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AP_KDECAN: update prearm method to support snprintf methods

This commit is contained in:
Siddharth Purohit 2019-10-04 12:32:26 +05:30 committed by Andrew Tridgell
parent 9b2c060cc5
commit eff316dd6b
2 changed files with 7 additions and 7 deletions
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12
libraries/AP_KDECAN/AP_KDECAN.cpp
View File

@ -637,16 +637,16 @@ void AP_KDECAN::update()
}
}
bool AP_KDECAN::pre_arm_check(const char* &reason)
bool AP_KDECAN::pre_arm_check(char* reason, uint8_t reason_len)
{
if (!_enum_sem.take(1)) {
debug_can(2, "KDECAN: failed to get enumeration semaphore on read\n\r");
reason = "KDECAN enumeration state unknown";
snprintf(reason, reason_len ,"KDECAN enumeration state unknown");
return false;
}
if (_enumeration_state != ENUMERATION_STOPPED) {
reason = "KDECAN enumeration running";
snprintf(reason, reason_len ,"KDECAN enumeration running");
_enum_sem.give();
return false;
}
@ -664,17 +664,17 @@ bool AP_KDECAN::pre_arm_check(const char* &reason)
uint8_t num_present_escs = __builtin_popcount(_esc_present_bitmask);
if (num_present_escs < num_expected_motors) {
reason = "Not enough KDECAN ESCs detected";
snprintf(reason, reason_len ,"Not enough KDECAN ESCs detected");
return false;
}
if (num_present_escs > num_expected_motors) {
reason = "Too many KDECAN ESCs detected";
snprintf(reason, reason_len ,"Too many KDECAN ESCs detected");
return false;
}
if (_esc_max_node_id != num_expected_motors) {
reason = "Wrong KDECAN node IDs, run enumeration";
snprintf(reason, reason_len ,"Wrong KDECAN node IDs, run enumeration");
return false;
}

2
libraries/AP_KDECAN/AP_KDECAN.h
View File

@ -49,7 +49,7 @@ public:
void update();
// check that arming can happen
bool pre_arm_check(const char* &reason);
bool pre_arm_check(char* reason, uint8_t reason_len);
// send MAVLink telemetry packets
void send_mavlink(uint8_t chan);