AP_Periph: add option to force enable CAN2

CubePilot · Oct 8, 2024 · ce8382e · ce8382e
1 parent 4b7bcc7
commit ce8382e
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Showing 3 changed files with 12 additions and 2 deletions.
diff --git a/AP_Periph/AP_Periph.cpp b/AP_Periph/AP_Periph.cpp
@@ -91,7 +91,7 @@ void AP_Periph_FW::init()
     // sleep for 2ms to fetch the VBUS voltage
     hal.scheduler->delay(2);
 
-    if (vbus_voltage_source->voltage_latest() < 4.0f) {
+    if ((vbus_voltage_source->voltage_latest() < 4.0f) || g.can2_force_en) {
         // we are not connected over USB, disable USB
         msdStop(&USBMSD1);
         usbDisconnectBus(&USBD2);

diff --git a/AP_Periph/Parameters.cpp b/AP_Periph/Parameters.cpp
@@ -218,6 +218,14 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(gps_rover, "ROVER",  GPS_Rover),
 #endif
 
+#ifdef HAL_USB_VBUS_SENS_CHAN
+    // @Param: CAN2_FORCE_EN
+    // @DisplayName: Force CAN2 enable
+    // @Description: Force CAN2 enable
+    // @Values: 0:Disabled, 1:Enabled
+    // @User: Standard
+    GSCALAR(can2_force_en, "CAN2_FORCE_EN", 0),
+#endif
     AP_VAREND
 };
 

diff --git a/AP_Periph/Parameters.h b/AP_Periph/Parameters.h
@@ -59,7 +59,8 @@ class Parameters {
         k_param_imu,
         k_param_gps_safeboot,
         k_param_gps_rover,
-        k_param_gps_type
+        k_param_gps_type,
+        k_param_can2_force_en,
     };
 
     AP_Int16 format_version;
@@ -107,6 +108,7 @@ class Parameters {
     AP_Int16 imu_sample_rate;
     AP_Int8 gps_safeboot;
     AP_Int8 gps_type;
+    AP_Int8 can2_force_en;
     Parameters() {}
 };