mirror of https://github.com/ArduPilot/ardupilot
60 lines
2.2 KiB
C++
60 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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#include <AP_Common/AP_Common.h>
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#include "AP_BoardConfig.h"
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#if HAL_WITH_UAVCAN
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#include <AP_UAVCAN/AP_UAVCAN.h>
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// table of user settable CAN bus parameters
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const AP_Param::GroupInfo AP_BoardConfig::CAN_var_info::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Enable use of CAN buses
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// @Description: Enabling this option enables use of CAN buses.
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// @Values: 0:Disabled,1:Enabled first channel,2:Enabled both channels
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// @User: Advanced
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AP_GROUPINFO_FLAGS("ENABLE", 1, AP_BoardConfig::CAN_var_info, _can_enable, 0, 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_BoardConfig::CAN_var_info, _can_bitrate, 1000000),
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// @Param: DEBUG
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// @DisplayName: Level of debug for CAN devices
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// @Description: Enabling this option will provide debug messages
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// @Values: 0:Disabled,1:Major messages,2:All messages
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// @User: Advanced
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AP_GROUPINFO("DEBUG", 3, AP_BoardConfig::CAN_var_info, _can_debug, 2),
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// @Param: UC_EN
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// @DisplayName: Enable use of UAVCAN devices
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// @Description: Enabling this option starts UAVCAN protocol.
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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AP_GROUPINFO("UC_EN", 4, AP_BoardConfig::CAN_var_info, _uavcan_enable, 1),
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// @Group: UC_
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// @Path: ../AP_UAVCAN/AP_UAVCAN.cpp
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AP_SUBGROUPPTR(_uavcan, "UC_", 5, AP_BoardConfig::CAN_var_info, AP_UAVCAN),
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AP_GROUPEND
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};
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#endif
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