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AP_Proximity: move mutlican to AP_CANSensor

This commit is contained in:
rishabsingh3003 2024-02-22 21:01:03 -05:00 committed by Andrew Tridgell
parent 94fca60882
commit 8a24699bfa
2 changed files with 4 additions and 44 deletions
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29
libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
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@ -32,26 +32,14 @@ const AP_Param::GroupInfo AP_Proximity_MR72_CAN::var_info[] = {
AP_GROUPEND AP_GROUPEND
}; };
MR72_MultiCAN *AP_Proximity_MR72_CAN::multican;
AP_Proximity_MR72_CAN::AP_Proximity_MR72_CAN(AP_Proximity &_frontend, AP_Proximity_MR72_CAN::AP_Proximity_MR72_CAN(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state, AP_Proximity::Proximity_State &_state,
AP_Proximity_Params& _params): AP_Proximity_Params& _params):
AP_Proximity_Backend(_frontend, _state, _params) AP_Proximity_Backend(_frontend, _state, _params)
{ {
if (multican == nullptr) { multican_MR72 = new MultiCAN{FUNCTOR_BIND_MEMBER(&AP_Proximity_MR72_CAN::handle_frame, bool, AP_HAL::CANFrame &), AP_CAN::Protocol::NanoRadar, "MR72 MultiCAN"};
multican = new MR72_MultiCAN(); if (multican_MR72 == nullptr) {
if (multican == nullptr) { AP_BoardConfig::allocation_error("Failed to create proximity multican");
AP_BoardConfig::allocation_error("MR72_CAN");
}
}
{
// add to linked list of drivers
WITH_SEMAPHORE(multican->sem);
auto *prev = multican->drivers;
next = prev;
multican->drivers = this;
} }
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
@ -132,15 +120,4 @@ bool AP_Proximity_MR72_CAN::parse_distance_message(AP_HAL::CANFrame &frame)
return true; return true;
} }
// handle frames from CANSensor, passing to the drivers
void MR72_MultiCAN::handle_frame(AP_HAL::CANFrame &frame)
{
WITH_SEMAPHORE(sem);
for (auto *d = drivers; d; d=d->next) {
if (d->handle_frame(frame)) {
break;
}
}
}
#endif // HAL_PROXIMITY_ENABLED #endif // HAL_PROXIMITY_ENABLED

19
libraries/AP_Proximity/AP_Proximity_MR72_CAN.h
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@ -45,24 +45,7 @@ private:
AP_Int32 receive_id; // ID of the sensor AP_Int32 receive_id; // ID of the sensor
static MR72_MultiCAN *multican; // linked list MultiCAN* multican_MR72; // Allows for multiple CAN rangefinders on a single bus
AP_Proximity_MR72_CAN *next;
};
// a class to allow for multiple MR_72 backends with one
// CANSensor driver
class MR72_MultiCAN : public CANSensor {
public:
MR72_MultiCAN() : CANSensor("MR72") {
register_driver(AP_CAN::Protocol::MR72);
}
// handler for incoming frames
void handle_frame(AP_HAL::CANFrame &frame) override;
HAL_Semaphore sem;
AP_Proximity_MR72_CAN *drivers;
}; };
#endif // HAL_PROXIMITY_ENABLED #endif // HAL_PROXIMITY_ENABLED