26 lines
716 B
C
26 lines
716 B
C
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#pragma once
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#include "AP_RangeFinder_Backend_CAN.h"
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#ifndef AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
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#define AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
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#endif
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#if AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
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class AP_RangeFinder_TOFSenseP_CAN : public AP_RangeFinder_Backend_CAN {
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public:
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AP_RangeFinder_TOFSenseP_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
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// handler for incoming frames
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bool handle_frame(AP_HAL::CANFrame &frame) override;
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static const struct AP_Param::GroupInfo var_info[];
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private:
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static RangeFinder_MultiCAN *multican_TOFSenseP;
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};
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#endif // AP_RANGEFINDER_USD1_CAN_ENABLED
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