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AP_Compass: adapt to changes in AP_BoardConfig_CAN

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This commit is contained in:
Francisco Ferreira 2018-07-18 07:27:37 +01:00
parent 31b8a051cc
commit 317e8e0296
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GPG Key ID: F63C20A6773E787E
1 changed files with 11 additions and 21 deletions
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22
libraries/AP_Compass/AP_Compass_UAVCAN.cpp
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@ -19,19 +19,11 @@
#include "AP_Compass_UAVCAN.h"
#if HAL_OS_POSIX_IO
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#endif
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
extern const AP_HAL::HAL& hal;
#define debug_mag_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig_CAN::get_can_debug()) { printf(fmt, ##args); }} while (0)
#define debug_mag_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { printf(fmt, ##args); }} while (0)
/*
constructor - registers instance at top Compass driver
@ -56,18 +48,16 @@ AP_Compass_UAVCAN::~AP_Compass_UAVCAN()
ap_uavcan->remove_mag_listener(this);
delete _sem_mag;
debug_mag_uavcan(2, "AP_Compass_UAVCAN destructed\n\r");
debug_mag_uavcan(2, _manager, "AP_Compass_UAVCAN destructed\n\r");
}
AP_Compass_Backend *AP_Compass_UAVCAN::probe(Compass &compass)
{
if (AP_BoardConfig_CAN::get_can_num_ifaces() == 0) {
return nullptr;
}
uint8_t can_num_drivers = AP::can().get_num_drivers();
AP_Compass_UAVCAN *sensor;
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
for (uint8_t i = 0; i < can_num_drivers; i++) {
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
if (ap_uavcan == nullptr) {
continue;
@ -79,7 +69,7 @@ AP_Compass_Backend *AP_Compass_UAVCAN::probe(Compass &compass)
sensor = new AP_Compass_UAVCAN(compass);
if (sensor->register_uavcan_compass(i, freemag)) {
debug_mag_uavcan(2, "AP_Compass_UAVCAN probed, drv: %d, node: %d\n\r", i, freemag);
debug_mag_uavcan(2, i, "AP_Compass_UAVCAN probed, drv: %d, node: %d\n\r", i, freemag);
return sensor;
} else {
delete sensor;
@ -123,7 +113,7 @@ bool AP_Compass_UAVCAN::register_uavcan_compass(uint8_t mgr, uint8_t node)
_sum.zero();
_count = 0;
debug_mag_uavcan(2, "AP_Compass_UAVCAN loaded\n\r");
debug_mag_uavcan(2, mgr, "AP_Compass_UAVCAN loaded\n\r");
return true;
}