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AP_Baro: adapt to changes in AP_BoardConfig_CAN

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This commit is contained in:
Francisco Ferreira 2018-07-18 07:27:37 +01:00
parent 5efde5fa8b
commit 9489ec9e7c
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GPG Key ID: F63C20A6773E787E
1 changed files with 11 additions and 21 deletions
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32
libraries/AP_Baro/AP_Baro_UAVCAN.cpp
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@ -3,19 +3,12 @@
#if HAL_WITH_UAVCAN
#include "AP_Baro_UAVCAN.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#if HAL_OS_POSIX_IO
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#endif
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
extern const AP_HAL::HAL& hal;
#define debug_baro_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig_CAN::get_can_debug()) { printf(fmt, ##args); }} while (0)
#define debug_baro_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { printf(fmt, ##args); }} while (0)
/*
constructor - registers instance at top Baro driver
@ -31,39 +24,36 @@ AP_Baro_UAVCAN::~AP_Baro_UAVCAN()
if (!_initialized) {
return;
}
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(_manager);
if (ap_uavcan == nullptr) {
return;
}
ap_uavcan->remove_baro_listener(this);
delete _sem_baro;
debug_baro_uavcan(2, "AP_Baro_UAVCAN destructed\n\r");
debug_baro_uavcan(2, _manager, "AP_Baro_UAVCAN destructed\n\r");
}
AP_Baro_Backend *AP_Baro_UAVCAN::probe(AP_Baro &baro)
{
if (AP_BoardConfig_CAN::get_can_num_ifaces() == 0) {
return nullptr;
}
uint8_t can_num_drivers = AP::can().get_num_drivers();
AP_Baro_UAVCAN *sensor;
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
for (uint8_t i = 0; i < can_num_drivers; i++) {
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
if (ap_uavcan == nullptr) {
continue;
}
uint8_t freebaro = ap_uavcan->find_smallest_free_baro_node();
if (freebaro == UINT8_MAX) {
continue;
}
sensor = new AP_Baro_UAVCAN(baro);
if (sensor->register_uavcan_baro(i, freebaro)) {
debug_baro_uavcan(2, "AP_Baro_UAVCAN probed, drv: %d, node: %d\n\r", i, freebaro);
debug_baro_uavcan(2, i, "AP_Baro_UAVCAN probed, drv: %d, node: %d\n\r", i, freebaro);
return sensor;
} else {
delete sensor;
@ -104,7 +94,7 @@ bool AP_Baro_UAVCAN::register_uavcan_baro(uint8_t mgr, uint8_t node)
if (ap_uavcan->register_baro_listener_to_node(this, node)) {
_instance = _frontend.register_sensor();
debug_baro_uavcan(2, "AP_Baro_UAVCAN loaded\n\r");
debug_baro_uavcan(2, mgr, "AP_Baro_UAVCAN loaded\n\r");
_initialized = true;