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AP_BattMonitor: adapt to changes in AP_BoardConfig_CAN

This commit is contained in:
Francisco Ferreira 2018-07-18 07:27:37 +01:00
parent 8e6692744f
commit 31b8a051cc
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GPG Key ID: F63C20A6773E787E
1 changed files with 5 additions and 8 deletions
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13
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
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@ -7,12 +7,11 @@
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_UAVCAN.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
extern const AP_HAL::HAL& hal;
#define debug_bm_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig_CAN::get_can_debug()) { printf(fmt, ##args); }} while (0)
#define debug_bm_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
AP_BattMonitor_UAVCAN::AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params &params) :
@ -25,20 +24,18 @@ AP_BattMonitor_UAVCAN::AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor
void AP_BattMonitor_UAVCAN::init()
{
if (AP_BoardConfig_CAN::get_can_num_ifaces() == 0) {
return;
}
uint8_t can_num_drivers = AP::can().get_num_drivers();
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;
}
switch (_type) {
case UAVCAN_BATTERY_INFO:
if (ap_uavcan->register_BM_bi_listener_to_id(this, _params._serial_number)) {
debug_bm_uavcan(2, "UAVCAN BattMonitor BatteryInfo registered id: %d\n\r", _params._serial_number.get());
debug_bm_uavcan(2, i, "UAVCAN BattMonitor BatteryInfo registered id: %d\n\r", _params._serial_number.get());
}
break;
}