ardupilot/libraries/AP_EFI/AP_EFI_DroneCAN.h

33 lines
836 B
C++

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