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AP_CANManager: constant slcan via serial manager protocol param

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This commit is contained in:
Siddharth Purohit 2020-08-28 03:28:58 +05:30 committed by Peter Barker
parent 119462aeb1
commit 8373862f39
2 changed files with 12 additions and 1 deletions
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11
libraries/AP_CANManager/AP_SLCANIface.cpp
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@ -465,6 +465,17 @@ inline void SLCAN::CANIface::addByte(const uint8_t byte)
void SLCAN::CANIface::update_slcan_port()
{
if (_set_by_sermgr) {
// Once we pick SerialManager path we hold on
// to that until reboot
return;
}
_port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SLCAN, 0);
if (_port != nullptr) {
_port->lock_port(_serial_lock_key, _serial_lock_key);
_set_by_sermgr = true;
return;
}
if (_prev_ser_port != _slcan_ser_port) {
if (!_slcan_start_req) {
_slcan_start_req_time = AP_HAL::native_millis();

2
libraries/AP_CANManager/AP_SLCANIface.h
View File

@ -81,7 +81,7 @@ class CANIface: public AP_HAL::CANIface
uint32_t _last_had_activity;
AP_HAL::CANIface* _can_iface; // Can interface to be used for interaction by SLCAN interface
HAL_Semaphore port_sem;
bool _set_by_sermgr;
public:
CANIface():
rx_queue_(HAL_CAN_RX_QUEUE_SIZE)