mirror of https://github.com/ArduPilot/ardupilot
65 lines
2.4 KiB
C++
65 lines
2.4 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_MAX_CAN_PROTOCOL_DRIVERS && HAL_CANMANAGER_ENABLED
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#include "AP_CANManager.h"
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <AP_DroneCAN/AP_DroneCAN.h>
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#include <AP_PiccoloCAN/AP_PiccoloCAN.h>
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#include <AP_KDECAN/AP_KDECAN.h>
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// table of user settable CAN bus parameters
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const AP_Param::GroupInfo AP_CANManager::CANDriver_Params::var_info[] = {
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// @Param: PROTOCOL
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// @DisplayName: Enable use of specific protocol over virtual driver
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// @Description: Enabling this option starts selected protocol that will use this virtual driver
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// @Values: 0:Disabled,1:DroneCAN,4:PiccoloCAN,6:EFI_NWPMU,7:USD1,8:KDECAN,10:Scripting,11:Benewake,12:Scripting2,13:TOFSenseP,14:NanoRadar_NRA24
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("PROTOCOL", 1, AP_CANManager::CANDriver_Params, _driver_type, float(AP_CAN::Protocol::DroneCAN)),
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#if HAL_ENABLE_DRONECAN_DRIVERS
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// @Group: UC_
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// @Path: ../AP_DroneCAN/AP_DroneCAN.cpp
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AP_SUBGROUPPTR(_uavcan, "UC_", 2, AP_CANManager::CANDriver_Params, AP_DroneCAN),
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#endif
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// index 3 was KDECAN
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// index 4 was CANTester
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#if HAL_PICCOLO_CAN_ENABLE
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// @Group: PC_
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// @Path: ../AP_PiccoloCAN/AP_PiccoloCAN.cpp
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AP_SUBGROUPPTR(_piccolocan, "PC_", 5, AP_CANManager::CANDriver_Params, AP_PiccoloCAN),
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#endif
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// @Param: PROTOCOL2
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// @DisplayName: Secondary protocol with 11 bit CAN addressing
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// @Description: Secondary protocol with 11 bit CAN addressing
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// @Values: 0:Disabled,7:USD1,10:Scripting,11:Benewake,12:Scripting2,13:TOFSenseP,14:NanoRadar_NRA24
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("PROTOCOL2", 6, AP_CANManager::CANDriver_Params, _driver_type_11bit, float(AP_CAN::Protocol::None)),
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AP_GROUPEND
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};
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#endif
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