <AP_CheckFirmware/AP_CheckFirmware.h>
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#include "hwing_esc.h"
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#include <AP_CANManager/AP_CANManager.h>
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#include <AP_CANManager/AP_CAN.h>
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#include <AP_CANManager/AP_SLCANIface.h>
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#include <AP_Scripting/AP_Scripting.h>
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#include <AP_HAL/CANIface.h>
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#include <AP_Stats/AP_Stats.h>
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@ -162,7 +163,7 @@ public:
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// This allows you to change the protocol and it continues to use the one at boot.
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// Without this, changing away from UAVCAN causes loss of comms and you can't
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// change the rest of your params or verify it succeeded.
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AP_CANManager::Driver_Type can_protocol_cached[HAL_NUM_CAN_IFACES];
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AP_CAN::Protocol can_protocol_cached[HAL_NUM_CAN_IFACES];
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#endif
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#ifdef HAL_PERIPH_ENABLE_MSP
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@ -102,7 +102,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
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// @Values: 0:Disabled,1:UAVCAN,4:PiccoloCAN,6:EFI_NWPMU,7:USD1,8:KDECAN
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// @User: Advanced
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// @RebootRequired: True
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GARRAY(can_protocol, 0, "CAN_PROTOCOL", AP_CANManager::Driver_Type_DroneCAN),
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GARRAY(can_protocol, 0, "CAN_PROTOCOL", float(AP_CAN::Protocol::DroneCAN)),
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// @Param: CAN2_BAUDRATE
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// @CopyFieldsFrom: CAN_BAUDRATE
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@ -111,7 +111,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
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// @Param: CAN2_PROTOCOL
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// @CopyFieldsFrom: CAN_PROTOCOL
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GARRAY(can_protocol, 1, "CAN2_PROTOCOL", AP_CANManager::Driver_Type_DroneCAN),
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GARRAY(can_protocol, 1, "CAN2_PROTOCOL", float(AP_CAN::Protocol::DroneCAN)),
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#endif
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#if HAL_NUM_CAN_IFACES >= 3
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@ -122,7 +122,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
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// @Param: CAN3_PROTOCOL
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// @CopyFieldsFrom: CAN_PROTOCOL
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GARRAY(can_protocol, 2, "CAN3_PROTOCOL", AP_CANManager::Driver_Type_DroneCAN),
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GARRAY(can_protocol, 2, "CAN3_PROTOCOL", float(AP_CAN::Protocol::DroneCAN)),
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#endif
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#if HAL_CANFD_SUPPORTED
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@ -78,7 +78,7 @@ public:
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AP_Int32 can_baudrate[HAL_NUM_CAN_IFACES];
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#if HAL_NUM_CAN_IFACES >= 2
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AP_Enum<AP_CANManager::Driver_Type> can_protocol[HAL_NUM_CAN_IFACES];
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AP_Enum<AP_CAN::Protocol> can_protocol[HAL_NUM_CAN_IFACES];
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#endif
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#if AP_CAN_SLCAN_ENABLED
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@ -1197,7 +1197,7 @@ static void processTx(void)
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}
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#endif
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#if HAL_NUM_CAN_IFACES >= 2
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if (periph.can_protocol_cached[ins.index] != AP_CANManager::Driver_Type_DroneCAN) {
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if (periph.can_protocol_cached[ins.index] != AP_CAN::Protocol::DroneCAN) {
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continue;
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}
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#endif
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@ -1229,7 +1229,7 @@ static void processRx(void)
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continue;
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}
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#if HAL_NUM_CAN_IFACES >= 2
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if (periph.can_protocol_cached[ins.index] != AP_CANManager::Driver_Type_DroneCAN) {
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if (periph.can_protocol_cached[ins.index] != AP_CAN::Protocol::DroneCAN) {
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continue;
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}
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#endif
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@ -1485,12 +1485,12 @@ void AP_Periph_FW::can_start()
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#if AP_PERIPH_ENFORCE_AT_LEAST_ONE_PORT_IS_UAVCAN_1MHz && HAL_NUM_CAN_IFACES >= 2
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bool has_uavcan_at_1MHz = false;
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for (uint8_t i=0; i<HAL_NUM_CAN_IFACES; i++) {
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if (g.can_protocol[i] == AP_CANManager::Driver_Type_DroneCAN && g.can_baudrate[i] == 1000000) {
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if (g.can_protocol[i] == AP_CAN::Protocol::DroneCAN && g.can_baudrate[i] == 1000000) {
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has_uavcan_at_1MHz = true;
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}
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}
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if (!has_uavcan_at_1MHz) {
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g.can_protocol[0].set_and_save(AP_CANManager::Driver_Type_DroneCAN);
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g.can_protocol[0].set_and_save(uint8_t(AP_CAN::Protocol::DroneCAN));
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g.can_baudrate[0].set_and_save(1000000);
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}
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#endif // HAL_PERIPH_ENFORCE_AT_LEAST_ONE_PORT_IS_UAVCAN_1MHz
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