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AP_CANManager: fixed use of CANSensor on multiple ports

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we should not increment _num_drivers if we don't have a driver yet
This commit is contained in:
Andrew Tridgell 2021-01-01 21:11:05 +11:00
parent 3b7207a5e4
commit 6ed4eca57f
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_CANManager/AP_CANManager.cpp
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@ -186,8 +186,7 @@ void AP_CANManager::init()
continue; continue;
} }
_num_drivers++; if (_num_drivers >= HAL_MAX_CAN_PROTOCOL_DRIVERS) {
if (_num_drivers > HAL_MAX_CAN_PROTOCOL_DRIVERS) {
// We are exceeding number of drivers, // We are exceeding number of drivers,
// this can't be happening time to panic // this can't be happening time to panic
AP_BoardConfig::config_error("Max number of CAN Drivers exceeded\n\r"); AP_BoardConfig::config_error("Max number of CAN Drivers exceeded\n\r");
@ -247,6 +246,8 @@ void AP_CANManager::init()
continue; continue;
} }
_num_drivers++;
// Hook this interface to the selected Driver Type // Hook this interface to the selected Driver Type
_drivers[drv_num]->add_interface(iface); _drivers[drv_num]->add_interface(iface);
log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Adding Interface %d to Driver %d", i + 1, drv_num + 1); log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Adding Interface %d to Driver %d", i + 1, drv_num + 1);