aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_CANManager: disable SLCAN when armed

Browse Source 
this disables SLCAN if enabled using CAN_SLCAN_CPORT and
SERIALn_PROTOCOL=22 when we are armed, to reduce load on the CAN
thread from the very inefficient SLCAN processing
This commit is contained in:
Andrew Tridgell 2022-09-28 13:26:27 +10:00 committed by Randy Mackay
parent 5c7a2b6369
commit 57c873d304
1 changed files with 8 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_CANManager/AP_SLCANIface.cpp
View File

@ -511,12 +511,17 @@ inline void SLCAN::CANIface::addByte(const uint8_t byte)
void SLCAN::CANIface::update_slcan_port() void SLCAN::CANIface::update_slcan_port()
{ {
const bool armed = hal.util->get_soft_armed();
if (_set_by_sermgr) { if (_set_by_sermgr) {
// Once we pick SerialManager path we hold on if (armed && _port != nullptr) {
// to that until reboot // auto-disable when armed
_port->lock_port(0, 0);
_port = nullptr;
_set_by_sermgr = false;
}
return; return;
} }
if (_port == nullptr) { if (_port == nullptr && !armed) {
_port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SLCAN, 0); _port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SLCAN, 0);
if (_port != nullptr) { if (_port != nullptr) {
_port->lock_port(_serial_lock_key, _serial_lock_key); _port->lock_port(_serial_lock_key, _serial_lock_key);