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AP_PiccoloCAN: tidy AP_EFI defines

This commit is contained in:
Peter Barker 2023-03-16 10:05:59 +11:00 committed by Peter Barker
parent 593983df7a
commit 1e38200293
2 changed files with 11 additions and 11 deletions
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18
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
View File

@ -89,7 +89,7 @@ const AP_Param::GroupInfo AP_PiccoloCAN::var_info[] = {
// @User: Advanced
// @Range: 1 500
AP_GROUPINFO("SRV_RT", 4, AP_PiccoloCAN, _srv_hz, PICCOLO_MSG_RATE_HZ_DEFAULT),
#if HAL_EFI_CURRAWONG_ECU_ENABLED
#if AP_EFI_CURRAWONG_ECU_ENABLED
// @Param: ECU_ID
// @DisplayName: ECU Node ID
// @Description: Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.
@ -182,7 +182,7 @@ void AP_PiccoloCAN::loop()
uint16_t esc_tx_counter = 0;
uint16_t servo_tx_counter = 0;
#if HAL_EFI_CURRAWONG_ECU_ENABLED
#if AP_EFI_CURRAWONG_ECU_ENABLED
uint16_t ecu_tx_counter = 0;
#endif
@ -207,7 +207,7 @@ void AP_PiccoloCAN::loop()
_srv_hz.set(constrain_int16(_srv_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX));
uint16_t servoCmdRateMs = 1000 / _srv_hz;
#if HAL_EFI_CURRAWONG_ECU_ENABLED
#if AP_EFI_CURRAWONG_ECU_ENABLED
_ecu_hz.set(constrain_int16(_ecu_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX));
uint16_t ecuCmdRateMs = 1000 / _ecu_hz;
@ -229,7 +229,7 @@ void AP_PiccoloCAN::loop()
send_servo_messages();
}
#if HAL_EFI_CURRAWONG_ECU_ENABLED
#if AP_EFI_CURRAWONG_ECU_ENABLED
// Transmit ecu throttle commands at regular intervals
if (ecu_tx_counter++ > ecuCmdRateMs) {
ecu_tx_counter = 0;
@ -271,7 +271,7 @@ void AP_PiccoloCAN::loop()
break;
case MessageGroup::ECU_OUT:
#if HAL_EFI_CURRAWONG_ECU_ENABLED
#if AP_EFI_CURRAWONG_ECU_ENABLED
if (handle_ecu_message(rxFrame)) {
// Returns true if the message was successfully decoded
}
@ -364,12 +364,12 @@ void AP_PiccoloCAN::update()
}
}
#if HAL_EFI_CURRAWONG_ECU_ENABLED
#if AP_EFI_CURRAWONG_ECU_ENABLED
if (_ecu_id != 0) {
_ecu_info.command = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
_ecu_info.newCommand = true;
}
#endif // HAL_EFI_CURRAWONG_ECU_ENABLED
#endif // AP_EFI_CURRAWONG_ECU_ENABLED
AP_Logger *logger = AP_Logger::get_singleton();
@ -786,7 +786,7 @@ bool AP_PiccoloCAN::handle_esc_message(AP_HAL::CANFrame &frame)
return result;
}
#if HAL_EFI_CURRAWONG_ECU_ENABLED
#if AP_EFI_CURRAWONG_ECU_ENABLED
void AP_PiccoloCAN::send_ecu_messages(void)
{
AP_HAL::CANFrame txFrame {};
@ -817,7 +817,7 @@ bool AP_PiccoloCAN::handle_ecu_message(AP_HAL::CANFrame &frame)
}
return false;
}
#endif // HAL_EFI_CURRAWONG_ECU_ENABLED
#endif // AP_EFI_CURRAWONG_ECU_ENABLED
/**
* Check if a given servo channel is "active" (has been configured for Piccolo control output)

4
libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
View File

@ -133,8 +133,8 @@ private:
// interpret a servo message received over CAN
bool handle_servo_message(AP_HAL::CANFrame &frame);
#if HAL_EFI_CURRAWONG_ECU_ENABLED
#if AP_EFI_CURRAWONG_ECU_ENABLED
void send_ecu_messages(void);
// interpret an ECU message received over CAN