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AP_BoardConfig: comments

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This commit is contained in:
Eugene Shamaev 2018-06-09 10:59:33 +03:00 committed by Tom Pittenger
parent 2055f264e5
commit 56cc0d3ef7
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
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@ -100,11 +100,13 @@ void AP_BoardConfig_CAN::setup_canbus(void)
// Create all drivers that we need // Create all drivers that we need
bool initret = true; bool initret = true;
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) { for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
// Check the driver number assigned to this physical interface
uint8_t drv_num = _var_info_can[i]._driver_number; uint8_t drv_num = _var_info_can[i]._driver_number;
if (drv_num != 0 && drv_num <= MAX_NUMBER_OF_CAN_DRIVERS) { if (drv_num != 0 && drv_num <= MAX_NUMBER_OF_CAN_DRIVERS) {
if (hal.can_mgr[drv_num - 1] == nullptr) { if (hal.can_mgr[drv_num - 1] == nullptr) {
// CAN Manager is the driver
// So if this driver was not created before for other physical interface - do it
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new PX4::PX4CANManager; const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new PX4::PX4CANManager;
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
@ -112,9 +114,9 @@ void AP_BoardConfig_CAN::setup_canbus(void)
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS #elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new ChibiOS::CANManager; const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new ChibiOS::CANManager;
#endif #endif
} }
// For this now existing driver (manager), start the physical interface
if (hal.can_mgr[drv_num - 1] != nullptr) { if (hal.can_mgr[drv_num - 1] != nullptr) {
initret &= hal.can_mgr[drv_num - 1]->begin(_var_info_can[i]._can_bitrate, i); initret &= hal.can_mgr[drv_num - 1]->begin(_var_info_can[i]._can_bitrate, i);
} else { } else {