mirror of https://github.com/ArduPilot/ardupilot
24 lines
473 B
C
24 lines
473 B
C
|
#pragma once
|
||
|
|
|
||
|
|
#include "AP_Networking.h"
|
||
|
|
#include <AP_HAL/utility/Socket.h>
|
||
|
|
|
||
|
|
class AP_Networking_CAN {
|
||
|
|
public:
|
||
|
|
void start(const uint8_t bus_mask);
|
||
|
|
|
||
|
|
private:
|
||
|
|
void mcast_server(void);
|
||
|
|
void can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame);
|
||
|
|
SocketAPM *mcast_sockets[HAL_NUM_CAN_IFACES];
|
||
|
|
|
||
|
|
uint8_t bus_mask;
|
||
|
|
|
||
|
|
AP_HAL::CANIface *get_caniface(uint8_t) const;
|
||
|
|
|
||
|
|
#ifdef HAL_BOOTLOADER_BUILD
|
||
|
|
static void mcast_trampoline(void *ctx);
|
||
|
|
#endif
|
||
|
|
};
|
||
|
|
|