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AP_BoardConfig: Linux CAN initialisation

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This commit is contained in:
Alexey Bulatov 2017-06-01 18:19:51 +03:00 committed by Tom Pittenger
parent a50e6c6dd7
commit 606eb05c95
3 changed files with 47 additions and 2 deletions
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7
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -22,6 +22,13 @@
#include "AP_BoardConfig.h"
#include <stdio.h>
#if HAL_WITH_UAVCAN
#include <AP_UAVCAN/AP_UAVCAN.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_HAL_Linux/CAN.h>
#endif
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define BOARD_SAFETY_ENABLE_DEFAULT 1
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)

37
libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
View File

@ -29,6 +29,8 @@
#include <unistd.h>
#include <AP_HAL_PX4/CAN.h>
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_HAL_Linux/CAN.h>
#endif
#include <AP_UAVCAN/AP_UAVCAN.h>
@ -90,8 +92,9 @@ void AP_BoardConfig_CAN::init()
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
px4_setup_canbus();
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
linux_setup_canbus();
#endif
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
@ -157,6 +160,38 @@ void AP_BoardConfig_CAN::px4_setup_canbus(void)
}
}
}
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
void AP_BoardConfig_CAN::linux_setup_canbus(void) {
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
uint8_t drv_num = _var_info_can[i]._driver_number;
if (drv_num != 0 && drv_num <= MAX_NUMBER_OF_CAN_DRIVERS) {
if (hal.can_mgr[drv_num - 1] == nullptr) {
const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new Linux::LinuxCANDriver;
}
if (hal.can_mgr[drv_num - 1] != nullptr) {
_var_info_can_protocol[i]._uavcan = new AP_UAVCAN;
if (_var_info_can_protocol[i]._uavcan != nullptr) {
AP_Param::load_object_from_eeprom(_var_info_can_protocol[i]._uavcan, AP_UAVCAN::var_info);
hal.can_mgr[i]->set_UAVCAN(_var_info_can_protocol[i]._uavcan);
_var_info_can_protocol[i]._uavcan->set_parent_can_mgr(hal.can_mgr[i]);
if (!hal.can_mgr[i]->begin(_var_info_can[i]._can_bitrate, i)) {
hal.console->printf("Failed to initialize can_mgr\n");
} else {
hal.console->printf("can_mgr initialized well\n");
}
} else {
hal.console->printf("AP_UAVCAN failed to allocate\n");
}
}
}
}
}
#endif
#endif

5
libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
View File

@ -98,6 +98,9 @@ public:
static int8_t _st_can_debug[MAX_NUMBER_OF_CAN_INTERFACES];
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
void px4_setup_canbus(void);
#endif // HAL_BOARD_PX4 || HAL_BOARD_VRBRAIN
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
void linux_setup_canbus(void);
#endif // HAL_BOARD_LINUX
};
#endif