mirror of https://github.com/ArduPilot/ardupilot
242 lines
5.7 KiB
C++
242 lines
5.7 KiB
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include "GCS_MAVLink.h"
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#define AP_PARAM_VEHICLE_NAME periph
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// Global parameter class.
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//
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class Parameters {
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public:
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static const uint16_t k_format_version = 2;
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enum {
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// Layout version number, always key zero.
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//
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k_param_format_version = 0,
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k_param_gps,
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k_param_compass,
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k_param_can_node,
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k_param_can_baudrate0,
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k_param_baro,
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k_param_buzz_volume,
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k_param_led_brightness,
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k_param_airspeed,
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k_param_rangefinder,
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k_param_flash_bootloader,
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k_param_rangefinder_baud0,
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k_param_adsb_baudrate,
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k_param_hardpoint_id,
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k_param_hardpoint_rate,
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k_param_baro_enable,
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k_param_esc_number0,
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k_param_battery_lib,
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k_param_debug,
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k_param_serial_number,
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k_param_adsb_port,
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k_param_servo_channels,
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k_param_rangefinder_port0,
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k_param_gps_port,
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k_param_msp_port,
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k_param_notify,
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k_param_esc_pwm_type,
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k_param_logger,
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k_param_log_bitmask,
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k_param_can_baudrate1,
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k_param_can_baudrate2,
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k_param_can_protocol0,
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k_param_can_protocol1,
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k_param_can_protocol2,
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k_param_sysid_this_mav,
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k_param_serial_manager,
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k_param_gps_mb_only_can_port,
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k_param_scripting,
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k_param_esc_telem_port,
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k_param_can_fdmode,
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k_param_can_fdbaudrate0,
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k_param_can_fdbaudrate1,
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k_param_node_stats,
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k_param_rangefinder_max_rate,
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k_param_efi,
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k_param_efi_port,
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k_param_efi_baudrate,
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k_param_esc_telem_rate,
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k_param_can_slcan_cport,
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k_param_temperature_sensor,
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k_param_esc_command_timeout_ms,
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k_param_proximity,
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k_param_proximity_baud,
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k_param_proximity_port,
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k_param_proximity_max_rate,
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k_param_nmea,
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k_param_kdecan,
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k_param_pole_count0,
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k_param_esc_serial_port0,
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k_param_esc_number1,
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k_param_pole_count1,
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k_param_esc_serial_port1,
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k_param_networking_periph,
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k_param_rpm_sensor,
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k_param_g_rcin,
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k_param_sitl,
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k_param_ahrs,
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k_param_battery_balance,
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k_param_battery_hide_mask,
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k_param_can_mirror_ports,
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k_param_rtc,
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k_param_can_terminate0,
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k_param_can_terminate1,
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k_param_can_terminate2,
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k_param_serial_options,
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k_param_relay,
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k_param_temperature_msg_rate,
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k_param_rangefinder_baud1,
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k_param_rangefinder_port1,
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k_param_options,
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k_param_rpm_msg_rate,
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k_param_esc_rate,
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k_param_esc_extended_telem_rate,
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};
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AP_Int16 format_version;
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AP_Int16 can_node;
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AP_Int32 can_baudrate[HAL_NUM_CAN_IFACES];
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#if HAL_NUM_CAN_IFACES >= 2
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AP_Enum<AP_CAN::Protocol> can_protocol[HAL_NUM_CAN_IFACES];
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#endif
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#if AP_CAN_SLCAN_ENABLED
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AP_Int8 can_slcan_cport;
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#endif
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#ifdef HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY
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AP_Int8 buzz_volume;
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#endif
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#ifdef AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
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AP_Int8 led_brightness;
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#endif
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#ifdef HAL_PERIPH_ENABLE_BARO
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AP_Int8 baro_enable;
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#endif
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#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
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AP_Int8 flash_bootloader;
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#endif
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#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
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AP_Int32 rangefinder_baud[RANGEFINDER_MAX_INSTANCES];
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AP_Int8 rangefinder_port[RANGEFINDER_MAX_INSTANCES];
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AP_Int16 rangefinder_max_rate;
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#endif
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#ifdef HAL_PERIPH_ENABLE_PROXIMITY
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AP_Int32 proximity_baud;
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AP_Int8 proximity_port;
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AP_Int16 proximity_max_rate;
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#endif
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#ifdef HAL_PERIPH_ENABLE_ADSB
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AP_Int32 adsb_baudrate;
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AP_Int8 adsb_port;
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#endif
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#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
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AP_Int16 hardpoint_id;
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AP_Int8 hardpoint_rate;
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#endif
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#if defined(HAL_PERIPH_ENABLE_HWESC) || defined(HAL_PERIPH_ENABLE_ESC_APD)
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#if defined ESC_NUMBERS
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#error "ESC_NUMBERS should not have been previously defined"
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#endif
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#if defined(APD_ESC_INSTANCES)
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#define ESC_NUMBERS APD_ESC_INSTANCES
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#else
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#define ESC_NUMBERS 2
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#endif // defined(APD_ESC_INSTANCES)
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AP_Int8 esc_number[ESC_NUMBERS];
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AP_Int8 esc_serial_port[ESC_NUMBERS];
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#endif
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#if defined(ESC_NUMBERS)
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AP_Int8 pole_count[ESC_NUMBERS];
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#endif
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#ifdef HAL_PERIPH_ENABLE_GPS
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AP_Int8 gps_port;
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#if GPS_MOVING_BASELINE
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AP_Int8 gps_mb_only_can_port;
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#endif
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#endif
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#ifdef HAL_PERIPH_ENABLE_MSP
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AP_Int8 msp_port;
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#endif
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#ifdef HAL_PERIPH_ENABLE_RC_OUT
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AP_Int16 esc_rate;
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AP_Int8 esc_pwm_type;
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AP_Int16 esc_command_timeout_ms;
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#if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
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AP_Int8 esc_telem_port;
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#endif
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#if HAL_WITH_ESC_TELEM
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AP_Int32 esc_telem_rate;
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#if AP_EXTENDED_ESC_TELEM_ENABLED
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AP_Int16 esc_extended_telem_rate;
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#endif
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#endif
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#endif
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AP_Int8 debug;
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AP_Int32 serial_number;
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#if HAL_LOGGING_ENABLED
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AP_Int32 log_bitmask;
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#endif
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#if HAL_GCS_ENABLED
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AP_Int16 sysid_this_mav;
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#endif
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#ifdef HAL_PERIPH_ENABLE_BATTERY
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AP_Int32 battery_hide_mask;
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#endif
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#ifdef HAL_PERIPH_ENABLE_EFI
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AP_Int32 efi_baudrate;
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AP_Int8 efi_port;
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#endif
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#if HAL_PERIPH_CAN_MIRROR
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AP_Int8 can_mirror_ports;
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#endif // HAL_PERIPH_CAN_MIRROR
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#ifdef HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE
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AP_Int8 temperature_msg_rate;
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#endif
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#ifdef HAL_PERIPH_ENABLE_RPM_STREAM
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AP_Int16 rpm_msg_rate;
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#endif
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#if HAL_CANFD_SUPPORTED
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AP_Int8 can_fdmode;
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AP_Int8 can_fdbaudrate[HAL_NUM_CAN_IFACES];
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#else
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static constexpr uint8_t can_fdmode = 0;
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#endif
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AP_Int32 options;
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AP_Int8 can_terminate[HAL_NUM_CAN_IFACES];
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AP_Int8 node_stats;
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Parameters() {}
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};
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extern const AP_Param::Info var_info[];
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