mirror of
https://github.com/ArduPilot/ardupilot
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d11112c0c0
this supports logging of all bxCAN and CANFD frames, which helps with debugging tricky CAN support issues and for the development of new CAN driver lua scripts
59 lines
2.2 KiB
C++
59 lines
2.2 KiB
C++
/*
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* This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#if HAL_CANMANAGER_ENABLED
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#include "AP_CANManager.h"
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// table of user settable CAN bus parameters
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const AP_Param::GroupInfo AP_CANManager::CANIface_Params::var_info[] = {
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// @Param: DRIVER
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// @DisplayName: Index of virtual driver to be used with physical CAN interface
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// @Description: Enabling this option enables use of CAN buses.
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// @Values: 0:Disabled,1:First driver,2:Second driver,3:Third driver
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO_FLAGS("DRIVER", 1, AP_CANManager::CANIface_Params, _driver_number, HAL_CAN_DRIVER_DEFAULT, AP_PARAM_FLAG_ENABLE),
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// @Param: BITRATE
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// @DisplayName: Bitrate of CAN interface
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// @Description: Bit rate can be set up to from 10000 to 1000000
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// @Range: 10000 1000000
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// @User: Advanced
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AP_GROUPINFO("BITRATE", 2, AP_CANManager::CANIface_Params, _bitrate, 1000000),
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#if HAL_CANFD_SUPPORTED
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// @Param: FDBITRATE
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// @DisplayName: Bitrate of CANFD interface
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// @Description: Bit rate can be set up to from 1000000 to 8000000
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// @Values: 1:1M, 2:2M, 4:4M, 5:5M, 8:8M
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// @User: Advanced
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AP_GROUPINFO("FDBITRATE", 3, AP_CANManager::CANIface_Params, _fdbitrate, HAL_CANFD_SUPPORTED),
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#endif
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// @Param: OPTIONS
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// @DisplayName: CAN per-interface options
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// @Description: CAN per-interface options
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// @Bitmask: 0:LogAllFrames
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// @User: Advanced
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AP_GROUPINFO("OPTIONS", 4, AP_CANManager::CANIface_Params, _options, 0),
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// Index 3 occupied by Param: DEBUG
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AP_GROUPEND
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};
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#endif
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