From 5efde5fa8bc2d9fa4374a489688f31e8bede3573 Mon Sep 17 00:00:00 2001
From: Francisco Ferreira <francisco-ferreira@mail.telepac.pt>
Date: Wed, 18 Jul 2018 07:27:38 +0100
Subject: [PATCH] AP_HAL_VRBRAIN: adapt to changes in AP_BoardConfig_CAN

---
 libraries/AP_HAL_VRBRAIN/CAN.cpp | 29 ++++++++++++++---------------
 1 file changed, 14 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_HAL_VRBRAIN/CAN.cpp b/libraries/AP_HAL_VRBRAIN/CAN.cpp
index 2916a4b950..23270da41b 100644
--- a/libraries/AP_HAL_VRBRAIN/CAN.cpp
+++ b/libraries/AP_HAL_VRBRAIN/CAN.cpp
@@ -8,9 +8,6 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/system.h>
 
-#include <AP_BoardConfig/AP_BoardConfig.h>
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
-
 #if HAL_WITH_UAVCAN
 
 #include <cassert>
@@ -25,6 +22,8 @@
 
 #include "Scheduler.h"
 
+#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
+
 /*
  * FOR INVESTIGATION:
  * AP_HAL::micros64() was called for monotonic time counter
@@ -172,7 +171,7 @@ int VRBRAINCAN::computeTimings(const uint32_t target_bitrate, Timings& out_timin
     const uint8_t max_quanta_per_bit = (target_bitrate >= 1000000) ? 10 : 17;
 
     if (max_quanta_per_bit > (MaxBS1 + MaxBS2)) {
-        if (AP_BoardConfig_CAN::get_can_debug() >= 1) {
+        if (AP::can().get_debug_level(self_index_) >= 1) {
             printf("VRBRAINCAN::computeTimings max_quanta_per_bit problem\n\r");
         }
     }
@@ -241,7 +240,7 @@ int VRBRAINCAN::computeTimings(const uint32_t target_bitrate, Timings& out_timin
                 uint16_t(1000 * (1 + bs1) / (1 + bs1 + bs2)))
         {
             if (bs1_bs2_sum <= arg_bs1) {
-                if (AP_BoardConfig_CAN::get_can_debug() >= 1) {
+                if (AP::can().get_debug_level(self_index_) >= 1) {
                     AP_HAL::panic("VRBRAINCAN::computeTimings bs1_bs2_sum <= arg_bs1");
                 }
             }
@@ -271,13 +270,13 @@ int VRBRAINCAN::computeTimings(const uint32_t target_bitrate, Timings& out_timin
      * Final validation
      */
     if ((target_bitrate != (pclk / (prescaler * (1 + solution.bs1 + solution.bs2)))) || !solution.isValid()) {
-        if (AP_BoardConfig_CAN::get_can_debug() >= 1) {
+        if (AP::can().get_debug_level(self_index_) >= 1) {
             printf("VRBRAINCAN::computeTimings target_bitrate error\n\r");
         }
         return -ErrLogic;
     }
 
-    if (AP_BoardConfig_CAN::get_can_debug() >= 2) {
+    if (AP::can().get_debug_level(self_index_) >= 2) {
         printf("VRBRAINCAN::computeTimings Timings: quanta/bit: %d, sample point location: %.1f%%\n\r",
                int(1 + solution.bs1 + solution.bs2), double(solution.sample_point_permill / 10.0));
     }
@@ -479,7 +478,7 @@ int VRBRAINCAN::init(const uint32_t bitrate, const OperatingMode mode)
     }
 
     if (!waitMsrINakBitStateChange(true)) {
-        if (AP_BoardConfig_CAN::get_can_debug() >= 1) {
+        if (AP::can().get_debug_level(self_index_) >= 1) {
             printf("VRBRAINCAN::init MSR INAK not set\n\r");
         }
         can_->MCR = bxcan::MCR_RESET;
@@ -505,7 +504,7 @@ int VRBRAINCAN::init(const uint32_t bitrate, const OperatingMode mode)
         can_->MCR = bxcan::MCR_RESET;
         return timings_res;
     }
-    if (AP_BoardConfig_CAN::get_can_debug() >= 2) {
+    if (AP::can().get_debug_level(self_index_) >= 2) {
         printf("VRBRAINCAN::init Timings: presc=%u sjw=%u bs1=%u bs2=%u\n\r", unsigned(timings.prescaler),
                unsigned(timings.sjw), unsigned(timings.bs1), unsigned(timings.bs2));
     }
@@ -525,7 +524,7 @@ int VRBRAINCAN::init(const uint32_t bitrate, const OperatingMode mode)
     can_->MCR &= ~bxcan::MCR_INRQ; // Leave init mode
 
     if (!waitMsrINakBitStateChange(false)) {
-        if (AP_BoardConfig_CAN::get_can_debug() >= 1) {
+        if (AP::can().get_debug_level(self_index_) >= 1) {
             printf("VRBRAINCAN::init MSR INAK not cleared\n\r");
         }
         can_->MCR = bxcan::MCR_RESET;
@@ -969,7 +968,7 @@ int VRBRAINCANManager::init(const uint32_t bitrate, const VRBRAINCAN::OperatingM
 
     int res = 0;
 
-    if (AP_BoardConfig_CAN::get_can_debug(can_number) >= 2) {
+    if (AP::can().get_debug_level(can_number) >= 2) {
         printf("VRBRAINCANManager::init Bitrate %lu mode %d bus %d\n\r", static_cast<unsigned long>(bitrate),
                static_cast<int>(mode), static_cast<int>(can_number));
     }
@@ -980,7 +979,7 @@ int VRBRAINCANManager::init(const uint32_t bitrate, const VRBRAINCAN::OperatingM
         _ifaces_num++;
         _ifaces_out_to_in[can_number] = _ifaces_num - 1;
 
-        if (AP_BoardConfig_CAN::get_can_debug(can_number) >= 2) {
+        if (AP::can().get_debug_level(can_number) >= 2) {
             printf("VRBRAINCANManager::init First initialization bus %d\n\r", static_cast<int>(can_number));
         }
 
@@ -991,7 +990,7 @@ int VRBRAINCANManager::init(const uint32_t bitrate, const VRBRAINCAN::OperatingM
      * CAN1
      */
     if (can_number == 0) {
-        if (AP_BoardConfig_CAN::get_can_debug(0) >= 2) {
+        if (AP::can().get_debug_level(0) >= 2) {
             printf("VRBRAINCANManager::init Initing iface 0...\n\r");
         }
         ifaces[_ifaces_out_to_in[can_number]] = &if0_;               // This link must be initialized first,
@@ -1002,7 +1001,7 @@ int VRBRAINCANManager::init(const uint32_t bitrate, const VRBRAINCAN::OperatingM
      * CAN2
      */
     if (can_number == 1) {
-        if (AP_BoardConfig_CAN::get_can_debug(1) >= 2) {
+        if (AP::can().get_debug_level(1) >= 2) {
             printf("VRBRAINCANManager::init Initing iface 1...\n\r");
         }
         ifaces[_ifaces_out_to_in[can_number]] = &if1_;                          // Same thing here.
@@ -1016,7 +1015,7 @@ int VRBRAINCANManager::init(const uint32_t bitrate, const VRBRAINCAN::OperatingM
         return res;
     }
 
-    if (AP_BoardConfig_CAN::get_can_debug(can_number) >= 2) {
+    if (AP::can().get_debug_level(can_number) >= 2) {
         printf("VRBRAINCANManager::init CAN drv init OK, res = %d\n\r", res);
     }