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BoardConfig_CAN: return serial port with switch between parameter and passthrough

This commit is contained in:
Siddharth Purohit 2019-04-20 11:41:49 +05:30 committed by Andrew Tridgell
parent eabb93f842
commit fe44384c95
2 changed files with 15 additions and 4 deletions
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17
libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
View File

@ -35,7 +35,7 @@
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_KDECAN/AP_KDECAN.h>
#include <AP_ToshibaCAN/AP_ToshibaCAN.h>
#include <AP_SerialManager/AP_SerialManager.h>
extern const AP_HAL::HAL& hal;
// table of user settable parameters
@ -102,7 +102,7 @@ void AP_BoardConfig_CAN::init()
{
// Create all drivers that we need
bool initret = true;
#if !HAL_MINIMIZE_FEATURES
#if !HAL_MINIMIZE_FEATURES
reset_slcan_serial();
#endif
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
@ -187,7 +187,18 @@ void AP_BoardConfig_CAN::init()
}
}
}
#if !HAL_MINIMIZE_FEATURES
AP_HAL::UARTDriver *AP_BoardConfig_CAN::get_slcan_serial()
{
if (_slcan._ser_port != -1) {
return AP::serialmanager().get_serial_by_id(_slcan._ser_port);
}
if (AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SLCAN, 0)->is_initialized()) {
return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SLCAN, 0);
}
return nullptr;
}
#endif
AP_BoardConfig_CAN& AP::can() {
return *AP_BoardConfig_CAN::get_singleton();
}

2
libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
View File

@ -88,7 +88,7 @@ public:
static const struct AP_Param::GroupInfo var_info[];
#if !HAL_MINIMIZE_FEATURES
int8_t get_slcan_serial() { return _slcan._ser_port; }
AP_HAL::UARTDriver *get_slcan_serial();
uint8_t get_slcan_timeout() { return _slcan._timeout; }
void reset_slcan_serial() { _slcan._ser_port.set_and_save_ifchanged(-1); }
#endif