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AP_HAL_ChibiOS: cleanup ifdefs for SLCAN enable

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This commit is contained in:
Andrew Tridgell 2019-10-06 16:29:15 +11:00
parent 6b3c10f0e7
commit 15e4641e51
6 changed files with 12 additions and 11 deletions
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4
libraries/AP_HAL_ChibiOS/CANFDIface.cpp
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@ -119,7 +119,7 @@ inline void handleInterrupt(uavcan::uint8_t iface_index, uavcan::uint8_t line_in
} // namespace } // namespace
uint32_t CanIface::FDCANMessageRAMOffset_ = 0; uint32_t CanIface::FDCANMessageRAMOffset_ = 0;
#if !HAL_MINIMIZE_FEATURES #if AP_UAVCAN_SLCAN_ENABLED
SLCANRouter CanIface::_slcan_router; SLCANRouter CanIface::_slcan_router;
#endif #endif
@ -695,7 +695,7 @@ bool CanIface::readRxFIFO(uavcan::uint8_t fifo_index)
* Store with timeout into the FIFO buffer and signal update event * Store with timeout into the FIFO buffer and signal update event
*/ */
rx_queue_.push(frame, utc_usec, 0); rx_queue_.push(frame, utc_usec, 0);
#if !HAL_MINIMIZE_FEATURES #if AP_UAVCAN_SLCAN_ENABLED
_slcan_router.route_frame_to_slcan(this, frame, utc_usec); _slcan_router.route_frame_to_slcan(this, frame, utc_usec);
#endif #endif
return true; return true;

4
libraries/AP_HAL_ChibiOS/CANFDIface.h
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@ -85,7 +85,7 @@ struct CanRxItem {
*/ */
class CanIface : public uavcan::ICanIface, uavcan::Noncopyable class CanIface : public uavcan::ICanIface, uavcan::Noncopyable
{ {
#if !HAL_MINIMIZE_FEATURES #if AP_UAVCAN_SLCAN_ENABLED
friend class ::SLCANRouter; friend class ::SLCANRouter;
static SLCANRouter _slcan_router; static SLCANRouter _slcan_router;
#endif #endif
@ -279,7 +279,7 @@ public:
return can_; return can_;
} }
#if !HAL_MINIMIZE_FEATURES #if AP_UAVCAN_SLCAN_ENABLED
static SLCANRouter &slcan_router() { return _slcan_router; } static SLCANRouter &slcan_router() { return _slcan_router; }
#endif #endif
}; };

4
libraries/AP_HAL_ChibiOS/CANIface.h
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@ -87,7 +87,7 @@ struct CanRxItem {
*/ */
class CanIface : public uavcan::ICanIface, uavcan::Noncopyable { class CanIface : public uavcan::ICanIface, uavcan::Noncopyable {
#if !HAL_MINIMIZE_FEATURES #if AP_UAVCAN_SLCAN_ENABLED
friend class ::SLCANRouter; friend class ::SLCANRouter;
static SLCANRouter _slcan_router; static SLCANRouter _slcan_router;
#endif #endif
@ -285,7 +285,7 @@ public:
{ {
return uavcan::uint8_t(peak_tx_mailbox_index_ + 1); return uavcan::uint8_t(peak_tx_mailbox_index_ + 1);
} }
#if !HAL_MINIMIZE_FEATURES #if AP_UAVCAN_SLCAN_ENABLED
static SLCANRouter &slcan_router() { return _slcan_router; } static SLCANRouter &slcan_router() { return _slcan_router; }
#endif #endif
}; };

2
libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
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@ -17,7 +17,7 @@
#include "CANSerialRouter.h" #include "CANSerialRouter.h"
#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES #if AP_UAVCAN_SLCAN_ENABLED
#include <AP_SerialManager/AP_SerialManager.h> #include <AP_SerialManager/AP_SerialManager.h>
#include <AP_BoardConfig/AP_BoardConfig_CAN.h> #include <AP_BoardConfig/AP_BoardConfig_CAN.h>

5
libraries/AP_HAL_ChibiOS/CANSerialRouter.h
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@ -19,7 +19,7 @@
#include "AP_HAL_ChibiOS.h" #include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES #if AP_UAVCAN_SLCAN_ENABLED
#include "CAN.h" #include "CAN.h"
#include <AP_UAVCAN/AP_UAVCAN_SLCAN.h> #include <AP_UAVCAN/AP_UAVCAN_SLCAN.h>
@ -65,4 +65,5 @@ public:
}; };
#endif #endif // AP_UAVCAN_SLCAN_ENABLED

4
libraries/AP_HAL_ChibiOS/CanIface.cpp
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@ -138,7 +138,7 @@ inline void handleRxInterrupt(uavcan::uint8_t iface_index, uavcan::uint8_t fifo_
} }
} // namespace } // namespace
#if !HAL_MINIMIZE_FEATURES #if AP_UAVCAN_SLCAN_ENABLED
SLCANRouter CanIface::_slcan_router; SLCANRouter CanIface::_slcan_router;
#endif #endif
/* /*
@ -763,7 +763,7 @@ void CanIface::handleRxInterrupt(uavcan::uint8_t fifo_index, uavcan::uint64_t ut
* Store with timeout into the FIFO buffer and signal update event * Store with timeout into the FIFO buffer and signal update event
*/ */
rx_queue_.push(frame, utc_usec, 0); rx_queue_.push(frame, utc_usec, 0);
#if !HAL_MINIMIZE_FEATURES #if AP_UAVCAN_SLCAN_ENABLED
_slcan_router.route_frame_to_slcan(this, frame, utc_usec); _slcan_router.route_frame_to_slcan(this, frame, utc_usec);
#endif #endif
had_activity_ = true; had_activity_ = true;