diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/uavcan/sensors/sensor_bridge.hpp | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp index 94e52dbe5..de130b078 100644 --- a/src/modules/uavcan/sensors/sensor_bridge.hpp +++ b/src/modules/uavcan/sensors/sensor_bridge.hpp @@ -75,8 +75,7 @@ public: /** * Sensor bridge factory. - * Creates a bridge object by its ASCII name, e.g. "gnss", "mag". - * @return nullptr if such bridge can't be created. + * Creates all known sensor bridges and puts them in the linked list. */ static void make_all(uavcan::INode &node, List<IUavcanSensorBridge*> &list); }; @@ -102,14 +101,16 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD bool _out_of_channels = false; protected: - template <unsigned MaxChannels> + static constexpr unsigned DEFAULT_MAX_CHANNELS = 5; // 640 KB ought to be enough for anybody + UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname, - const orb_id_t orb_topic_sensor) : + const orb_id_t orb_topic_sensor, + const unsigned max_channels = DEFAULT_MAX_CHANNELS) : device::CDev(name, devname), - _max_channels(MaxChannels), + _max_channels(max_channels), _class_devname(class_devname), _orb_topic(orb_topic_sensor), - _channels(new Channel[MaxChannels]) + _channels(new Channel[max_channels]) { _device_id.devid_s.bus_type = DeviceBusType_UAVCAN; _device_id.devid_s.bus = 0; |