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AP_BoardConfig_CAN: adapt to new CANProtocol interface

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This commit is contained in:
Francisco Ferreira 2018-07-18 05:22:47 +01:00
parent 350d03800f
commit 1cfb38b4ee
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GPG Key ID: F63C20A6773E787E
2 changed files with 4 additions and 19 deletions
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21
libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
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@ -125,8 +125,6 @@ void AP_BoardConfig_CAN::setup_canbus(void)
} }
} }
bool any_uavcan_present = false;
if (initret) { if (initret) {
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) { for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
if (hal.can_mgr[i] == nullptr) { if (hal.can_mgr[i] == nullptr) {
@ -142,27 +140,12 @@ void AP_BoardConfig_CAN::setup_canbus(void)
AP_HAL::panic("Failed to allocate uavcan %d\n\r", i + 1); AP_HAL::panic("Failed to allocate uavcan %d\n\r", i + 1);
continue; continue;
} }
AP_Param::load_object_from_eeprom(_var_info_can_protocol[i]._uavcan, AP_UAVCAN::var_info); AP_Param::load_object_from_eeprom(_var_info_can_protocol[i]._uavcan, AP_UAVCAN::var_info);
hal.can_mgr[i]->set_UAVCAN(_var_info_can_protocol[i]._uavcan); _var_info_can_protocol[i]._uavcan->init(i);
_var_info_can_protocol[i]._uavcan->set_parent_can_mgr(hal.can_mgr[i]);
if (_var_info_can_protocol[i]._uavcan->try_init() == true) {
any_uavcan_present = true;
} else {
printf("Failed to initialize uavcan interface %d\n\r", i + 1);
}
} }
} }
if (any_uavcan_present) {
// start UAVCAN working thread
hal.scheduler->create_uavcan_thread();
// Delay for magnetometer and barometer discovery
hal.scheduler->delay(5000);
}
} }
} }
#endif #endif

2
libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
View File

@ -10,6 +10,8 @@
#if HAL_WITH_UAVCAN #if HAL_WITH_UAVCAN
#define UAVCAN_PROTOCOL_ENABLE 1 #define UAVCAN_PROTOCOL_ENABLE 1
class AP_UAVCAN;
class AP_BoardConfig_CAN { class AP_BoardConfig_CAN {
public: public:
AP_BoardConfig_CAN() { AP_BoardConfig_CAN() {