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AP_Notify: adapt to changes in AP_BoardConfig_CAN

This commit is contained in:
Francisco Ferreira 2018-03-07 15:56:11 +00:00
parent f468602baf
commit 3b61a31bb4
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GPG Key ID: F63C20A6773E787E
1 changed files with 6 additions and 10 deletions
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16
libraries/AP_Notify/UAVCAN_RGB_LED.cpp
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@ -17,8 +17,6 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/system.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#if HAL_WITH_UAVCAN
#include "UAVCAN_RGB_LED.h"
@ -56,14 +54,12 @@ bool UAVCAN_RGB_LED::hw_init()
bool UAVCAN_RGB_LED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
bool success = false;
if (AP_BoardConfig_CAN::get_can_num_ifaces() != 0) {
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
if (hal.can_mgr[i] != nullptr) {
AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
if (uavcan != nullptr) {
success = uavcan->led_write(_led_index, red, green, blue) || success;
}
}
uint8_t can_num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < can_num_drivers; i++) {
AP_UAVCAN *uavcan = AP_UAVCAN::get_uavcan(i);
if (uavcan != nullptr) {
success = uavcan->led_write(_led_index, red, green, blue) || success;
}
}
return success;