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optional enable can activities #29

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optional enable can activities #29

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ffec199
optional enable can activities
alploskov Mar 11, 2025
d03fcfa
the ability to disable the main actions has been removed
alploskov Mar 11, 2025
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29 changes: 29 additions & 0 deletions kocherga/kocherga_can.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,23 @@
#include <algorithm>
#include <variant>


#ifndef DRONECAN_DNA_ENABLE
#define DRONECAN_DNA_ENABLE 1
#endif

#ifndef CYPHAL_CAN_DNA_ENABLE
#define CYPHAL_CAN_DNA_ENABLE 1
#endif

#ifndef VERSION_DETECTION_ENABLE
#define VERSION_DETECTION_ENABLE 1
#endif

#ifndef BITRATE_DETECTION_ENABLE
#define BITRATE_DETECTION_ENABLE 1
#endif

namespace kocherga::can
{
static constexpr std::uint8_t MaxNodeID = 127U;
Expand Down Expand Up @@ -2199,6 +2216,8 @@ class CANNode : public kocherga::INode
static_cast<std::uint8_t>(*local_node_id));
}
}

#if DRONECAN_DNA_ENABLE
if ((activity_ == nullptr) && can_bitrate && protocol_version && (*protocol_version == 0))
{
if (const auto bus_mode = driver.configure(*can_bitrate, false, detail::makeAcceptanceFilter<0>({})))
Expand All @@ -2210,6 +2229,9 @@ class CANNode : public kocherga::INode
*can_bitrate);
}
}
#endif // DRONECAN_DNA_ENABLE

#if CYPHAL_CAN_DNA_ENABLE
if ((activity_ == nullptr) && can_bitrate && protocol_version && (*protocol_version == 1))
{
if (const auto bus_mode = driver.configure(*can_bitrate, false, detail::makeAcceptanceFilter<1>({})))
Expand All @@ -2221,6 +2243,9 @@ class CANNode : public kocherga::INode
*bus_mode);
}
}
#endif // CYPHAL_CAN_DNA_ENABLE

#if VERSION_DETECTION_ENABLE
if ((activity_ == nullptr) && can_bitrate)
{
if (const auto bus_mode =
Expand All @@ -2233,12 +2258,16 @@ class CANNode : public kocherga::INode
*can_bitrate);
}
}
#endif // VERSION_DETECTION_ENABLE

#if BITRATE_DETECTION_ENABLE
if (activity_ == nullptr)
{
activity_ = activity_allocator_.construct<detail::BitrateDetectionActivity>(activity_allocator_,
driver,
local_unique_id);
}
#endif // BITRATE_DETECTION_ENABLE
KOCHERGA_ASSERT(activity_ != nullptr);
}

Expand Down
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