Networking

Tools/AP_Periph/AP_Periph.cpp

@@ -100,6 +100,10 @@ void AP_Periph_FW::init()
 
     can_start();
 
+#if AP_NETWORKING_ENABLED
+    networking.init();
+#endif
+
 #if HAL_GCS_ENABLED
     stm32_watchdog_pat();
     gcs().init();
@@ -245,7 +249,7 @@ void AP_Periph_FW::init()
 #ifdef HAL_PERIPH_ENABLE_ESC_APD
     for (uint8_t i = 0; i < ESC_NUMBERS; i++) {
         const uint8_t port = g.esc_serial_port[i];
-        if (port < SERIALMANAGER_NUM_PORTS) { // skip bad ports
+        if (port < SERIALMANAGER_MAX_PORTS) { // skip bad ports
             apd_esc_telem[i] = new ESC_APD_Telem (hal.serial(port), g.pole_count[i]);
         }
     }
@@ -476,6 +480,10 @@ void AP_Periph_FW::update()
 
     can_update();
 
+#if AP_NETWORKING_ENABLED
+    networking.update();
+#endif
+
 #if (defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY) && HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY == 8) || defined(HAL_PERIPH_ENABLE_NOTIFY)
     update_rainbow();
 #endif

Tools/AP_Periph/AP_Periph.h

@@ -25,6 +25,7 @@
 #include <AP_Scripting/AP_Scripting.h>
 #include <AP_HAL/CANIface.h>
 #include <AP_Stats/AP_Stats.h>
+#include <AP_Networking/AP_Networking.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_ESC_Telem/AP_ESC_Telem_config.h>
 #if HAL_WITH_ESC_TELEM
@@ -300,6 +301,10 @@ class AP_Periph_FW {
     AP_Logger logger;
 #endif
 
+#if AP_NETWORKING_ENABLED
+    AP_Networking networking;
+#endif
+
 #if HAL_GCS_ENABLED
     GCS_Periph _gcs;
 #endif

Tools/AP_Periph/Parameters.cpp

@@ -551,6 +551,12 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
   #endif
 #endif
 
+#if AP_NETWORKING_ENABLED
+    // @Group: NET
+    // @Path: ../libraries/AP_Networking/AP_Networking.cpp
+    GOBJECT(networking, "NET", AP_Networking),
+#endif
+
     AP_VAREND
 };
 

Tools/AP_Periph/Parameters.h

@@ -76,6 +76,7 @@ class Parameters {
         k_param_esc_number1,
         k_param_pole_count1,
         k_param_esc_serial_port1,
+        k_param_networking,
     };
 
     AP_Int16 format_version;

Tools/AP_Periph/can.cpp

@@ -1526,7 +1526,7 @@ void AP_Periph_FW::can_start()
 
         // ensure there's a serial port mapped to SLCAN
         if (!periph.serial_manager.have_serial(AP_SerialManager::SerialProtocol_SLCAN, 0)) {
-            periph.serial_manager.set_protocol_and_baud(SERIALMANAGER_NUM_PORTS-1, AP_SerialManager::SerialProtocol_SLCAN, 1500000);
+            periph.serial_manager.set_protocol_and_baud(SERIALMANAGER_MAX_PORTS-1, AP_SerialManager::SerialProtocol_SLCAN, 1500000);
         }
     }
 #endif

Tools/AP_Periph/wscript

@@ -44,6 +44,7 @@ def build(bld):
                      'AP_FlashStorage',
                      'AP_RAMTRON',
                      'AP_GPS',
+                     'AP_Networking',
                      'AP_SerialManager',
                      'AP_RTC',
                      'AP_Compass',

Tools/ardupilotwaf/ardupilotwaf.py

@@ -64,6 +64,7 @@
     'AP_Module',
     'AP_Button',
     'AP_ICEngine',
+    'AP_Networking',
     'AP_Frsky_Telem',
     'AP_FlashStorage',
     'AP_Relay',