add auto protocol check support

Src/common/application.cpp

@@ -4,7 +4,7 @@
  * Author: Dmitry Ponomarev <[email protected]>
  */
 
-#include "application.hpp"
+#include <can_driver.h>
 #include <array>
 #include <bitset>
 #include "peripheral/adc/circuit_periphery.hpp"
@@ -13,7 +13,7 @@
 #include "module.hpp"
 #include "main.h"
 
-#include "peripheral/led/led.hpp"
+#include "application.hpp"
 #include "peripheral/gpio/gpio.hpp"
 #include "peripheral/iwdg/iwdg.hpp"
 
@@ -41,6 +41,14 @@ static int8_t init_board_periphery() {
     return 0;
 }
 
+static int8_t init_can_driver() {
+    int16_t res = canDriverInit(1000000, CAN_DRIVER_FIRST);
+    return res;
+}
+static int8_t get_can_driver_protocol() {
+    return canDriverGetProtocol(CAN_DRIVER_FIRST);
+}
+
 /**
  * @brief Since v2 hardware version all boards have an internal RGB LED and comply with the
  * RaccoonLab LED indication standard.
@@ -82,10 +90,16 @@ static void blink_board_led() {
 
 __attribute__((noreturn)) void application_entry_point() {
     init_board_periphery();
+    init_can_driver();
     ModuleManager::init();
-
+    int8_t can_driver_protocol = CanProtocol::CAN_PROTOCOL_UNKNOWN;
     while (true) {
-        ModuleManager::process();
+        if (can_driver_protocol == CanProtocol::CAN_PROTOCOL_UNKNOWN) {
+            can_driver_protocol = get_can_driver_protocol();
+            ModuleManager::set_protocol(static_cast<Module::Protocol>(can_driver_protocol));
+        } else {
+            ModuleManager::process();
+        }
         blink_board_led();
         HAL::Watchdog::refresh();
     }

Src/common/module.cpp

@@ -72,6 +72,12 @@ void ModuleManager::process() {
     }
 }
 
+void ModuleManager::set_protocol(Module::Protocol protocol) {
+    ModuleManager::active_protocol = protocol;
+    paramsSetIntegerValue(IntParamsIndexes::PARAM_SYSTEM_PROTOCOL, (int)(protocol));
+    paramsSave();
+}
+
 Module::Protocol ModuleManager::get_active_protocol() {
 #if defined(CONFIG_USE_CYPHAL) && !defined(CONFIG_USE_DRONECAN)
     return Module::Protocol::CYPHAL;

Src/common/module.hpp

@@ -95,7 +95,7 @@ class ModuleManager {
     static void register_module(Module* app_module);
     static void init();
     static void process();
-
+    static void set_protocol(Module::Protocol protocol);
     static Module::Protocol get_active_protocol();
     static Module::Status get_global_status();
     static Module::Mode get_global_mode();