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AP_DroneCAN: cleanup more defines and classes

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This commit is contained in:
Andrew Tridgell 2023-04-08 14:13:44 +10:00
parent 5b45a4060a
commit 3129cae875
2 changed files with 18 additions and 18 deletions
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8
libraries/AP_DroneCAN/AP_DroneCAN.cpp
View File

@ -53,11 +53,11 @@
extern const AP_HAL::HAL& hal;
// setup default pool size
#ifndef UAVCAN_NODE_POOL_SIZE
#ifndef DRONECAN_NODE_POOL_SIZE
#if HAL_CANFD_SUPPORTED
#define UAVCAN_NODE_POOL_SIZE 16384
#define DRONECAN_NODE_POOL_SIZE 16384
#else
#define UAVCAN_NODE_POOL_SIZE 8192
#define DRONECAN_NODE_POOL_SIZE 8192
#endif
#endif
@ -141,7 +141,7 @@ const AP_Param::GroupInfo AP_DroneCAN::var_info[] = {
// @Description: Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads
// @Range: 1024 16384
// @User: Advanced
AP_GROUPINFO("POOL", 8, AP_DroneCAN, _pool_size, UAVCAN_NODE_POOL_SIZE),
AP_GROUPINFO("POOL", 8, AP_DroneCAN, _pool_size, DRONECAN_NODE_POOL_SIZE),
AP_GROUPEND
};

28
libraries/AP_DroneCAN/examples/DroneCAN_sniffer/UAVCAN_sniffer.cpp
View File

@ -1,5 +1,5 @@
/*
simple UAVCAN network sniffer as an ArduPilot firmware
simple DroneCAN network sniffer as an ArduPilot firmware
*/
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
@ -24,16 +24,16 @@ void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define UAVCAN_NODE_POOL_SIZE 8192
#define DRONECAN_NODE_POOL_SIZE 8192
static uint8_t node_memory_pool[UAVCAN_NODE_POOL_SIZE];
static uint8_t node_memory_pool[DRONECAN_NODE_POOL_SIZE];
#define debug_uavcan(fmt, args...) do { hal.console->printf(fmt, ##args); } while (0)
class UAVCAN_sniffer {
class DroneCAN_sniffer {
public:
UAVCAN_sniffer();
~UAVCAN_sniffer();
DroneCAN_sniffer();
~DroneCAN_sniffer();
void init(void);
void loop(void);
@ -96,7 +96,7 @@ static void cb_GetNodeInfoRequest(const CanardRxTransfer &transfer, const uavcan
node_info_srv->respond(transfer, node_info);
}
void UAVCAN_sniffer::init(void)
void DroneCAN_sniffer::init(void)
{
const_cast <AP_HAL::HAL&> (hal).can[driver_index] = new HAL_CANIface(driver_index);
@ -156,7 +156,7 @@ void UAVCAN_sniffer::init(void)
START_CB(uavcan_equipment_indication_LightsCommand, LightsCommand);
START_CB(com_hex_equipment_flow_Measurement, Measurement);
debug_uavcan("UAVCAN: init done\n\r");
debug_uavcan("DroneCAN: init done\n\r");
}
static void send_node_status()
@ -171,7 +171,7 @@ static void send_node_status()
}
uint32_t last_status_send = 0;
void UAVCAN_sniffer::loop(void)
void DroneCAN_sniffer::loop(void)
{
if (AP_HAL::millis() - last_status_send > 1000) {
last_status_send = AP_HAL::millis();
@ -180,7 +180,7 @@ void UAVCAN_sniffer::loop(void)
_uavcan_iface_mgr->process(1);
}
void UAVCAN_sniffer::print_stats(void)
void DroneCAN_sniffer::print_stats(void)
{
hal.console->printf("%lu\n", (unsigned long)AP_HAL::micros());
for (uint16_t i=0;i<100;i++) {
@ -193,19 +193,19 @@ void UAVCAN_sniffer::print_stats(void)
hal.console->printf("\n");
}
static UAVCAN_sniffer sniffer;
static DroneCAN_sniffer sniffer;
UAVCAN_sniffer::UAVCAN_sniffer()
DroneCAN_sniffer::DroneCAN_sniffer()
{}
UAVCAN_sniffer::~UAVCAN_sniffer()
DroneCAN_sniffer::~DroneCAN_sniffer()
{
}
void setup(void)
{
hal.scheduler->delay(2000);
hal.console->printf("Starting UAVCAN sniffer\n");
hal.console->printf("Starting DroneCAN sniffer\n");
sniffer.init();
}