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AP_Periph: make canard_broadcast non-static 

so it can be used from other files in AP_Periph
This commit is contained in:
Peter Barker 2023-07-04 10:12:19 +10:00 committed by Peter Barker
parent 0f1de63d7c
commit 30dea46cc5
3 changed files with 32 additions and 30 deletions
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6
Tools/AP_Periph/AP_Periph.h
View File

@ -328,6 +328,12 @@ public:
static bool no_iface_finished_dna;
static constexpr auto can_printf = ::can_printf;
static void canard_broadcast(uint64_t data_type_signature,
uint16_t data_type_id,
uint8_t priority,
const void* payload,
uint16_t payload_len);
};
namespace AP

1
Tools/AP_Periph/adsb.cpp
View File

@ -23,6 +23,7 @@
#ifdef HAL_PERIPH_ENABLE_ADSB
#include <AP_SerialManager/AP_SerialManager.h>
#include <dronecan_msgs.h>
extern const AP_HAL::HAL &hal;

55
Tools/AP_Periph/can.cpp
View File

@ -426,11 +426,6 @@ static void handle_param_executeopcode(CanardInstance* ins, CanardRxTransfer* tr
);
}
static void canard_broadcast(uint64_t data_type_signature,
uint16_t data_type_id,
uint8_t priority,
const void* payload,
uint16_t payload_len);
static void processTx(void);
static void processRx(void);
@ -882,11 +877,11 @@ static void can_safety_button_update(void)
uint8_t buffer[ARDUPILOT_INDICATION_BUTTON_MAX_SIZE] {};
uint16_t total_size = ardupilot_indication_Button_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(ARDUPILOT_INDICATION_BUTTON_SIGNATURE,
ARDUPILOT_INDICATION_BUTTON_ID,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
periph.canard_broadcast(ARDUPILOT_INDICATION_BUTTON_SIGNATURE,
ARDUPILOT_INDICATION_BUTTON_ID,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
#endif // HAL_GPIO_PIN_SAFE_BUTTON
@ -1136,11 +1131,11 @@ static uint8_t* get_tid_ptr(uint32_t transfer_desc)
return &tid_map_ptr->next->tid;
}
static void canard_broadcast(uint64_t data_type_signature,
uint16_t data_type_id,
uint8_t priority,
const void* payload,
uint16_t payload_len)
void AP_Periph_FW::canard_broadcast(uint64_t data_type_signature,
uint16_t data_type_id,
uint8_t priority,
const void* payload,
uint16_t payload_len)
{
if (canardGetLocalNodeID(&dronecan.canard) == CANARD_BROADCAST_NODE_ID) {
return;
@ -1295,11 +1290,11 @@ static void node_status_send(void)
uint32_t len = uavcan_protocol_NodeStatus_encode(&node_status, buffer, !periph.canfdout());
canard_broadcast(UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE,
UAVCAN_PROTOCOL_NODESTATUS_ID,
CANARD_TRANSFER_PRIORITY_LOW,
buffer,
len);
periph.canard_broadcast(UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE,
UAVCAN_PROTOCOL_NODESTATUS_ID,
CANARD_TRANSFER_PRIORITY_LOW,
buffer,
len);
}
@ -2674,11 +2669,11 @@ void can_printf(const char *fmt, ...)
uint8_t buffer_packet[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE] {};
const uint32_t len = uavcan_protocol_debug_LogMessage_encode(&pkt, buffer_packet, !periph.canfdout());
canard_broadcast(UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_ID,
CANARD_TRANSFER_PRIORITY_LOW,
buffer_packet,
len);
periph.canard_broadcast(UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_ID,
CANARD_TRANSFER_PRIORITY_LOW,
buffer_packet,
len);
}
#else
@ -2692,11 +2687,11 @@ void can_printf(const char *fmt, ...)
uint32_t len = uavcan_protocol_debug_LogMessage_encode(&pkt, buffer, !periph.canfdout());
canard_broadcast(UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_ID,
CANARD_TRANSFER_PRIORITY_LOW,
buffer,
len);
periph.canard_broadcast(UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_ID,
CANARD_TRANSFER_PRIORITY_LOW,
buffer,
len);
#endif
}