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AP_Scripting: don't include CAN support on periph if there is only one CAN port

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Iampete1 2023-10-04 17:27:54 +01:00 committed by Andrew Tridgell
parent 75ac3f98fa
commit fc68bf8979
5 changed files with 21 additions and 11 deletions
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2
libraries/AP_Scripting/AP_Scripting.h
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@ -84,7 +84,7 @@ public:
uint8_t num_i2c_devices;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> *_i2c_dev[SCRIPTING_MAX_NUM_I2C_DEVICE];
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#if AP_SCRIPTING_CAN_SENSOR_ENABLED
// Scripting CAN sensor
ScriptingCANSensor *_CAN_dev;
ScriptingCANSensor *_CAN_dev2;

4
libraries/AP_Scripting/AP_Scripting_CANSensor.cpp
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@ -17,7 +17,7 @@
*/
#include "AP_Scripting_CANSensor.h"
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#if AP_SCRIPTING_CAN_SENSOR_ENABLED
// handler for outgoing frames, using uint32
bool ScriptingCANSensor::write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us)
@ -79,4 +79,4 @@ void ScriptingCANBuffer::add_buffer(ScriptingCANBuffer* new_buff) {
next->add_buffer(new_buff);
}
#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
#endif // AP_SCRIPTING_CAN_SENSOR_ENABLED

14
libraries/AP_Scripting/AP_Scripting_CANSensor.h
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@ -18,9 +18,19 @@
#pragma once
#include <AP_HAL/AP_HAL.h>
#if defined(HAL_BUILD_AP_PERIPH)
// Must have at least two CAN ports on Periph
#define AP_SCRIPTING_CAN_SENSOR_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS > 1)
#else
#define AP_SCRIPTING_CAN_SENSOR_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS
#endif
#if AP_SCRIPTING_CAN_SENSOR_ENABLED
#include <AP_CANManager/AP_CANSensor.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
class ScriptingCANBuffer;
class ScriptingCANSensor : public CANSensor {
public:
@ -76,4 +86,4 @@ private:
};
#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
#endif // AP_SCRIPTING_CAN_SENSOR_ENABLED

8
libraries/AP_Scripting/generator/description/bindings.desc
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@ -549,12 +549,12 @@ singleton AP_InertialSensor method get_accel_health boolean uint8_t'skip_check
singleton CAN manual get_device lua_get_CAN_device 1
singleton CAN manual get_device2 lua_get_CAN_device2 1
singleton CAN depends HAL_MAX_CAN_PROTOCOL_DRIVERS
singleton CAN depends AP_SCRIPTING_CAN_SENSOR_ENABLED
include AP_Scripting/AP_Scripting_CANSensor.h depends HAL_MAX_CAN_PROTOCOL_DRIVERS
include AP_Scripting/AP_Scripting_CANSensor.h
include AP_HAL/AP_HAL.h
userdata AP_HAL::CANFrame depends HAL_MAX_CAN_PROTOCOL_DRIVERS
userdata AP_HAL::CANFrame depends AP_SCRIPTING_CAN_SENSOR_ENABLED
userdata AP_HAL::CANFrame rename CANFrame
userdata AP_HAL::CANFrame field id uint32_t'skip_check read write
userdata AP_HAL::CANFrame field data'array int(ARRAY_SIZE(ud->data)) uint8_t'skip_check read write
@ -564,7 +564,7 @@ userdata AP_HAL::CANFrame method isExtended boolean
userdata AP_HAL::CANFrame method isRemoteTransmissionRequest boolean
userdata AP_HAL::CANFrame method isErrorFrame boolean
ap_object ScriptingCANBuffer depends HAL_MAX_CAN_PROTOCOL_DRIVERS
ap_object ScriptingCANBuffer depends AP_SCRIPTING_CAN_SENSOR_ENABLED
ap_object ScriptingCANBuffer method write_frame boolean AP_HAL::CANFrame uint32_t'skip_check
ap_object ScriptingCANBuffer method read_frame boolean AP_HAL::CANFrame'Null

4
libraries/AP_Scripting/lua_bindings.cpp
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@ -630,7 +630,7 @@ int AP_HAL__I2CDevice_read_registers(lua_State *L) {
return success;
}
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#if AP_SCRIPTING_CAN_SENSOR_ENABLED
int lua_get_CAN_device(lua_State *L) {
// Allow : and . access
@ -680,7 +680,7 @@ int lua_get_CAN_device2(lua_State *L) {
return 1;
}
#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
#endif // AP_SCRIPTING_CAN_SENSOR_ENABLED
/*
directory listing, return table of files in a directory