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AP_ESC_Telem: move to using CANManager library

This commit is contained in:
Siddharth Purohit 2020-05-31 17:35:16 +05:30 committed by Andrew Tridgell
parent bf1a7799f8
commit e9430d7f80
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
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@ -16,8 +16,8 @@
#include "AP_ESC_Telem.h"
#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
#include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
@ -38,10 +38,10 @@ AP_ESC_Telem::AP_ESC_Telem()
// get an individual ESC's usage time in seconds if available, returns true on success
bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_id, uint32_t& usage_sec) const
{
#if HAL_WITH_UAVCAN
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
const uint8_t num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < num_drivers; i++) {
if (AP::can().get_protocol_type(i) == AP_BoardConfig_CAN::Protocol_Type_ToshibaCAN) {
if (AP::can().get_driver_type(i) == AP_CANManager::Driver_Type_ToshibaCAN) {
AP_ToshibaCAN *tcan = AP_ToshibaCAN::get_tcan(i);
if (tcan != nullptr) {
usage_sec = tcan->get_usage_seconds(esc_id);