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AP_Periph: add CAN_TERMINATE for software driven termination

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This commit is contained in:
Andy Piper 2023-11-22 13:45:41 +00:00 committed by Tom Pittenger
parent a8e2908e8b
commit 8718261f27
3 changed files with 38 additions and 0 deletions
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22
Tools/AP_Periph/Parameters.cpp
View File

@ -107,6 +107,16 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
GSCALAR(can_slcan_cport, "CAN_SLCAN_CPORT", 1),
#endif
#ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM
// @Param: CAN_TERMINATE
// @DisplayName: Enable CAN software temination in this node
// @Description: Enable CAN software temination in this node
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @RebootRequired: True
GARRAY(can_terminate, 0, "CAN_TERMINATE", 0),
#endif
#if HAL_NUM_CAN_IFACES >= 2
// @Param: CAN_PROTOCOL
// @DisplayName: Enable use of specific protocol to be used on this port
@ -124,6 +134,12 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// @Param: CAN2_PROTOCOL
// @CopyFieldsFrom: CAN_PROTOCOL
GARRAY(can_protocol, 1, "CAN2_PROTOCOL", float(AP_CAN::Protocol::DroneCAN)),
#ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM
// @Param: CAN2_TERMINATE
// @CopyFieldsFrom: CAN_TERMINATE
GARRAY(can_terminate, 1, "CAN2_TERMINATE", 0),
#endif
#endif
#if HAL_NUM_CAN_IFACES >= 3
@ -135,6 +151,12 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// @Param: CAN3_PROTOCOL
// @CopyFieldsFrom: CAN_PROTOCOL
GARRAY(can_protocol, 2, "CAN3_PROTOCOL", float(AP_CAN::Protocol::DroneCAN)),
#ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM
// @Param: CAN3_TERMINATE
// @CopyFieldsFrom: CAN_TERMINATE
GARRAY(can_terminate, 2, "CAN3_TERMINATE", 0),
#endif
#endif
#if HAL_CANFD_SUPPORTED

6
Tools/AP_Periph/Parameters.h
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@ -85,6 +85,9 @@ public:
k_param_battery_hide_mask,
k_param_can_mirror_ports,
k_param_rtc,
k_param_can_terminate0,
k_param_can_terminate1,
k_param_can_terminate2,
};
AP_Int16 format_version;
@ -205,6 +208,9 @@ public:
#else
static constexpr uint8_t can_fdmode = 0;
#endif
AP_Int8 can_terminate[HAL_NUM_CAN_IFACES];
AP_Int8 node_stats;
Parameters() {}
};

10
Tools/AP_Periph/can.cpp
View File

@ -1576,6 +1576,16 @@ void AP_Periph_FW::can_start()
}
#endif // HAL_PERIPH_ENFORCE_AT_LEAST_ONE_PORT_IS_UAVCAN_1MHz
#ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM
palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM, g.can_terminate[0]);
#endif
#ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM
palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM, g.can_terminate[1]);
#endif
#ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM
palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM, g.can_terminate[2]);
#endif
for (uint8_t i=0; i<HAL_NUM_CAN_IFACES; i++) {
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
can_iface_periph[i] = new ChibiOS::CANIface();