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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_CANManager/AP_CANManager_CANDriver_Params.cpp
Views: 1798
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/*

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 * This program is free software: you can redistribute it and/or modify

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   it under the terms of the GNU General Public License as published by

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   the Free Software Foundation, either version 3 of the License, or

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   (at your option) any later version.

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   This program is distributed in the hope that it will be useful,

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   but WITHOUT ANY WARRANTY; without even the implied warranty of

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   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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   GNU General Public License for more details.

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   You should have received a copy of the GNU General Public License

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   along with this program.  If not, see <http://www.gnu.org/licenses/>.

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*/

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#include <AP_HAL/AP_HAL.h>

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#if HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_CANMANAGER_ENABLED

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#include "AP_CANManager.h"

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#include <AP_DroneCAN/AP_DroneCAN.h>

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#include <AP_PiccoloCAN/AP_PiccoloCAN.h>

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// table of user settable CAN bus parameters

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const AP_Param::GroupInfo AP_CANManager::CANDriver_Params::var_info[] = {

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    // @Param: PROTOCOL

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    // @DisplayName: Enable use of specific protocol over virtual driver

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    // @Description: Enabling this option starts selected protocol that will use this virtual driver

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    // @SortValues: AlphabeticalZeroAtTop

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    // @Values: 0:Disabled,1:DroneCAN,4:PiccoloCAN,6:EFI_NWPMU,7:USD1,8:KDECAN,10:Scripting,11:Benewake,12:Scripting2,13:TOFSenseP,14:NanoRadar

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    // @User: Advanced

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    // @RebootRequired: True

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    AP_GROUPINFO("PROTOCOL", 1, AP_CANManager::CANDriver_Params, _driver_type, float(AP_CAN::Protocol::DroneCAN)),

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#if HAL_ENABLE_DRONECAN_DRIVERS

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    // @Group: UC_

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    // @Path: ../AP_DroneCAN/AP_DroneCAN.cpp

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    AP_SUBGROUPPTR(_uavcan, "UC_", 2, AP_CANManager::CANDriver_Params, AP_DroneCAN),

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#endif

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    // index 3 was KDECAN

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    // index 4 was CANTester

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#if HAL_PICCOLO_CAN_ENABLE

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    // @Group: PC_

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    // @Path: ../AP_PiccoloCAN/AP_PiccoloCAN.cpp

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    AP_SUBGROUPPTR(_piccolocan, "PC_", 5, AP_CANManager::CANDriver_Params, AP_PiccoloCAN),

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#endif

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    // @Param: PROTOCOL2

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    // @DisplayName: Secondary protocol with 11 bit CAN addressing

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    // @Description: Secondary protocol with 11 bit CAN addressing

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    // @SortValues: AlphabeticalZeroAtTop

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    // @Values: 0:Disabled,7:USD1,10:Scripting,11:Benewake,12:Scripting2,13:TOFSenseP,14:NanoRadar

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    // @User: Advanced

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    // @RebootRequired: True

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    AP_GROUPINFO("PROTOCOL2", 6, AP_CANManager::CANDriver_Params, _driver_type_11bit, float(AP_CAN::Protocol::None)),

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    AP_GROUPEND

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};

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#endif

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