mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-28 10:43:58 -04:00
51471a0a7e
also add option to enable multicast with bridging to CAN bus in application and disabled in bootloader
24 lines
509 B
C++
24 lines
509 B
C++
#pragma once
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#include "AP_Networking.h"
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#include <AP_HAL/utility/Socket.h>
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class AP_Networking_CAN {
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public:
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void start(const uint8_t bus_mask);
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private:
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void mcast_server(void);
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void can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame, AP_HAL::CANIface::CanIOFlags flags);
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SocketAPM *mcast_sockets[HAL_NUM_CAN_IFACES];
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uint8_t bus_mask;
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AP_HAL::CANIface *get_caniface(uint8_t) const;
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#ifdef HAL_BOOTLOADER_BUILD
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static void mcast_trampoline(void *ctx);
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#endif
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};
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