ardupilot/libraries/AP_CANManager/AP_CANDriver.cpp

65 lines
2.4 KiB
C++

/*
* This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_CANMANAGER_ENABLED
#include "AP_CANManager.h"
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_ToshibaCAN/AP_ToshibaCAN.h>
#include <AP_PiccoloCAN/AP_PiccoloCAN.h>
#include "AP_CANTester.h"
#include <AP_KDECAN/AP_KDECAN.h>
// table of user settable CAN bus parameters
const AP_Param::GroupInfo AP_CANManager::CANDriver_Params::var_info[] = {
// @Param: PROTOCOL
// @DisplayName: Enable use of specific protocol over virtual driver
// @Description: Enabling this option starts selected protocol that will use this virtual driver
// @Values: 0:Disabled,1:DroneCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,6:EFI_NWPMU,7:USD1,8:KDECAN,10:Scripting,11:Benewake
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("PROTOCOL", 1, AP_CANManager::CANDriver_Params, _driver_type, AP_CANManager::Driver_Type_UAVCAN),
// @Group: UC_
// @Path: ../AP_UAVCAN/AP_UAVCAN.cpp
AP_SUBGROUPPTR(_uavcan, "UC_", 2, AP_CANManager::CANDriver_Params, AP_UAVCAN),
#if (APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub))
// @Group: KDE_
// @Path: ../AP_KDECAN/AP_KDECAN.cpp
AP_SUBGROUPPTR(_kdecan, "KDE_", 3, AP_CANManager::CANDriver_Params, AP_KDECAN),
#endif
#if HAL_NUM_CAN_IFACES > 1 && !HAL_MINIMIZE_FEATURES
// @Group: TST_
// @Path: ../AP_CANManager/AP_CANTester.cpp
AP_SUBGROUPPTR(_testcan, "TST_", 4, AP_CANManager::CANDriver_Params, CANTester),
#endif
#if HAL_PICCOLO_CAN_ENABLE
// @Group: PC_
// @Path: ../AP_PiccoloCAN/AP_PiccoloCAN.cpp
AP_SUBGROUPPTR(_piccolocan, "PC_", 5, AP_CANManager::CANDriver_Params, AP_PiccoloCAN),
#endif
AP_GROUPEND
};
#endif