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AP_GPS: 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 317e8e0296
commit b29369eb82
No known key found for this signature in database
GPG Key ID: F63C20A6773E787E
2 changed files with 17 additions and 15 deletions
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22
libraries/AP_GPS/AP_GPS.cpp
View File

@ -418,25 +418,26 @@ void AP_GPS::detect_instance(uint8_t instance)
switch (_type[instance]) {
// user has to explicitly set the MAV type, do not use AUTO
// do not try to detect the MAV type, assume it's there
case GPS_TYPE_MAV:
case GPS_TYPE_MAV: {
dstate->auto_detected_baud = false; // specified, not detected
new_gps = new AP_GPS_MAV(*this, state[instance], nullptr);
goto found_gps;
break;
}
#if HAL_WITH_UAVCAN
// user has to explicitly set the UAVCAN type, do not use AUTO
case GPS_TYPE_UAVCAN:
case GPS_TYPE_UAVCAN: {
#if HAL_WITH_UAVCAN
dstate->auto_detected_baud = false; // specified, not detected
if (AP_BoardConfig_CAN::get_can_num_ifaces() == 0) {
return;
}
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
uint8_t can_num_drivers = AP::can().get_num_drivers();
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 gps_node = ap_uavcan->find_gps_without_listener();
if (gps_node == UINT8_MAX) {
continue;
@ -445,7 +446,7 @@ void AP_GPS::detect_instance(uint8_t instance)
new_gps = new AP_GPS_UAVCAN(*this, state[instance], nullptr);
((AP_GPS_UAVCAN*) new_gps)->set_uavcan_manager(i);
if (ap_uavcan->register_gps_listener_to_node(new_gps, gps_node)) {
if (AP_BoardConfig_CAN::get_can_debug() >= 2) {
if (AP::can().get_debug_level_driver(i) >= 2) {
printf("AP_GPS_UAVCAN registered\n\r");
}
goto found_gps;
@ -453,8 +454,9 @@ void AP_GPS::detect_instance(uint8_t instance)
delete new_gps;
}
}
return;
#endif
return;
}
default:
break;

10
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
View File

@ -21,12 +21,12 @@
#if HAL_WITH_UAVCAN
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
extern const AP_HAL::HAL& hal;
#define debug_gps_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig_CAN::get_can_debug()) { printf(fmt, ##args); }} while (0)
#define debug_gps_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { printf(fmt, ##args); }} while (0)
AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port)
@ -41,11 +41,11 @@ AP_GPS_UAVCAN::~AP_GPS_UAVCAN()
if (ap_uavcan == nullptr) {
return;
}
ap_uavcan->remove_gps_listener(this);
delete _sem_gnss;
debug_gps_uavcan(2, "AP_GPS_UAVCAN destructed\n\r");
debug_gps_uavcan(2, _manager, "AP_GPS_UAVCAN destructed\n\r");
}
void AP_GPS_UAVCAN::set_uavcan_manager(uint8_t mgr)