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AP_CANManager: move and rename CAN Driver_Type enumeration

This commit is contained in:
Peter Barker 2023-04-18 17:24:17 +10:00 committed by Peter Barker
parent c88b7586da
commit fea2c8d923
6 changed files with 59 additions and 38 deletions
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31
libraries/AP_CANManager/AP_CAN.h Normal file
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@ -0,0 +1,31 @@
#pragma once
/*
* this header contains data common to ArduPilot CAN, rather than to a
* specific implementation of the protocols. So we try to share
* enumeration values where possible to make parameters similar across
* Periph and main firmwares, for example.
*
* this is *not* to be a one-stop-shop for including all things CAN...
*/
#include <stdint.h>
class AP_CAN {
public:
enum class Protocol : uint8_t {
None = 0,
DroneCAN = 1,
// 2 was KDECAN -- do not re-use
// 3 was ToshibaCAN -- do not re-use
PiccoloCAN = 4,
// 5 was CANTester
EFI_NWPMU = 6,
USD1 = 7,
KDECAN = 8,
// 9 was MPPT_PacketDigital
Scripting = 10,
Benewake = 11,
Scripting2 = 12,
};
};

2
libraries/AP_CANManager/AP_CANDriver.cpp
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@ -33,7 +33,7 @@ const AP_Param::GroupInfo AP_CANManager::CANDriver_Params::var_info[] = {
// @Values: 0:Disabled,1:DroneCAN,4:PiccoloCAN,6:EFI_NWPMU,7:USD1,8:KDECAN,10:Scripting,11:Benewake,12:Scripting2
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("PROTOCOL", 1, AP_CANManager::CANDriver_Params, _driver_type, AP_CANManager::Driver_Type_DroneCAN),
AP_GROUPINFO("PROTOCOL", 1, AP_CANManager::CANDriver_Params, _driver_type, float(AP_CAN::Protocol::DroneCAN)),
#if HAL_ENABLE_DRONECAN_DRIVERS
// @Group: UC_

16
libraries/AP_CANManager/AP_CANManager.cpp
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@ -141,7 +141,7 @@ void AP_CANManager::init()
_slcan_interface.reset_params();
#endif
Driver_Type drv_type[HAL_MAX_CAN_PROTOCOL_DRIVERS] = {};
AP_CAN::Protocol drv_type[HAL_MAX_CAN_PROTOCOL_DRIVERS] = {};
// loop through interfaces and allocate and initialise Iface,
// Also allocate Driver objects, and add interfaces to them
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
@ -165,7 +165,7 @@ void AP_CANManager::init()
AP_HAL::CANIface* iface = hal.can[i];
// Find the driver type that we need to allocate and register this interface with
drv_type[drv_num] = (Driver_Type) _drv_param[drv_num]._driver_type.get();
drv_type[drv_num] = (AP_CAN::Protocol) _drv_param[drv_num]._driver_type.get();
bool can_initialised = false;
// Check if this interface need hooking up to slcan passthrough
// instead of a driver
@ -203,7 +203,7 @@ void AP_CANManager::init()
// Allocate the set type of Driver
#if HAL_ENABLE_DRONECAN_DRIVERS
if (drv_type[drv_num] == Driver_Type_DroneCAN) {
if (drv_type[drv_num] == AP_CAN::Protocol::DroneCAN) {
_drivers[drv_num] = _drv_param[drv_num]._uavcan = new AP_DroneCAN(drv_num);
if (_drivers[drv_num] == nullptr) {
@ -215,7 +215,7 @@ void AP_CANManager::init()
} else
#endif
#if HAL_PICCOLO_CAN_ENABLE
if (drv_type[drv_num] == Driver_Type_PiccoloCAN) {
if (drv_type[drv_num] == AP_CAN::Protocol::PiccoloCAN) {
_drivers[drv_num] = _drv_param[drv_num]._piccolocan = new AP_PiccoloCAN;
if (_drivers[drv_num] == nullptr) {
@ -268,7 +268,7 @@ void AP_CANManager::init()
{
WITH_SEMAPHORE(_sem);
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
if ((Driver_Type) _drv_param[i]._driver_type.get() == Driver_Type_DroneCAN) {
if ((AP_CAN::Protocol) _drv_param[i]._driver_type.get() == AP_CAN::Protocol::DroneCAN) {
_drivers[i] = _drv_param[i]._uavcan = new AP_DroneCAN(i);
if (_drivers[i] == nullptr) {
@ -278,7 +278,7 @@ void AP_CANManager::init()
AP_Param::load_object_from_eeprom((AP_DroneCAN*)_drivers[i], AP_DroneCAN::var_info);
_drivers[i]->init(i, true);
_driver_type_cache[i] = (Driver_Type) _drv_param[i]._driver_type.get();
_driver_type_cache[i] = (AP_CAN::Protocol) _drv_param[i]._driver_type.get();
}
}
}
@ -286,7 +286,7 @@ void AP_CANManager::init()
/*
register a new CAN driver
*/
bool AP_CANManager::register_driver(Driver_Type dtype, AP_CANDriver *driver)
bool AP_CANManager::register_driver(AP_CAN::Protocol dtype, AP_CANDriver *driver)
{
WITH_SEMAPHORE(_sem);
@ -298,7 +298,7 @@ bool AP_CANManager::register_driver(Driver_Type dtype, AP_CANDriver *driver)
// from 1 based to 0 based
drv_num--;
if (dtype != (Driver_Type)_drv_param[drv_num]._driver_type.get()) {
if (dtype != (AP_CAN::Protocol)_drv_param[drv_num]._driver_type.get()) {
continue;
}
if (_drivers[drv_num] != nullptr) {

26
libraries/AP_CANManager/AP_CANManager.h
View File

@ -32,6 +32,8 @@
#include <AP_HAL/utility/RingBuffer.h>
#endif
#include "AP_CAN.h"
class AP_CANManager
{
public:
@ -56,26 +58,10 @@ public:
LOG_DEBUG,
};
enum Driver_Type : uint8_t {
Driver_Type_None = 0,
Driver_Type_DroneCAN = 1,
// 2 was KDECAN -- do not re-use
// 3 was ToshibaCAN -- do not re-use
Driver_Type_PiccoloCAN = 4,
// 5 was CANTester
Driver_Type_EFI_NWPMU = 6,
Driver_Type_USD1 = 7,
Driver_Type_KDECAN = 8,
// 9 was Driver_Type_MPPT_PacketDigital
Driver_Type_Scripting = 10,
Driver_Type_Benewake = 11,
Driver_Type_Scripting2 = 12,
};
void init(void);
// register a new driver
bool register_driver(Driver_Type dtype, AP_CANDriver *driver);
bool register_driver(AP_CAN::Protocol dtype, AP_CANDriver *driver);
// returns number of active CAN Drivers
uint8_t get_num_drivers(void) const
@ -104,12 +90,12 @@ public:
void log_retrieve(ExpandingString &str) const;
// return driver type index i
Driver_Type get_driver_type(uint8_t i) const
AP_CAN::Protocol get_driver_type(uint8_t i) const
{
if (i < HAL_NUM_CAN_IFACES) {
return _driver_type_cache[i];
}
return Driver_Type_None;
return AP_CAN::Protocol::None;
}
static const struct AP_Param::GroupInfo var_info[];
@ -163,7 +149,7 @@ private:
CANIface_Params _interfaces[HAL_NUM_CAN_IFACES];
AP_CANDriver* _drivers[HAL_MAX_CAN_PROTOCOL_DRIVERS];
CANDriver_Params _drv_param[HAL_MAX_CAN_PROTOCOL_DRIVERS];
Driver_Type _driver_type_cache[HAL_MAX_CAN_PROTOCOL_DRIVERS];
AP_CAN::Protocol _driver_type_cache[HAL_MAX_CAN_PROTOCOL_DRIVERS];
AP_Int8 _loglevel;
uint8_t _num_drivers;

4
libraries/AP_CANManager/AP_CANSensor.cpp
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@ -36,7 +36,7 @@ CANSensor::CANSensor(const char *driver_name, uint16_t stack_size) :
{}
void CANSensor::register_driver(AP_CANManager::Driver_Type dtype)
void CANSensor::register_driver(AP_CAN::Protocol dtype)
{
#if HAL_CANMANAGER_ENABLED
if (!AP::can().register_driver(dtype, this)) {
@ -53,7 +53,7 @@ void CANSensor::register_driver(AP_CANManager::Driver_Type dtype)
#ifdef HAL_BUILD_AP_PERIPH
CANSensor::CANSensor_Periph CANSensor::_periph[HAL_NUM_CAN_IFACES];
void CANSensor::register_driver_periph(const AP_CANManager::Driver_Type dtype)
void CANSensor::register_driver_periph(const AP_CAN::Protocol dtype)
{
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
if (_periph[i].protocol != dtype) {

18
libraries/AP_CANManager/AP_CANSensor.h
View File

@ -18,7 +18,11 @@
#pragma once
#include "AP_CAN.h"
#include "AP_CANDriver.h"
#ifndef HAL_BUILD_AP_PERIPH
#include "AP_CANManager.h"
#endif
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
@ -39,7 +43,7 @@ public:
bool write_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us);
#ifdef HAL_BUILD_AP_PERIPH
static void set_periph(const uint8_t i, const AP_CANManager::Driver_Type protocol, AP_HAL::CANIface* iface) {
static void set_periph(const uint8_t i, const AP_CAN::Protocol protocol, AP_HAL::CANIface* iface) {
if (i < ARRAY_SIZE(_periph)) {
_periph[i].protocol = protocol;
_periph[i].iface = iface;
@ -47,19 +51,19 @@ public:
}
// return driver type index i
static AP_CANManager::Driver_Type get_driver_type(const uint8_t i)
static AP_CAN::Protocol get_driver_type(const uint8_t i)
{
if (i < ARRAY_SIZE(_periph)) {
return _periph[i].protocol;
}
return AP_CANManager::Driver_Type_None;
return AP_CAN::Protocol::None;
}
#else
static AP_CANManager::Driver_Type get_driver_type(const uint8_t i) { return AP::can().get_driver_type(i); }
static AP_CAN::Protocol get_driver_type(const uint8_t i) { return AP::can().get_driver_type(i); }
#endif
protected:
void register_driver(AP_CANManager::Driver_Type dtype);
void register_driver(AP_CAN::Protocol dtype);
private:
void loop();
@ -73,11 +77,11 @@ private:
AP_HAL::CANIface* _can_iface;
#ifdef HAL_BUILD_AP_PERIPH
void register_driver_periph(const AP_CANManager::Driver_Type dtype);
void register_driver_periph(const AP_CAN::Protocol dtype);
struct CANSensor_Periph {
AP_HAL::CANIface* iface;
AP_CANManager::Driver_Type protocol;
AP_CAN::Protocol protocol;
} static _periph[HAL_NUM_CAN_IFACES];
#endif
};