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AP_BattMonitor: move to using CANManager library

This commit is contained in:
Siddharth Purohit 2020-05-31 17:33:02 +05:30 committed by Andrew Tridgell
parent dc02322017
commit 9820ea9023
2 changed files with 8 additions and 7 deletions
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4
libraries/AP_BattMonitor/AP_BattMonitor.cpp
View File

@ -15,7 +15,7 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include "AP_BattMonitor_UAVCAN.h"
#endif
@ -156,7 +156,7 @@ AP_BattMonitor::init()
#endif
break;
case Type::UAVCAN_BatteryInfo:
#if HAL_WITH_UAVCAN
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
drivers[instance] = new AP_BattMonitor_UAVCAN(*this, state[instance], AP_BattMonitor_UAVCAN::UAVCAN_BATTERY_INFO, _params[instance]);
#endif
break;

11
libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
View File

@ -1,19 +1,20 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include "AP_BattMonitor.h"
#include "AP_BattMonitor_UAVCAN.h"
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#include <AP_CANManager/AP_CANManager.h>
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <uavcan/equipment/power/BatteryInfo.hpp>
#define LOG_TAG "BattMon"
extern const AP_HAL::HAL& hal;
#define debug_bm_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { printf(fmt, ##args); }} while (0)
UC_REGISTRY_BINDER(BattInfoCb, uavcan::equipment::power::BatteryInfo);
@ -68,8 +69,8 @@ AP_BattMonitor_UAVCAN* AP_BattMonitor_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_u
batmon->_ap_uavcan = ap_uavcan;
batmon->_node_id = node_id;
batmon->init();
debug_bm_uavcan(2,
ap_uavcan->get_driver_index(),
AP::can().log_text(AP_CANManager::LOG_INFO,
LOG_TAG,
"Registered BattMonitor Node %d on Bus %d\n",
node_id,
ap_uavcan->get_driver_index());