mirror of https://github.com/ArduPilot/ardupilot
655 lines
22 KiB
C++
655 lines
22 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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/*
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* AP_CANManager - board specific configuration for CAN interface
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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_CANManager.h"
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#if HAL_CANMANAGER_ENABLED
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#include <AP_BoardConfig/AP_BoardConfig.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_KDECAN/AP_KDECAN.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <AP_PiccoloCAN/AP_PiccoloCAN.h>
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#include <AP_EFI/AP_EFI_NWPMU.h>
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#include <GCS_MAVLink/GCS.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <AP_HAL_Linux/CANSocketIface.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_HAL_SITL/CANSocketIface.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include <hal.h>
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#include <AP_HAL_ChibiOS/CANIface.h>
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#endif
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#include <AP_Common/ExpandingString.h>
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#include <AP_Common/sorting.h>
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#define LOG_TAG "CANMGR"
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#define LOG_BUFFER_SIZE 1024
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extern const AP_HAL::HAL& hal;
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// table of user settable parameters
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const AP_Param::GroupInfo AP_CANManager::var_info[] = {
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#if HAL_NUM_CAN_IFACES > 0
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// @Group: P1_
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// @Path: ../AP_CANManager/AP_CANIfaceParams.cpp
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AP_SUBGROUPINFO(_interfaces[0], "P1_", 1, AP_CANManager, AP_CANManager::CANIface_Params),
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#endif
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#if HAL_NUM_CAN_IFACES > 1
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// @Group: P2_
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// @Path: ../AP_CANManager/AP_CANIfaceParams.cpp
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AP_SUBGROUPINFO(_interfaces[1], "P2_", 2, AP_CANManager, AP_CANManager::CANIface_Params),
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#endif
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#if HAL_NUM_CAN_IFACES > 2
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// @Group: P3_
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// @Path: ../AP_CANManager/AP_CANIfaceParams.cpp
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AP_SUBGROUPINFO(_interfaces[2], "P3_", 3, AP_CANManager, AP_CANManager::CANIface_Params),
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#endif
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 0
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// @Group: D1_
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// @Path: ../AP_CANManager/AP_CANDriver.cpp
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AP_SUBGROUPINFO(_drv_param[0], "D1_", 4, AP_CANManager, AP_CANManager::CANDriver_Params),
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#endif
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1
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// @Group: D2_
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// @Path: ../AP_CANManager/AP_CANDriver.cpp
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AP_SUBGROUPINFO(_drv_param[1], "D2_", 5, AP_CANManager, AP_CANManager::CANDriver_Params),
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#endif
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 2
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// @Group: D3_
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// @Path: ../AP_CANManager/AP_CANDriver.cpp
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AP_SUBGROUPINFO(_drv_param[2], "D3_", 6, AP_CANManager, AP_CANManager::CANDriver_Params),
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#endif
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#if AP_CAN_SLCAN_ENABLED
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// @Group: SLCAN_
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// @Path: ../AP_CANManager/AP_SLCANIface.cpp
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AP_SUBGROUPINFO(_slcan_interface, "SLCAN_", 7, AP_CANManager, SLCAN::CANIface),
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#endif
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// @Param: LOGLEVEL
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// @DisplayName: Loglevel
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// @Description: Loglevel for recording initialisation and debug information from CAN Interface
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// @Range: 0 4
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// @Values: 0: Log None, 1: Log Error, 2: Log Warning and below, 3: Log Info and below, 4: Log Everything
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// @User: Advanced
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AP_GROUPINFO("LOGLEVEL", 8, AP_CANManager, _loglevel, AP_CANManager::LOG_NONE),
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AP_GROUPEND
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};
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AP_CANManager *AP_CANManager::_singleton;
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AP_CANManager::AP_CANManager()
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{
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AP_Param::setup_object_defaults(this, var_info);
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if (_singleton != nullptr) {
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AP_HAL::panic("AP_CANManager must be singleton");
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}
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_singleton = this;
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}
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#if !AP_TEST_DRONECAN_DRIVERS
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void AP_CANManager::init()
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{
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WITH_SEMAPHORE(_sem);
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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if (AP::sitl() == nullptr) {
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AP_HAL::panic("CANManager: SITL not initialised!");
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}
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#endif
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// We only allocate log buffer only when under debug
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if (_loglevel != AP_CANManager::LOG_NONE) {
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_log_buf = new char[LOG_BUFFER_SIZE];
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_log_pos = 0;
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}
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#if AP_CAN_SLCAN_ENABLED
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//Reset all SLCAN related params that needs resetting at boot
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_slcan_interface.reset_params();
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#endif
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AP_CAN::Protocol drv_type[HAL_MAX_CAN_PROTOCOL_DRIVERS] = {};
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// loop through interfaces and allocate and initialise Iface,
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// Also allocate Driver objects, and add interfaces to them
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for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
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// Get associated Driver to the interface
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uint8_t drv_num = _interfaces[i]._driver_number;
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if (drv_num == 0 || drv_num > HAL_MAX_CAN_PROTOCOL_DRIVERS) {
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continue;
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}
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drv_num--;
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if (hal.can[i] == nullptr) {
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// So if this interface is not allocated allocate it here,
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// also pass the index of the CANBus
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const_cast <AP_HAL::HAL&> (hal).can[i] = new HAL_CANIface(i);
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}
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// Initialise the interface we just allocated
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if (hal.can[i] == nullptr) {
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continue;
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}
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AP_HAL::CANIface* iface = hal.can[i];
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// Find the driver type that we need to allocate and register this interface with
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drv_type[drv_num] = (AP_CAN::Protocol) _drv_param[drv_num]._driver_type.get();
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bool can_initialised = false;
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// Check if this interface need hooking up to slcan passthrough
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// instead of a driver
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#if AP_CAN_SLCAN_ENABLED
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if (_slcan_interface.init_passthrough(i)) {
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// we have slcan bridge setup pass that on as can iface
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can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, _interfaces[i]._fdbitrate*1000000, AP_HAL::CANIface::NormalMode);
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iface = &_slcan_interface;
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} else {
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#else
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if (true) {
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#endif
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can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, _interfaces[i]._fdbitrate*1000000, AP_HAL::CANIface::NormalMode);
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}
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if (!can_initialised) {
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log_text(AP_CANManager::LOG_ERROR, LOG_TAG, "Failed to initialise CAN Interface %d", i+1);
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continue;
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}
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log_text(AP_CANManager::LOG_INFO, LOG_TAG, "CAN Interface %d initialized well", i + 1);
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if (_drivers[drv_num] != nullptr) {
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//We already initialised the driver just add interface and move on
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log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Adding Interface %d to Driver %d", i + 1, drv_num + 1);
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_drivers[drv_num]->add_interface(iface);
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continue;
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}
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if (_num_drivers >= HAL_MAX_CAN_PROTOCOL_DRIVERS) {
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// We are exceeding number of drivers,
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// this can't be happening time to panic
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AP_BoardConfig::config_error("Max number of CAN Drivers exceeded\n\r");
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}
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// Allocate the set type of Driver
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#if HAL_ENABLE_DRONECAN_DRIVERS
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if (drv_type[drv_num] == AP_CAN::Protocol::DroneCAN) {
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_drivers[drv_num] = _drv_param[drv_num]._uavcan = new AP_DroneCAN(drv_num);
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if (_drivers[drv_num] == nullptr) {
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AP_BoardConfig::allocation_error("uavcan %d", i + 1);
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continue;
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}
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AP_Param::load_object_from_eeprom((AP_DroneCAN*)_drivers[drv_num], AP_DroneCAN::var_info);
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} else
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#endif
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#if HAL_PICCOLO_CAN_ENABLE
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if (drv_type[drv_num] == AP_CAN::Protocol::PiccoloCAN) {
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_drivers[drv_num] = _drv_param[drv_num]._piccolocan = new AP_PiccoloCAN;
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if (_drivers[drv_num] == nullptr) {
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AP_BoardConfig::allocation_error("PiccoloCAN %d", drv_num + 1);
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continue;
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}
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AP_Param::load_object_from_eeprom((AP_PiccoloCAN*)_drivers[drv_num], AP_PiccoloCAN::var_info);
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} else
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#endif
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{
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continue;
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}
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_num_drivers++;
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// Hook this interface to the selected Driver Type
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_drivers[drv_num]->add_interface(iface);
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log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Adding Interface %d to Driver %d", i + 1, drv_num + 1);
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}
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for (uint8_t drv_num = 0; drv_num < HAL_MAX_CAN_PROTOCOL_DRIVERS; drv_num++) {
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//initialise all the Drivers
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// Cache the driver type, initialized or not, so we can detect that it is in the params at boot via get_driver_type().
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// This allows drivers that are initialized by CANSensor instead of CANManager to know if they should init or not
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_driver_type_cache[drv_num] = drv_type[drv_num];
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if (_drivers[drv_num] == nullptr) {
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continue;
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}
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bool enable_filter = false;
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for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
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if (_interfaces[i]._driver_number == (drv_num+1) &&
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hal.can[i] != nullptr &&
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hal.can[i]->get_operating_mode() == AP_HAL::CANIface::FilteredMode) {
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// Don't worry we don't enable Filters for Normal Ifaces under the driver
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// this is just to ensure we enable them for the ones we already decided on
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enable_filter = true;
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break;
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}
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}
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_drivers[drv_num]->init(drv_num, enable_filter);
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}
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}
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#else
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void AP_CANManager::init()
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{
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WITH_SEMAPHORE(_sem);
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for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
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if ((AP_CAN::Protocol) _drv_param[i]._driver_type.get() == AP_CAN::Protocol::DroneCAN) {
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_drivers[i] = _drv_param[i]._uavcan = new AP_DroneCAN(i);
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if (_drivers[i] == nullptr) {
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AP_BoardConfig::allocation_error("uavcan %d", i + 1);
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continue;
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}
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AP_Param::load_object_from_eeprom((AP_DroneCAN*)_drivers[i], AP_DroneCAN::var_info);
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_drivers[i]->init(i, true);
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_driver_type_cache[i] = (AP_CAN::Protocol) _drv_param[i]._driver_type.get();
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}
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}
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}
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#endif
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/*
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register a new CAN driver
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*/
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bool AP_CANManager::register_driver(AP_CAN::Protocol dtype, AP_CANDriver *driver)
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{
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WITH_SEMAPHORE(_sem);
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for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
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uint8_t drv_num = _interfaces[i]._driver_number;
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if (drv_num == 0 || drv_num > HAL_MAX_CAN_PROTOCOL_DRIVERS) {
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continue;
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}
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// from 1 based to 0 based
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drv_num--;
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if (dtype != (AP_CAN::Protocol)_drv_param[drv_num]._driver_type.get()) {
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continue;
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}
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if (_drivers[drv_num] != nullptr) {
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continue;
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}
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if (_num_drivers >= HAL_MAX_CAN_PROTOCOL_DRIVERS) {
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continue;
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}
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if (hal.can[i] == nullptr) {
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// if this interface is not allocated allocate it here,
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// also pass the index of the CANBus
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const_cast <AP_HAL::HAL&> (hal).can[i] = new HAL_CANIface(i);
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}
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// Initialise the interface we just allocated
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if (hal.can[i] == nullptr) {
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continue;
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}
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AP_HAL::CANIface* iface = hal.can[i];
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_drivers[drv_num] = driver;
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_drivers[drv_num]->add_interface(iface);
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log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Adding Interface %d to Driver %d", i + 1, drv_num + 1);
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_drivers[drv_num]->init(drv_num, false);
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_driver_type_cache[drv_num] = dtype;
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_num_drivers++;
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return true;
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}
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return false;
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}
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// Method used by CAN related library methods to report status and debug info
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// The result of this method can be accessed via ftp get @SYS/can_log.txt
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void AP_CANManager::log_text(AP_CANManager::LogLevel loglevel, const char *tag, const char *fmt, ...)
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{
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if (_log_buf == nullptr) {
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return;
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}
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if (loglevel > _loglevel) {
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return;
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}
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if ((LOG_BUFFER_SIZE - _log_pos) < (10 + strlen(tag) + strlen(fmt))) {
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// reset log pos
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_log_pos = 0;
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}
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//Tag Log Message
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switch (loglevel) {
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case AP_CANManager::LOG_DEBUG :
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_log_pos += hal.util->snprintf(&_log_buf[_log_pos], LOG_BUFFER_SIZE - _log_pos, "\n%s DEBUG :", tag);
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break;
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case AP_CANManager::LOG_INFO :
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_log_pos += hal.util->snprintf(&_log_buf[_log_pos], LOG_BUFFER_SIZE - _log_pos, "\n%s INFO :", tag);
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break;
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case AP_CANManager::LOG_WARNING :
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_log_pos += hal.util->snprintf(&_log_buf[_log_pos], LOG_BUFFER_SIZE - _log_pos, "\n%s WARN :", tag);
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break;
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case AP_CANManager::LOG_ERROR :
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_log_pos += hal.util->snprintf(&_log_buf[_log_pos], LOG_BUFFER_SIZE - _log_pos, "\n%s ERROR :", tag);
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break;
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default :
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return;
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}
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va_list arg_list;
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va_start(arg_list, fmt);
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_log_pos += hal.util->vsnprintf(&_log_buf[_log_pos], LOG_BUFFER_SIZE - _log_pos, fmt, arg_list);
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va_end(arg_list);
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}
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// log retrieve method used by file sys method to report can log
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void AP_CANManager::log_retrieve(ExpandingString &str) const
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{
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if (_log_buf == nullptr) {
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GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Log buffer not available");
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return;
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}
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str.append(_log_buf, _log_pos);
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}
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#if HAL_GCS_ENABLED
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/*
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handle MAV_CMD_CAN_FORWARD mavlink long command
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*/
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bool AP_CANManager::handle_can_forward(mavlink_channel_t chan, const mavlink_command_long_t &packet, const mavlink_message_t &msg)
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{
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WITH_SEMAPHORE(can_forward.sem);
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const int8_t bus = int8_t(packet.param1)-1;
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if (bus == -1) {
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for (auto can_iface : hal.can) {
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if (can_iface) {
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can_iface->register_frame_callback(nullptr);
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}
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}
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return true;
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}
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if (bus >= HAL_NUM_CAN_IFACES || hal.can[bus] == nullptr) {
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return false;
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}
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if (!hal.can[bus]->register_frame_callback(
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FUNCTOR_BIND_MEMBER(&AP_CANManager::can_frame_callback, void, uint8_t, const AP_HAL::CANFrame &))) {
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return false;
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}
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can_forward.last_callback_enable_ms = AP_HAL::millis();
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can_forward.chan = chan;
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can_forward.system_id = msg.sysid;
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can_forward.component_id = msg.compid;
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// remove registration on other buses, allowing for bus change in the GUI tool
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for (uint8_t i=0; i<HAL_NUM_CAN_IFACES; i++) {
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if (i != bus && hal.can[i] != nullptr) {
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hal.can[i]->register_frame_callback(nullptr);
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}
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}
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return true;
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}
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/*
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handle a CAN_FRAME packet
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*/
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void AP_CANManager::handle_can_frame(const mavlink_message_t &msg)
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{
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if (frame_buffer == nullptr) {
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// allocate frame buffer
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WITH_SEMAPHORE(_sem);
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// 20 is good for firmware upload
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uint8_t buffer_size = 20;
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while (frame_buffer == nullptr && buffer_size > 0) {
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// we'd like 20 frames, but will live with less
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frame_buffer = new ObjectBuffer<BufferFrame>(buffer_size);
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if (frame_buffer != nullptr && frame_buffer->get_size() != 0) {
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// register a callback for when frames can't be sent immediately
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hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_CANManager::process_frame_buffer, void));
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break;
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}
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delete frame_buffer;
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frame_buffer = nullptr;
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buffer_size /= 2;
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}
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if (frame_buffer == nullptr) {
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// disard the frames
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return;
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}
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}
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switch (msg.msgid) {
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case MAVLINK_MSG_ID_CAN_FRAME: {
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mavlink_can_frame_t p;
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mavlink_msg_can_frame_decode(&msg, &p);
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if (p.bus >= HAL_NUM_CAN_IFACES || hal.can[p.bus] == nullptr) {
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return;
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}
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struct BufferFrame frame {
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bus : p.bus,
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frame : AP_HAL::CANFrame(p.id, p.data, p.len)
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};
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WITH_SEMAPHORE(_sem);
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frame_buffer->push(frame);
|
|
break;
|
|
}
|
|
case MAVLINK_MSG_ID_CANFD_FRAME: {
|
|
mavlink_canfd_frame_t p;
|
|
mavlink_msg_canfd_frame_decode(&msg, &p);
|
|
if (p.bus >= HAL_NUM_CAN_IFACES || hal.can[p.bus] == nullptr) {
|
|
return;
|
|
}
|
|
struct BufferFrame frame {
|
|
bus : p.bus,
|
|
frame : AP_HAL::CANFrame(p.id, p.data, p.len, true)
|
|
};
|
|
WITH_SEMAPHORE(_sem);
|
|
frame_buffer->push(frame);
|
|
break;
|
|
}
|
|
}
|
|
process_frame_buffer();
|
|
}
|
|
|
|
/*
|
|
process the frame buffer
|
|
*/
|
|
void AP_CANManager::process_frame_buffer(void)
|
|
{
|
|
while (frame_buffer) {
|
|
WITH_SEMAPHORE(_sem);
|
|
struct BufferFrame frame;
|
|
const uint16_t timeout_us = 2000;
|
|
if (!frame_buffer->peek(frame)) {
|
|
// no frames in the queue
|
|
break;
|
|
}
|
|
const int16_t retcode = hal.can[frame.bus]->send(frame.frame,
|
|
AP_HAL::micros64() + timeout_us,
|
|
AP_HAL::CANIface::IsMAVCAN);
|
|
if (retcode == 0) {
|
|
// no space in the CAN output slots, try again later
|
|
break;
|
|
}
|
|
// retcode == 1 means sent, -1 means a frame that can't be
|
|
// sent. Either way we should remove from the queue
|
|
frame_buffer->pop();
|
|
}
|
|
}
|
|
|
|
/*
|
|
handle a CAN_FILTER_MODIFY packet
|
|
*/
|
|
void AP_CANManager::handle_can_filter_modify(const mavlink_message_t &msg)
|
|
{
|
|
mavlink_can_filter_modify_t p;
|
|
mavlink_msg_can_filter_modify_decode(&msg, &p);
|
|
const int8_t bus = int8_t(p.bus)-1;
|
|
if (bus >= HAL_NUM_CAN_IFACES || hal.can[bus] == nullptr) {
|
|
return;
|
|
}
|
|
if (p.num_ids > ARRAY_SIZE(p.ids)) {
|
|
return;
|
|
}
|
|
uint16_t *new_ids = nullptr;
|
|
uint16_t num_new_ids = 0;
|
|
WITH_SEMAPHORE(can_forward.sem);
|
|
|
|
// sort the list, so we can bisection search and the array
|
|
// operations below are efficient
|
|
insertion_sort_uint16(p.ids, p.num_ids);
|
|
|
|
switch (p.operation) {
|
|
case CAN_FILTER_REPLACE: {
|
|
if (p.num_ids == 0) {
|
|
can_forward.num_filter_ids = 0;
|
|
delete[] can_forward.filter_ids;
|
|
can_forward.filter_ids = nullptr;
|
|
return;
|
|
}
|
|
if (p.num_ids == can_forward.num_filter_ids &&
|
|
memcmp(p.ids, can_forward.filter_ids, p.num_ids*sizeof(uint16_t)) == 0) {
|
|
// common case of replacing with identical list
|
|
return;
|
|
}
|
|
new_ids = new uint16_t[p.num_ids];
|
|
if (new_ids != nullptr) {
|
|
num_new_ids = p.num_ids;
|
|
memcpy((void*)new_ids, (const void *)p.ids, p.num_ids*sizeof(uint16_t));
|
|
}
|
|
break;
|
|
}
|
|
case CAN_FILTER_ADD: {
|
|
if (common_list_uint16(can_forward.filter_ids, can_forward.num_filter_ids,
|
|
p.ids, p.num_ids) == p.num_ids) {
|
|
// nothing changing
|
|
return;
|
|
}
|
|
new_ids = new uint16_t[can_forward.num_filter_ids+p.num_ids];
|
|
if (new_ids == nullptr) {
|
|
return;
|
|
}
|
|
if (can_forward.num_filter_ids != 0) {
|
|
memcpy(new_ids, can_forward.filter_ids, can_forward.num_filter_ids*sizeof(uint16_t));
|
|
}
|
|
memcpy(&new_ids[can_forward.num_filter_ids], p.ids, p.num_ids*sizeof(uint16_t));
|
|
insertion_sort_uint16(new_ids, can_forward.num_filter_ids+p.num_ids);
|
|
num_new_ids = remove_duplicates_uint16(new_ids, can_forward.num_filter_ids+p.num_ids);
|
|
break;
|
|
}
|
|
case CAN_FILTER_REMOVE: {
|
|
if (common_list_uint16(can_forward.filter_ids, can_forward.num_filter_ids,
|
|
p.ids, p.num_ids) == 0) {
|
|
// nothing changing
|
|
return;
|
|
}
|
|
can_forward.num_filter_ids = remove_list_uint16(can_forward.filter_ids, can_forward.num_filter_ids,
|
|
p.ids, p.num_ids);
|
|
if (can_forward.num_filter_ids == 0) {
|
|
delete[] can_forward.filter_ids;
|
|
can_forward.filter_ids = nullptr;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
if (new_ids != nullptr) {
|
|
// handle common case of no change
|
|
if (num_new_ids == can_forward.num_filter_ids &&
|
|
memcmp(new_ids, can_forward.filter_ids, num_new_ids*sizeof(uint16_t)) == 0) {
|
|
delete[] new_ids;
|
|
} else {
|
|
// put the new list in place
|
|
delete[] can_forward.filter_ids;
|
|
can_forward.filter_ids = new_ids;
|
|
can_forward.num_filter_ids = num_new_ids;
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
handler for CAN frames from the registered callback, sending frames
|
|
out as CAN_FRAME or CANFD_FRAME messages
|
|
*/
|
|
void AP_CANManager::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame)
|
|
{
|
|
WITH_SEMAPHORE(can_forward.sem);
|
|
if (can_forward.frame_counter++ == 100) {
|
|
// check every 100 frames for disabling CAN_FRAME send
|
|
// we stop sending after 5s if the client stops
|
|
// sending MAV_CMD_CAN_FORWARD requests
|
|
if (AP_HAL::millis() - can_forward.last_callback_enable_ms > 5000) {
|
|
hal.can[bus]->register_frame_callback(nullptr);
|
|
return;
|
|
}
|
|
can_forward.frame_counter = 0;
|
|
}
|
|
WITH_SEMAPHORE(comm_chan_lock(can_forward.chan));
|
|
if (can_forward.filter_ids != nullptr) {
|
|
// work out ID of this frame
|
|
uint16_t id = 0;
|
|
if ((frame.id&0xff) != 0) {
|
|
// not anonymous
|
|
if (frame.id & 0x80) {
|
|
// service message
|
|
id = uint8_t(frame.id>>16);
|
|
} else {
|
|
// message frame
|
|
id = uint16_t(frame.id>>8);
|
|
}
|
|
}
|
|
if (!bisect_search_uint16(can_forward.filter_ids, can_forward.num_filter_ids, id)) {
|
|
return;
|
|
}
|
|
}
|
|
const uint8_t data_len = AP_HAL::CANFrame::dlcToDataLength(frame.dlc);
|
|
if (frame.isCanFDFrame()) {
|
|
if (HAVE_PAYLOAD_SPACE(can_forward.chan, CANFD_FRAME)) {
|
|
mavlink_msg_canfd_frame_send(can_forward.chan, can_forward.system_id, can_forward.component_id,
|
|
bus, data_len, frame.id, const_cast<uint8_t*>(frame.data));
|
|
}
|
|
} else {
|
|
if (HAVE_PAYLOAD_SPACE(can_forward.chan, CAN_FRAME)) {
|
|
mavlink_msg_can_frame_send(can_forward.chan, can_forward.system_id, can_forward.component_id,
|
|
bus, data_len, frame.id, const_cast<uint8_t*>(frame.data));
|
|
}
|
|
}
|
|
}
|
|
#endif // HAL_GCS_ENABLED
|
|
|
|
AP_CANManager& AP::can()
|
|
{
|
|
return *AP_CANManager::get_singleton();
|
|
}
|
|
|
|
#endif
|
|
|