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HAL_ChibiOS: CANSerialRouter allow for changing serial port for the same boot

This commit is contained in:
Siddharth Purohit 2019-01-23 11:43:43 +08:00 committed by Andrew Tridgell
parent 5cbe8eb5ee
commit e1a9094bf6
1 changed files with 4 additions and 6 deletions
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10
libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
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@ -38,13 +38,11 @@ void SLCANRouter::init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* upd
void SLCANRouter::run()
{
if (!_slcan_if.is_initialized()) {
_port = AP_SerialManager::get_instance()->get_serial_by_id(AP::can().get_slcan_serial());
if (_slcan_if.init(921600, SLCAN::CAN::OperatingMode::NormalMode, _port) < 0) {
return;
}
_slcan_rt_timeout = AP::can().get_slcan_timeout();
_port = AP_SerialManager::get_instance()->get_serial_by_id(AP::can().get_slcan_serial());
if (_slcan_if.init(921600, SLCAN::CAN::OperatingMode::NormalMode, _port) < 0) {
return;
}
_slcan_rt_timeout = AP::can().get_slcan_timeout();
if (!_thread_started) {
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&SLCANRouter::can2slcan_router_trampoline, void), "C2SRouter", 512, AP_HAL::Scheduler::PRIORITY_CAN, 0);
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&SLCANRouter::slcan2can_router_trampoline, void), "S2CRouter", 512, AP_HAL::Scheduler::PRIORITY_CAN, 0);