From 31b8a051cc84eaac75e23ab553a63762da83a323 Mon Sep 17 00:00:00 2001 From: Francisco Ferreira Date: Wed, 18 Jul 2018 07:27:37 +0100 Subject: [PATCH] AP_BattMonitor: adapt to changes in AP_BoardConfig_CAN --- libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp index 5ff1700e90..8acd82c89a 100644 --- a/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp +++ b/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp @@ -7,12 +7,11 @@ #include "AP_BattMonitor.h" #include "AP_BattMonitor_UAVCAN.h" -#include #include extern const AP_HAL::HAL& hal; -#define debug_bm_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig_CAN::get_can_debug()) { printf(fmt, ##args); }} while (0) +#define debug_bm_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { printf(fmt, ##args); }} while (0) /// Constructor AP_BattMonitor_UAVCAN::AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state, BattMonitor_UAVCAN_Type type, AP_BattMonitor_Params ¶ms) : @@ -25,20 +24,18 @@ AP_BattMonitor_UAVCAN::AP_BattMonitor_UAVCAN(AP_BattMonitor &mon, AP_BattMonitor void AP_BattMonitor_UAVCAN::init() { - if (AP_BoardConfig_CAN::get_can_num_ifaces() == 0) { - return; - } + uint8_t can_num_drivers = AP::can().get_num_drivers(); - for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) { + for (uint8_t i = 0; i < can_num_drivers; i++) { AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i); if (ap_uavcan == nullptr) { continue; } - + switch (_type) { case UAVCAN_BATTERY_INFO: if (ap_uavcan->register_BM_bi_listener_to_id(this, _params._serial_number)) { - debug_bm_uavcan(2, "UAVCAN BattMonitor BatteryInfo registered id: %d\n\r", _params._serial_number.get()); + debug_bm_uavcan(2, i, "UAVCAN BattMonitor BatteryInfo registered id: %d\n\r", _params._serial_number.get()); } break; }