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AP_CANManager: promote KDECAN to a first-class library

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Tom Pittenger 2023-04-10 14:29:30 -07:00 committed by Andrew Tridgell
parent c585b0286d
commit eed3cf3255
3 changed files with 6 additions and 17 deletions
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8
libraries/AP_CANManager/AP_CANDriver.cpp
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@ -42,12 +42,8 @@ const AP_Param::GroupInfo AP_CANManager::CANDriver_Params::var_info[] = {
AP_SUBGROUPPTR(_uavcan, "UC_", 2, AP_CANManager::CANDriver_Params, AP_DroneCAN), AP_SUBGROUPPTR(_uavcan, "UC_", 2, AP_CANManager::CANDriver_Params, AP_DroneCAN),
#endif #endif
#if (APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)) // index 3 was KDECAN
// @Group: KDE_
// @Path: ../AP_KDECAN/AP_KDECAN.cpp
AP_SUBGROUPPTR(_kdecan, "KDE_", 3, AP_CANManager::CANDriver_Params, AP_KDECAN),
#endif
#if HAL_NUM_CAN_IFACES > 1 && !HAL_MINIMIZE_FEATURES && HAL_ENABLE_CANTESTER #if HAL_NUM_CAN_IFACES > 1 && !HAL_MINIMIZE_FEATURES && HAL_ENABLE_CANTESTER
// @Group: TST_ // @Group: TST_
// @Path: ../AP_CANManager/AP_CANTester.cpp // @Path: ../AP_CANManager/AP_CANTester.cpp

14
libraries/AP_CANManager/AP_CANManager.cpp
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@ -216,16 +216,10 @@ void AP_CANManager::init()
} else } else
#endif #endif
if (drv_type[drv_num] == Driver_Type_KDECAN) { if (drv_type[drv_num] == Driver_Type_KDECAN) {
#if (APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub)) #if AP_KDECAN_ENABLED
// To be replaced with macro saying if KDECAN library is included // cache the driver type so we can detect that it is in the params via get_driver_type().
_drivers[drv_num] = _drv_param[drv_num]._kdecan = new AP_KDECAN; // Normally it is cached after init but this driver's init is handled by CANSensor later on
_driver_type_cache[drv_num] = drv_type[drv_num];
if (_drivers[drv_num] == nullptr) {
AP_BoardConfig::allocation_error("KDECAN %d", drv_num + 1);
continue;
}
AP_Param::load_object_from_eeprom((AP_KDECAN*)_drivers[drv_num], AP_KDECAN::var_info);
#endif #endif
} else if (drv_type[drv_num] == Driver_Type_PiccoloCAN) { } else if (drv_type[drv_num] == Driver_Type_PiccoloCAN) {
#if HAL_PICCOLO_CAN_ENABLE #if HAL_PICCOLO_CAN_ENABLE

1
libraries/AP_CANManager/AP_CANManager.h
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@ -157,7 +157,6 @@ private:
AP_Int8 _driver_type; AP_Int8 _driver_type;
AP_CANDriver* _testcan; AP_CANDriver* _testcan;
AP_CANDriver* _uavcan; AP_CANDriver* _uavcan;
AP_CANDriver* _kdecan;
AP_CANDriver* _piccolocan; AP_CANDriver* _piccolocan;
}; };