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AP_BoardConfig: cleanup ifdefs for SLCAN enable

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This commit is contained in:
Andrew Tridgell 2019-10-06 16:29:15 +11:00
parent 4a42a3a23a
commit 6b3c10f0e7
3 changed files with 10 additions and 9 deletions
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13
libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
View File

@ -77,7 +77,7 @@ const AP_Param::GroupInfo AP_BoardConfig_CAN::var_info[] = {
AP_SUBGROUPINFO(_drivers[2], "D3_", 6, AP_BoardConfig_CAN, AP_BoardConfig_CAN::Driver),
#endif
#if !HAL_MINIMIZE_FEATURES
#if AP_UAVCAN_SLCAN_ENABLED
// @Group: SLCAN_
// @Path: ../AP_BoardConfig/canbus_slcan.cpp
AP_SUBGROUPINFO(_slcan, "SLCAN_", 7, AP_BoardConfig_CAN, AP_BoardConfig_CAN::SLCAN_Interface),
@ -102,7 +102,7 @@ void AP_BoardConfig_CAN::init()
{
// Create all drivers that we need
bool initret = true;
#if !HAL_MINIMIZE_FEATURES
#if AP_UAVCAN_SLCAN_ENABLED
reset_slcan_serial();
#endif
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
@ -122,12 +122,12 @@ void AP_BoardConfig_CAN::init()
// For this now existing driver (manager), start the physical interface
if (hal.can_mgr[drv_num - 1] != nullptr) {
initret = initret && hal.can_mgr[drv_num - 1]->begin(_interfaces[i]._bitrate, i);
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && !HAL_MINIMIZE_FEATURES
#if AP_UAVCAN_SLCAN_ENABLED
if (_slcan._can_port == (i+1) && hal.can_mgr[drv_num - 1] != nullptr ) {
ChibiOS_CAN::CanDriver* drv = (ChibiOS_CAN::CanDriver*)hal.can_mgr[drv_num - 1]->get_driver();
ChibiOS_CAN::CanIface::slcan_router().init(drv->getIface(i), drv->getUpdateEvent());
}
#endif
#endif
} else {
printf("Failed to initialize can interface %d\n\r", i + 1);
}
@ -177,7 +177,7 @@ void AP_BoardConfig_CAN::init()
} else {
continue;
}
#if !HAL_MINIMIZE_FEATURES
#if AP_UAVCAN_SLCAN_ENABLED
if (_slcan._can_port == 0) {
_drivers[i]._driver->init(i, true);
} else {
@ -187,7 +187,8 @@ void AP_BoardConfig_CAN::init()
}
}
}
#if !HAL_MINIMIZE_FEATURES
#if AP_UAVCAN_SLCAN_ENABLED
AP_HAL::UARTDriver *AP_BoardConfig_CAN::get_slcan_serial()
{
if (_slcan._ser_port != -1) {

4
libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
View File

@ -87,7 +87,7 @@ public:
}
static const struct AP_Param::GroupInfo var_info[];
#if !HAL_MINIMIZE_FEATURES
#if AP_UAVCAN_SLCAN_ENABLED
AP_HAL::UARTDriver *get_slcan_serial();
uint8_t get_slcan_timeout() { return _slcan._timeout; }
void reset_slcan_serial() { _slcan._ser_port.set_and_save_ifchanged(-1); }
@ -131,7 +131,7 @@ private:
AP_HAL::CANProtocol* _tcan;
};
#if !HAL_MINIMIZE_FEATURES
#if AP_UAVCAN_SLCAN_ENABLED
class SLCAN_Interface {
friend class AP_BoardConfig_CAN;

2
libraries/AP_BoardConfig/canbus_slcan.cpp
View File

@ -15,7 +15,7 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
#if AP_UAVCAN_SLCAN_ENABLED
#include "AP_BoardConfig_CAN.h"
const AP_Param::GroupInfo AP_BoardConfig_CAN::SLCAN_Interface::var_info[] = {