From 0690b7bd683299ed85589d533fcf408b34398ba7 Mon Sep 17 00:00:00 2001
From: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
Date: Sun, 31 May 2020 17:36:29 +0530
Subject: [PATCH] AP_GPS: move to using CANManager library

---
 libraries/AP_GPS/AP_GPS.cpp        |  6 +++---
 libraries/AP_GPS/AP_GPS_UAVCAN.cpp | 16 ++++++++--------
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 8ed92ca967..da0e75ea37 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -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;
diff --git a/libraries/AP_GPS/AP_GPS_UAVCAN.cpp b/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
index 433d8da0b9..9b7f7fd318 100644
--- a/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
+++ b/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
@@ -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