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AP_Airspeed: move to using CANManager library

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This commit is contained in:
Siddharth Purohit 2020-05-31 17:31:32 +05:30 committed by Andrew Tridgell
parent 4e17f8a23e
commit d65b43795a
2 changed files with 10 additions and 10 deletions
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4
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -31,7 +31,7 @@
#include "AP_Airspeed_DLVR.h" #include "AP_Airspeed_DLVR.h"
#include "AP_Airspeed_analog.h" #include "AP_Airspeed_analog.h"
#include "AP_Airspeed_Backend.h" #include "AP_Airspeed_Backend.h"
#if HAL_WITH_UAVCAN #if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include "AP_Airspeed_UAVCAN.h" #include "AP_Airspeed_UAVCAN.h"
#endif #endif
@ -317,7 +317,7 @@ void AP_Airspeed::init()
#endif // !HAL_MINIMIZE_FEATURES #endif // !HAL_MINIMIZE_FEATURES
break; break;
case TYPE_UAVCAN: case TYPE_UAVCAN:
#if HAL_WITH_UAVCAN #if HAL_ENABLE_LIBUAVCAN_DRIVERS
sensor[i] = AP_Airspeed_UAVCAN::probe(*this, i); sensor[i] = AP_Airspeed_UAVCAN::probe(*this, i);
#endif #endif
break; break;

16
libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp
View File

@ -1,17 +1,17 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN #if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include "AP_Airspeed_UAVCAN.h" #include "AP_Airspeed_UAVCAN.h"
#include <AP_BoardConfig/AP_BoardConfig_CAN.h> #include <AP_CANManager/AP_CANManager.h>
#include <AP_UAVCAN/AP_UAVCAN.h> #include <AP_UAVCAN/AP_UAVCAN.h>
#include <uavcan/equipment/air_data/RawAirData.hpp> #include <uavcan/equipment/air_data/RawAirData.hpp>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#define debug_airspeed_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { printf(fmt, ##args); }} while (0) #define LOG_TAG "AirSpeed"
// UAVCAN Frontend Registry Binder // UAVCAN Frontend Registry Binder
UC_REGISTRY_BINDER(AirspeedCb, uavcan::equipment::air_data::RawAirData); UC_REGISTRY_BINDER(AirspeedCb, uavcan::equipment::air_data::RawAirData);
@ -51,15 +51,15 @@ AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _
if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_uavcan != nullptr) { if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_uavcan != nullptr) {
backend = new AP_Airspeed_UAVCAN(_frontend, _instance); backend = new AP_Airspeed_UAVCAN(_frontend, _instance);
if (backend == nullptr) { if (backend == nullptr) {
debug_airspeed_uavcan(2, AP::can().log_text(AP_CANManager::LOG_INFO,
_detected_modules[i].ap_uavcan->get_driver_index(), LOG_TAG,
"Failed register UAVCAN Airspeed Node %d on Bus %d\n", "Failed register UAVCAN Airspeed Node %d on Bus %d\n",
_detected_modules[i].node_id, _detected_modules[i].node_id,
_detected_modules[i].ap_uavcan->get_driver_index()); _detected_modules[i].ap_uavcan->get_driver_index());
} else { } else {
_detected_modules[i].driver = backend; _detected_modules[i].driver = backend;
debug_airspeed_uavcan(2, AP::can().log_text(AP_CANManager::LOG_INFO,
_detected_modules[i].ap_uavcan->get_driver_index(), LOG_TAG,
"Registered UAVCAN Airspeed Node %d on Bus %d\n", "Registered UAVCAN Airspeed Node %d on Bus %d\n",
_detected_modules[i].node_id, _detected_modules[i].node_id,
_detected_modules[i].ap_uavcan->get_driver_index()); _detected_modules[i].ap_uavcan->get_driver_index());
@ -159,4 +159,4 @@ bool AP_Airspeed_UAVCAN::get_temperature(float &temperature)
return true; return true;
} }
#endif // HAL_WITH_UAVCAN #endif // HAL_ENABLE_LIBUAVCAN_DRIVERS