mirror of https://github.com/ArduPilot/ardupilot
33 lines
836 B
C
33 lines
836 B
C
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#pragma once
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#include "AP_EFI.h"
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#include "AP_EFI_Backend.h"
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#ifndef HAL_EFI_DRONECAN_ENABLED
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#define HAL_EFI_DRONECAN_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && BOARD_FLASH_SIZE > 1024 && HAL_CANMANAGER_ENABLED
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#endif
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#if HAL_EFI_DRONECAN_ENABLED
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#include <AP_UAVCAN/AP_UAVCAN.h>
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#include <uavcan/equipment/ice/reciprocating/Status.hpp>
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class EFIStatusCb;
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class AP_EFI_DroneCAN : public AP_EFI_Backend {
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public:
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AP_EFI_DroneCAN(AP_EFI &_frontend);
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void update() override;
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static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
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static void trampoline_status(AP_UAVCAN* ap_uavcan, uint8_t node_id, const EFIStatusCb &cb);
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private:
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void handle_status(const uavcan::equipment::ice::reciprocating::Status &pkt);
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// singleton for trampoline
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static AP_EFI_DroneCAN *driver;
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};
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#endif // HAL_EFI_DRONECAN_ENABLED
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