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uavcan use the specified architecture driver

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This commit is contained in:
David Sidrane
2018-08-14 09:38:15 -04:00
committed by Daniel Agar
parent caa0700ca3
commit 78fcf1dc28
3 changed files with 8 additions and 8 deletions
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src/modules/uavcan/uavcan_main.cpp
+5 -5
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@@ -560,7 +560,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
/* /*
* Node init * Node init
*/ */
_instance = new UavcanNode(can->driver, uavcan_stm32::SystemClock::instance()); _instance = new UavcanNode(can->driver, UAVCAN_DRIVER::SystemClock::instance());
if (_instance == nullptr) { if (_instance == nullptr) {
PX4_ERR("Out of memory"); PX4_ERR("Out of memory");
@@ -773,20 +773,20 @@ int UavcanNode::run()
} }
/* When we have a system wide notion of time update (i.e the transition from the initial /* When we have a system wide notion of time update (i.e the transition from the initial
* System RTC setting to the GPS) we would call uavcan_stm32::clock::setUtc() when that * System RTC setting to the GPS) we would call UAVCAN_DRIVER::clock::setUtc() when that
* happens, but for now we use adjustUtc with a correction of the hrt so that the * happens, but for now we use adjustUtc with a correction of the hrt so that the
* time bases are the same * time bases are the same
*/ */
uavcan_stm32::clock::adjustUtc(uavcan::UtcDuration::fromUSec(hrt_absolute_time())); UAVCAN_DRIVER::clock::adjustUtc(uavcan::UtcDuration::fromUSec(hrt_absolute_time()));
_master_timer.setCallback(TimerCallback(this, &UavcanNode::handle_time_sync)); _master_timer.setCallback(TimerCallback(this, &UavcanNode::handle_time_sync));
_master_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000)); _master_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000));
_node_status_monitor.start(); _node_status_monitor.start();
const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0); const int busevent_fd = ::open(UAVCAN_DRIVER::BusEvent::DevName, 0);
if (busevent_fd < 0) { if (busevent_fd < 0) {
PX4_ERR("Failed to open %s", uavcan_stm32::BusEvent::DevName); PX4_ERR("Failed to open %s", UAVCAN_DRIVER::BusEvent::DevName);
_task_should_exit = true; _task_should_exit = true;
} }
src/modules/uavcan/uavcan_main.hpp
+1 -1
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@@ -103,7 +103,7 @@ class UavcanNode : public device::CDev
static constexpr unsigned StackSize = 2400; static constexpr unsigned StackSize = 2400;
public: public:
typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper; typedef UAVCAN_DRIVER::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
enum eServerAction {None, Start, Stop, CheckFW, Busy}; enum eServerAction {None, Start, Stop, CheckFW, Busy};
UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock); UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
src/modules/uavcan/uavcan_servers.cpp
+2 -2
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@@ -80,8 +80,8 @@
UavcanServers *UavcanServers::_instance; UavcanServers *UavcanServers::_instance;
UavcanServers::UavcanServers(uavcan::INode &main_node) : UavcanServers::UavcanServers(uavcan::INode &main_node) :
_subnode_thread(-1), _subnode_thread(-1),
_vdriver(NumIfaces, uavcan_stm32::SystemClock::instance(), main_node.getAllocator(), VirtualIfaceBlockAllocationQuota), _vdriver(NumIfaces, UAVCAN_DRIVER::SystemClock::instance(), main_node.getAllocator(), VirtualIfaceBlockAllocationQuota),
_subnode(_vdriver, uavcan_stm32::SystemClock::instance(), main_node.getAllocator()), _subnode(_vdriver, UAVCAN_DRIVER::SystemClock::instance(), main_node.getAllocator()),
_main_node(main_node), _main_node(main_node),
_server_instance(_subnode, _storage_backend, _tracer), _server_instance(_subnode, _storage_backend, _tracer),
_fileserver_backend(_subnode), _fileserver_backend(_subnode),