mirror of https://github.com/ArduPilot/ardupilot
AP_UAVCAN: add can driver getter
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@ -1347,4 +1347,12 @@ bool AP_UAVCAN::led_write(uint8_t led_index, uint8_t red, uint8_t green, uint8_t
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return true;
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return true;
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}
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}
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AP_UAVCAN *AP_UAVCAN::get_uavcan(uint8_t iface)
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{
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if (iface >= MAX_NUMBER_OF_CAN_INTERFACES || !hal.can_mgr[iface]) {
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return nullptr;
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}
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return hal.can_mgr[iface]->get_UAVCAN();
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}
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#endif // HAL_WITH_UAVCAN
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#endif // HAL_WITH_UAVCAN
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@ -54,6 +54,9 @@ public:
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static const struct AP_Param::GroupInfo var_info[];
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static const struct AP_Param::GroupInfo var_info[];
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// Return uavcan from @iface or nullptr if it's not ready or doesn't exist
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static AP_UAVCAN *get_uavcan(uint8_t iface);
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// this function will register the listening class on a first free channel or on the specified channel
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// this function will register the listening class on a first free channel or on the specified channel
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// if preferred_channel = 0 then free channel will be searched for
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// if preferred_channel = 0 then free channel will be searched for
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// if preferred_channel > 0 then listener will be added to specific channel
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// if preferred_channel > 0 then listener will be added to specific channel
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