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SITL: added SIM_CAN_TYPE0 and SIM_CAN_TYPE1

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this selects the transport to use for CAN
This commit is contained in:
Andrew Tridgell 2023-08-26 11:29:38 +10:00
parent b6e79d05fd
commit 3508d7eaa9
2 changed files with 27 additions and 0 deletions
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18
libraries/SITL/SITL.cpp
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@ -105,6 +105,24 @@ const AP_Param::GroupInfo SIM::var_info[] = {
// @User: Advanced
AP_GROUPINFO("CAN_SRV_MSK", 29, SIM, can_servo_mask, 0),
#if HAL_NUM_CAN_IFACES > 0
// @Param: CAN_TYPE1
// @DisplayName: transport type for first CAN interface
// @Description: transport type for first CAN interface
// @Values: 0:MulticastUDP,1:SocketCAN
// @User: Advanced
AP_GROUPINFO("CAN_TYPE1", 30, SIM, can_transport[0], uint8_t(CANTransport::MulticastUDP)),
#endif
#if HAL_NUM_CAN_IFACES > 1
// @Param: CAN_TYPE2
// @DisplayName: transport type for second CAN interface
// @Description: transport type for second CAN interface
// @Values: 0:MulticastUDP,1:SocketCAN
// @User: Advanced
AP_GROUPINFO("CAN_TYPE2", 31, SIM, can_transport[1], uint8_t(CANTransport::MulticastUDP)),
#endif
AP_GROUPINFO("SONAR_SCALE", 32, SIM, sonar_scale, 12.1212f),
AP_GROUPINFO("FLOW_ENABLE", 33, SIM, flow_enable, 0),
AP_GROUPINFO("TERRAIN", 34, SIM, terrain_enable, 1),

9
libraries/SITL/SITL.h
View File

@ -219,6 +219,15 @@ public:
AP_Int8 rc_chancount; // channel count
AP_Int8 float_exception; // enable floating point exception checks
AP_Int32 can_servo_mask; // mask of servos/escs coming from CAN
#if HAL_NUM_CAN_IFACES
enum class CANTransport : uint8_t {
MulticastUDP = 0,
SocketCAN = 1
};
AP_Enum<CANTransport> can_transport[HAL_NUM_CAN_IFACES];
#endif
AP_Int8 flow_enable; // enable simulated optflow
AP_Int16 flow_rate; // optflow data rate (Hz)
AP_Int8 flow_delay; // optflow data delay