mirror of https://github.com/ArduPilot/ardupilot
103 lines
2.5 KiB
C++
103 lines
2.5 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_BoardConfig.h"
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <sys/ioctl.h>
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#if HAL_WITH_UAVCAN
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#define UAVCAN_PROTOCOL_ENABLE 1
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class AP_BoardConfig_CAN {
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public:
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AP_BoardConfig_CAN() {
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AP_Param::setup_object_defaults(this, var_info);
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};
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/* Do not allow copies */
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AP_BoardConfig_CAN(const AP_BoardConfig_CAN &other) = delete;
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AP_BoardConfig_CAN &operator=(const AP_BoardConfig_CAN&) = delete;
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void init(void);
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static const struct AP_Param::GroupInfo var_info[];
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class CAN_if_var_info {
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friend class AP_BoardConfig_CAN;
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public:
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CAN_if_var_info()
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Int8 _driver_number;
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AP_Int8 _can_debug;
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AP_Int32 _can_bitrate;
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};
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class CAN_driver_var_info {
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friend class AP_BoardConfig_CAN;
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public:
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CAN_driver_var_info() :
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_uavcan(nullptr)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Int8 _protocol;
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AP_UAVCAN* _uavcan;
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};
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// returns number of enabled CAN interfaces
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static int8_t get_can_num_ifaces(void)
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{
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uint8_t ret = 0;
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for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
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if (_st_driver_number[i]) {
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ret++;
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}
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}
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return ret;
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}
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static int8_t get_can_debug(uint8_t i)
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{
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if (i < MAX_NUMBER_OF_CAN_INTERFACES) {
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return _st_can_debug[i];
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}
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return 0;
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}
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// return maximum level of debug
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static int8_t get_can_debug(void)
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{
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uint8_t ret = 0;
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for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
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uint8_t dbg = get_can_debug(i);
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ret = (dbg > ret) ? dbg : ret;
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}
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return ret;
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}
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CAN_if_var_info _var_info_can[MAX_NUMBER_OF_CAN_INTERFACES];
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CAN_driver_var_info _var_info_can_protocol[MAX_NUMBER_OF_CAN_DRIVERS];
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static int8_t _st_driver_number[MAX_NUMBER_OF_CAN_INTERFACES];
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static int8_t _st_can_debug[MAX_NUMBER_OF_CAN_INTERFACES];
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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void px4_setup_canbus(void);
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#endif // HAL_BOARD_PX4 || HAL_BOARD_VRBRAIN
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};
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#endif
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