From 9489ec9e7c3695290210b140d49ddab72d7b7a45 Mon Sep 17 00:00:00 2001
From: Francisco Ferreira <francisco-ferreira@mail.telepac.pt>
Date: Wed, 18 Jul 2018 07:27:37 +0100
Subject: [PATCH] AP_Baro: adapt to changes in AP_BoardConfig_CAN

---
 libraries/AP_Baro/AP_Baro_UAVCAN.cpp | 32 ++++++++++------------------
 1 file changed, 11 insertions(+), 21 deletions(-)

diff --git a/libraries/AP_Baro/AP_Baro_UAVCAN.cpp b/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
index eb6bc5fa9c..b976006e5a 100644
--- a/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
+++ b/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
@@ -3,19 +3,12 @@
 #if HAL_WITH_UAVCAN
 
 #include "AP_Baro_UAVCAN.h"
-#include <AP_BoardConfig/AP_BoardConfig.h>
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 
-#if HAL_OS_POSIX_IO
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <unistd.h>
-#endif
+#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 
 extern const AP_HAL::HAL& hal;
 
-#define debug_baro_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig_CAN::get_can_debug()) { printf(fmt, ##args); }} while (0)
+#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)
 
 /*
   constructor - registers instance at top Baro driver
@@ -31,39 +24,36 @@ AP_Baro_UAVCAN::~AP_Baro_UAVCAN()
     if (!_initialized) {
         return;
     }
-    
+
     AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(_manager);
     if (ap_uavcan == nullptr) {
         return;
     }
-    
+
     ap_uavcan->remove_baro_listener(this);
     delete _sem_baro;
-    
-    debug_baro_uavcan(2, "AP_Baro_UAVCAN destructed\n\r");
+
+    debug_baro_uavcan(2, _manager, "AP_Baro_UAVCAN destructed\n\r");
 }
 
 AP_Baro_Backend *AP_Baro_UAVCAN::probe(AP_Baro &baro)
 {
-
-    if (AP_BoardConfig_CAN::get_can_num_ifaces() == 0) {
-        return nullptr;
-    }
+    uint8_t can_num_drivers = AP::can().get_num_drivers();
 
     AP_Baro_UAVCAN *sensor;
-    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;
         }
-        
+
         uint8_t freebaro = ap_uavcan->find_smallest_free_baro_node();
         if (freebaro == UINT8_MAX) {
             continue;
         }
         sensor = new AP_Baro_UAVCAN(baro);
         if (sensor->register_uavcan_baro(i, freebaro)) {
-            debug_baro_uavcan(2, "AP_Baro_UAVCAN probed, drv: %d, node: %d\n\r", i, freebaro);
+            debug_baro_uavcan(2, i, "AP_Baro_UAVCAN probed, drv: %d, node: %d\n\r", i, freebaro);
             return sensor;
         } else {
             delete sensor;
@@ -104,7 +94,7 @@ bool AP_Baro_UAVCAN::register_uavcan_baro(uint8_t mgr, uint8_t node)
 
     if (ap_uavcan->register_baro_listener_to_node(this, node)) {
         _instance = _frontend.register_sensor();
-        debug_baro_uavcan(2, "AP_Baro_UAVCAN loaded\n\r");
+        debug_baro_uavcan(2, mgr, "AP_Baro_UAVCAN loaded\n\r");
 
         _initialized = true;