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LPC11C24 driver - removed some literal constants

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This commit is contained in:
Pavel Kirienko
2015-10-12 08:39:22 +03:00
parent 563ec45c6e
commit 98000f2076
1 changed files with 6 additions and 3 deletions
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libuavcan_drivers/lpc11c24/driver/src/can.cpp
+6 -3
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@@ -35,7 +35,10 @@ namespace
* TX priority is defined by the message object number, not by the CAN ID (chapter 16.7.3.5 of the user manual),
* hence we can't use more than one object because that would cause priority inversion on long transfers.
*/
const unsigned NumMsgObjects = 32;
constexpr unsigned NumberOfMessageObjects = 32;
constexpr unsigned NumberOfTxMessageObjects = 1;
constexpr unsigned NumberOfRxMessageObjects = NumberOfMessageObjects - NumberOfTxMessageObjects;
constexpr unsigned TxMessageObjectNumber = 1;
/**
* Total number of CAN errors.
@@ -363,7 +366,7 @@ uavcan::int16_t CanDriver::send(const uavcan::CanFrame& frame, uavcan::Monotonic
if (tx_free)
{
tx_free = false; // Mark as pending - will be released in TX callback
msgobj.msgobj = 1;
msgobj.msgobj = TxMessageObjectNumber;
LPC_CCAN_API->can_transmit(&msgobj);
return 1;
}
@@ -438,7 +441,7 @@ uavcan::uint64_t CanDriver::getErrorCount() const
uavcan::uint16_t CanDriver::getNumFilters() const
{
return NumMsgObjects - 1; // First msgobj is reserved for TX frame
return NumberOfRxMessageObjects;
}
uavcan::ICanIface* CanDriver::getIface(uavcan::uint8_t iface_index)