Add PCAN support through python-can

dronecan · Dec 20, 2022 · ed2bdbd · ed2bdbd
1 parent bb69e16
commit ed2bdbd
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/dronecan/driver/__init__.py b/dronecan/driver/__init__.py
@@ -41,6 +41,9 @@ def make_driver(device_name, **kwargs):
     windows_com_port = device_name.replace('\\', '').replace('.', '').lower().startswith('com')
     unix_tty = device_name.startswith('/dev/')
 
+    if device_name.startswith('PCAN'):
+        kwargs['bustype'] = 'pcan'
+
     if device_name.startswith("mavcan:"):
         if not have_mavcan:
             raise DriverError('MAVCAN is not available, ensure pymavlink is installed')

diff --git a/dronecan/driver/python_can.py b/dronecan/driver/python_can.py
@@ -39,7 +39,7 @@ def __init__(self, channel, **_extras):
                 if channel is None:
                     self._bus = can.interface.Bus() # get bus from environment's config file
                 else:
-                    if not hasattr(_extras,'bustype'):
+                    if not 'bustype' in _extras:
                         _extras['bustype'] = 'socketcan'
                     self._bus = can.interface.Bus(channel=channel, bustype=_extras['bustype'], bitrate=_extras['bitrate'])
             except Exception as ex: