From 75662c20d8e81792ad639d53d152eebe4c5b38ae Mon Sep 17 00:00:00 2001
From: AsiiaPine <asiiapine@gmail.com>
Date: Fri, 18 Oct 2024 12:32:16 +0300
Subject: [PATCH 1/2] add auto protocol check support

---
 Libs/Dronecan              |  2 +-
 Src/common/application.cpp | 22 ++++++++++++++++++----
 Src/common/module.cpp      |  6 ++++++
 Src/common/module.hpp      |  2 +-
 4 files changed, 26 insertions(+), 6 deletions(-)

diff --git a/Libs/Dronecan b/Libs/Dronecan
index 8cf4a580..8b5fe10f 160000
--- a/Libs/Dronecan
+++ b/Libs/Dronecan
@@ -1 +1 @@
-Subproject commit 8cf4a5807276951edf2a67e152c7360c2bdeb278
+Subproject commit 8b5fe10f300c6cf3714f4ca0379bd841ae2f0ee0
diff --git a/Src/common/application.cpp b/Src/common/application.cpp
index e1f79da1..1782fcdd 100644
--- a/Src/common/application.cpp
+++ b/Src/common/application.cpp
@@ -4,7 +4,7 @@
  * Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
  */
 
-#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();
     }
diff --git a/Src/common/module.cpp b/Src/common/module.cpp
index b7d3df38..5883a548 100644
--- a/Src/common/module.cpp
+++ b/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;
diff --git a/Src/common/module.hpp b/Src/common/module.hpp
index d5b1aaeb..7ec7aead 100644
--- a/Src/common/module.hpp
+++ b/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();

From 804623e9a951b7cb0777598e664ce289c09a1aff Mon Sep 17 00:00:00 2001
From: AsiiaPine <asiiapine@gmail.com>
Date: Fri, 18 Oct 2024 14:19:41 +0300
Subject: [PATCH 2/2] fix CAN_PROTOCOL conversion to int

---
 Src/common/application.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Src/common/application.cpp b/Src/common/application.cpp
index 1782fcdd..bea7d6be 100644
--- a/Src/common/application.cpp
+++ b/Src/common/application.cpp
@@ -4,7 +4,6 @@
  * Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
  */
 
-#include <can_driver.h>
 #include <array>
 #include <bitset>
 #include "peripheral/adc/circuit_periphery.hpp"
@@ -12,6 +11,7 @@
 #include "params.hpp"
 #include "module.hpp"
 #include "main.h"
+#include "can_driver.h"
 
 #include "application.hpp"
 #include "peripheral/gpio/gpio.hpp"