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AP_GPS: move to using CANManager library

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This commit is contained in:
Siddharth Purohit 2020-05-31 17:36:29 +05:30 committed by Andrew Tridgell
parent 20edecc340
commit 0690b7bd68
2 changed files with 11 additions and 11 deletions
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6
libraries/AP_GPS/AP_GPS.cpp
View File

@ -37,8 +37,8 @@
#include "AP_GPS_MAV.h"
#include "GPS_Backend.h"
#if HAL_WITH_UAVCAN
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include "AP_GPS_UAVCAN.h"
#endif
@ -509,7 +509,7 @@ void AP_GPS::detect_instance(uint8_t instance)
// user has to explicitly set the UAVCAN type, do not use AUTO
case GPS_TYPE_UAVCAN:
#if HAL_WITH_UAVCAN
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
dstate->auto_detected_baud = false; // specified, not detected
new_gps = AP_GPS_UAVCAN::probe(*this, state[instance]);
goto found_gps;

16
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
View File

@ -18,10 +18,10 @@
//
#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include "AP_GPS_UAVCAN.h"
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#include <AP_CANManager/AP_CANManager.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <uavcan/equipment/gnss/Fix.hpp>
@ -30,7 +30,7 @@
extern const AP_HAL::HAL& hal;
#define debug_gps_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { printf(fmt, ##args); }} while (0)
#define LOG_TAG "GPS"
UC_REGISTRY_BINDER(FixCb, uavcan::equipment::gnss::Fix);
UC_REGISTRY_BINDER(Fix2Cb, uavcan::equipment::gnss::Fix2);
@ -93,16 +93,16 @@ AP_GPS_Backend* AP_GPS_UAVCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)
if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_uavcan != nullptr) {
backend = new AP_GPS_UAVCAN(_gps, _state);
if (backend == nullptr) {
debug_gps_uavcan(2,
_detected_modules[i].ap_uavcan->get_driver_index(),
AP::can().log_text(AP_CANManager::LOG_ERROR,
LOG_TAG,
"Failed to register UAVCAN GPS Node %d on Bus %d\n",
_detected_modules[i].node_id,
_detected_modules[i].ap_uavcan->get_driver_index());
} else {
_detected_modules[i].driver = backend;
backend->_detected_module = i;
debug_gps_uavcan(2,
_detected_modules[i].ap_uavcan->get_driver_index(),
AP::can().log_text(AP_CANManager::LOG_INFO,
LOG_TAG,
"Registered UAVCAN GPS Node %d on Bus %d\n",
_detected_modules[i].node_id,
_detected_modules[i].ap_uavcan->get_driver_index());
@ -452,4 +452,4 @@ void AP_GPS_UAVCAN::inject_data(const uint8_t *data, uint16_t len)
}
}
#endif // HAL_WITH_UAVCAN
#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS