mirror of https://github.com/ArduPilot/ardupilot
27 lines
684 B
C++
27 lines
684 B
C++
#pragma once
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#include "AP_EFI_config.h"
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#if AP_EFI_DRONECAN_ENABLED
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#include "AP_EFI.h"
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#include "AP_EFI_Backend.h"
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#include <AP_DroneCAN/AP_DroneCAN.h>
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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_DroneCAN* ap_dronecan);
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static void trampoline_status(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_ice_reciprocating_Status &msg);
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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 // AP_EFI_DRONECAN_ENABLED
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