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AP_Baro: move to using CANManager library

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Siddharth Purohit 2020-05-31 17:32:33 +05:30 committed by Andrew Tridgell
parent 0fa6e2bbcc
commit dc02322017
2 changed files with 17 additions and 17 deletions
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6
libraries/AP_Baro/AP_Baro.cpp
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@ -27,7 +27,7 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_BoardConfig/AP_BoardConfig.h> #include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_BoardConfig/AP_BoardConfig_CAN.h> #include <AP_CANManager/AP_CANManager.h>
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#include "AP_Baro_SITL.h" #include "AP_Baro_SITL.h"
@ -43,7 +43,7 @@
#include "AP_Baro_DPS280.h" #include "AP_Baro_DPS280.h"
#include "AP_Baro_BMP388.h" #include "AP_Baro_BMP388.h"
#include "AP_Baro_Dummy.h" #include "AP_Baro_Dummy.h"
#if HAL_WITH_UAVCAN #if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include "AP_Baro_UAVCAN.h" #include "AP_Baro_UAVCAN.h"
#endif #endif
@ -510,7 +510,7 @@ void AP_Baro::init(void)
return; return;
} }
#if HAL_WITH_UAVCAN #if HAL_ENABLE_LIBUAVCAN_DRIVERS
// Detect UAVCAN Modules, try as many times as there are driver slots // Detect UAVCAN Modules, try as many times as there are driver slots
for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) { for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
ADD_BACKEND(AP_Baro_UAVCAN::probe(*this)); ADD_BACKEND(AP_Baro_UAVCAN::probe(*this));

28
libraries/AP_Baro/AP_Baro_UAVCAN.cpp
View File

@ -1,10 +1,10 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN #if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include "AP_Baro_UAVCAN.h" #include "AP_Baro_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/StaticPressure.hpp> #include <uavcan/equipment/air_data/StaticPressure.hpp>
@ -12,7 +12,7 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#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) #define LOG_TAG "Baro"
//UAVCAN Frontend Registry Binder //UAVCAN Frontend Registry Binder
UC_REGISTRY_BINDER(PressureCb, uavcan::equipment::air_data::StaticPressure); UC_REGISTRY_BINDER(PressureCb, uavcan::equipment::air_data::StaticPressure);
@ -64,11 +64,11 @@ AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
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_Baro_UAVCAN(baro); backend = new AP_Baro_UAVCAN(baro);
if (backend == nullptr) { if (backend == nullptr) {
debug_baro_uavcan(2, AP::can().log_text(AP_CANManager::LOG_ERROR,
_detected_modules[i].ap_uavcan->get_driver_index(), LOG_TAG,
"Failed register UAVCAN Baro Node %d on Bus %d\n", "Failed register UAVCAN Baro 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;
backend->_pressure = 0; backend->_pressure = 0;
@ -81,11 +81,11 @@ AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
_detected_modules[i].ap_uavcan->get_driver_index(), _detected_modules[i].ap_uavcan->get_driver_index(),
backend->_node_id, 0)); backend->_node_id, 0));
debug_baro_uavcan(2, AP::can().log_text(AP_CANManager::LOG_INFO,
_detected_modules[i].ap_uavcan->get_driver_index(), LOG_TAG,
"Registered UAVCAN Baro Node %d on Bus %d\n", "Registered UAVCAN Baro 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());
} }
break; break;
} }
@ -194,5 +194,5 @@ void AP_Baro_UAVCAN::update(void)
} }
} }
#endif // HAL_WITH_UAVCAN #endif // HAL_ENABLE_LIBUAVCAN_DRIVERS