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AP_BoardConfig: fixed PX4v1 build

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This commit is contained in:
Andrew Tridgell 2015-11-06 17:10:08 +11:00
parent d52279af27
commit 2ffabe9e05
2 changed files with 7 additions and 2 deletions
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7
libraries/AP_BoardConfig/AP_BoardConfig.cpp
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@ -86,7 +86,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @User: Standard
AP_GROUPINFO("SERIAL_NUM", 5, AP_BoardConfig, vehicleSerialNumber, 0),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
// @Param: CAN_ENABLE
// @DisplayName: Enable use of UAVCAN devices
// @Description: Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory
@ -97,7 +97,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
AP_GROUPEND
};
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
extern "C" int uavcan_main(int argc, const char *argv[]);
#endif
@ -141,6 +141,7 @@ void AP_BoardConfig::init()
}
}
#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
if (_can_enable == 1) {
const char *args[] = { "uavcan", "start", NULL };
int ret = uavcan_main(3, args);
@ -152,6 +153,8 @@ void AP_BoardConfig::init()
hal.scheduler->delay(500);
}
}
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
/* configure the VRBRAIN driver for the right number of PWMs */

2
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -29,8 +29,10 @@ private:
AP_Int8 _ser2_rtscts;
AP_Int8 _safety_enable;
AP_Int8 _sbus_out_enable;
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
AP_Int8 _can_enable;
#endif
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#endif