AP_Baro: adapt to changes in AP_BoardConfig_CAN

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 <AP_BoardConfig/AP_BoardConfig_CAN.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <unistd.h>
-#endif
 
 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
@@ -40,18 +33,15 @@ AP_Baro_UAVCAN::~AP_Baro_UAVCAN()
     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)
 {
-
+    uint8_t can_num_drivers = AP::can().get_num_drivers();
-    if (AP_BoardConfig_CAN::get_can_num_ifaces() == 0) {
-        return nullptr;
-    }
 
     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;
@@ -63,7 +53,7 @@ AP_Baro_Backend *AP_Baro_UAVCAN::probe(AP_Baro &baro)
         }
         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;