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AP_CANManager: return max number of drivers for get_num_drivers

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This commit is contained in:
Siddharth Purohit 2020-10-24 15:45:47 +05:30 committed by Andrew Tridgell
parent 917f7d8797
commit 73dea6d29c
2 changed files with 12 additions and 8 deletions
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18
libraries/AP_CANManager/AP_CANManager.cpp
View File

@ -130,6 +130,7 @@ void AP_CANManager::init()
//Reset all SLCAN related params that needs resetting at boot
_slcan_interface.reset_params();
Driver_Type drv_type[HAL_MAX_CAN_PROTOCOL_DRIVERS] = {};
// loop through interfaces and allocate and initialise Iface,
// Also allocate Driver objects, and add interfaces to them
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
@ -153,7 +154,7 @@ void AP_CANManager::init()
AP_HAL::CANIface* iface = hal.can[i];
// Find the driver type that we need to allocate and register this interface with
Driver_Type drv_type = _driver_type_cache[drv_num] = (Driver_Type) _drv_param[drv_num]._driver_type.get();
drv_type[drv_num] = (Driver_Type) _drv_param[drv_num]._driver_type.get();
bool can_initialised = false;
// Check if this interface need hooking up to slcan passthrough
// instead of a driver
@ -161,7 +162,7 @@ void AP_CANManager::init()
// we have slcan bridge setup pass that on as can iface
can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, AP_HAL::CANIface::NormalMode);
iface = &_slcan_interface;
} else if(drv_type == Driver_Type_UAVCAN) {
} else if(drv_type[drv_num] == Driver_Type_UAVCAN) {
// We do Message ID filtering when using UAVCAN without SLCAN
can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, AP_HAL::CANIface::FilteredMode);
} else {
@ -190,7 +191,7 @@ void AP_CANManager::init()
}
// Allocate the set type of Driver
if (drv_type == Driver_Type_UAVCAN) {
if (drv_type[drv_num] == Driver_Type_UAVCAN) {
_drivers[drv_num] = _drv_param[drv_num]._uavcan = new AP_UAVCAN;
if (_drivers[drv_num] == nullptr) {
@ -199,7 +200,7 @@ void AP_CANManager::init()
}
AP_Param::load_object_from_eeprom((AP_UAVCAN*)_drivers[drv_num], AP_UAVCAN::var_info);
} else if (drv_type == Driver_Type_KDECAN) {
} else if (drv_type[drv_num] == Driver_Type_KDECAN) {
#if (APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub))
// To be replaced with macro saying if KDECAN library is included
_drivers[drv_num] = _drv_param[drv_num]._kdecan = new AP_KDECAN;
@ -211,14 +212,14 @@ void AP_CANManager::init()
AP_Param::load_object_from_eeprom((AP_KDECAN*)_drivers[drv_num], AP_KDECAN::var_info);
#endif
} else if (drv_type == Driver_Type_ToshibaCAN) {
} else if (drv_type[drv_num] == Driver_Type_ToshibaCAN) {
_drivers[drv_num] = new AP_ToshibaCAN;
if (_drivers[drv_num] == nullptr) {
AP_BoardConfig::config_error("Failed to allocate ToshibaCAN %d\n\r", drv_num + 1);
continue;
}
} else if (drv_type == Driver_Type_PiccoloCAN) {
} else if (drv_type[drv_num] == Driver_Type_PiccoloCAN) {
#if HAL_PICCOLO_CAN_ENABLE
_drivers[drv_num] = _drv_param[drv_num]._piccolocan = new AP_PiccoloCAN;
@ -229,7 +230,7 @@ void AP_CANManager::init()
AP_Param::load_object_from_eeprom((AP_PiccoloCAN*)_drivers[drv_num], AP_PiccoloCAN::var_info);
#endif
} else if (drv_type == Driver_Type_CANTester) {
} else if (drv_type[drv_num] == Driver_Type_CANTester) {
#if HAL_NUM_CAN_IFACES > 1 && !HAL_MINIMIZE_FEATURES
_drivers[drv_num] = _drv_param[drv_num]._testcan = new CANTester;
@ -267,6 +268,9 @@ void AP_CANManager::init()
}
_drivers[drv_num]->init(drv_num, enable_filter);
// Finally initialise driver type, this will be used
// to find and reference protocol drivers
_driver_type_cache[drv_num] = drv_type[drv_num];
}
}

2
libraries/AP_CANManager/AP_CANManager.h
View File

@ -64,7 +64,7 @@ public:
// returns number of active CAN Drivers
uint8_t get_num_drivers(void) const
{
return _num_drivers;
return HAL_MAX_CAN_PROTOCOL_DRIVERS;
}
// return driver for index i