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AP_BoardConfig: reducing indenting by linearizing the logic

This commit is contained in:
Eugene Shamaev 2018-03-09 10:32:05 +02:00 committed by Tom Pittenger
parent dc228a25fa
commit 857bd4f775
1 changed files with 19 additions and 19 deletions
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38
libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
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@ -127,29 +127,29 @@ void AP_BoardConfig_CAN::setup_canbus(void)
if (initret) {
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
if (hal.can_mgr[i] != nullptr) {
hal.can_mgr[i]->initialized(true);
printf("can_mgr %d initialized well\n\r", i + 1);
if (hal.can_mgr[i] == nullptr) {
continue;
}
hal.can_mgr[i]->initialized(true);
printf("can_mgr %d initialized well\n\r", i + 1);
if (_var_info_can_protocol[i]._protocol == UAVCAN_PROTOCOL_ENABLE) {
_var_info_can_protocol[i]._uavcan = new AP_UAVCAN;
if (_var_info_can_protocol[i]._protocol == UAVCAN_PROTOCOL_ENABLE) {
_var_info_can_protocol[i]._uavcan = new AP_UAVCAN;
if (_var_info_can_protocol[i]._uavcan != nullptr)
{
AP_Param::load_object_from_eeprom(_var_info_can_protocol[i]._uavcan, AP_UAVCAN::var_info);
if (_var_info_can_protocol[i]._uavcan == nullptr) {
AP_HAL::panic("Failed to allocate uavcan %d\n\r", i + 1);
continue;
}
AP_Param::load_object_from_eeprom(_var_info_can_protocol[i]._uavcan, AP_UAVCAN::var_info);
hal.can_mgr[i]->set_UAVCAN(_var_info_can_protocol[i]._uavcan);
_var_info_can_protocol[i]._uavcan->set_parent_can_mgr(hal.can_mgr[i]);
hal.can_mgr[i]->set_UAVCAN(_var_info_can_protocol[i]._uavcan);
_var_info_can_protocol[i]._uavcan->set_parent_can_mgr(hal.can_mgr[i]);
if (_var_info_can_protocol[i]._uavcan->try_init() == true) {
any_uavcan_present = true;
} else {
printf("Failed to initialize uavcan interface %d\n\r", i + 1);
}
} else {
AP_HAL::panic("Failed to allocate uavcan %d\n\r", i + 1);
}
if (_var_info_can_protocol[i]._uavcan->try_init() == true) {
any_uavcan_present = true;
} else {
printf("Failed to initialize uavcan interface %d\n\r", i + 1);
}
}
}