From 30dea46cc53d467ebe0516d7f0c31471d3ddcf5c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 4 Jul 2023 10:12:19 +1000
Subject: [PATCH] AP_Periph: make canard_broadcast non-static

so it can be used from other files in AP_Periph
---
 Tools/AP_Periph/AP_Periph.h |  6 ++++
 Tools/AP_Periph/adsb.cpp    |  1 +
 Tools/AP_Periph/can.cpp     | 55 +++++++++++++++++--------------------
 3 files changed, 32 insertions(+), 30 deletions(-)

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index 807459482f..2b8b9fe1eb 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -328,6 +328,12 @@ public:
 
     static bool no_iface_finished_dna;
     static constexpr auto can_printf = ::can_printf;
+
+    static void canard_broadcast(uint64_t data_type_signature,
+                                 uint16_t data_type_id,
+                                 uint8_t priority,
+                                 const void* payload,
+                                 uint16_t payload_len);
 };
 
 namespace AP
diff --git a/Tools/AP_Periph/adsb.cpp b/Tools/AP_Periph/adsb.cpp
index 411e4b871d..fe80b39081 100644
--- a/Tools/AP_Periph/adsb.cpp
+++ b/Tools/AP_Periph/adsb.cpp
@@ -23,6 +23,7 @@
 #ifdef HAL_PERIPH_ENABLE_ADSB
 
 #include <AP_SerialManager/AP_SerialManager.h>
+#include <dronecan_msgs.h>
 
 extern const AP_HAL::HAL &hal;
 
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index bd3bf425e6..239cea6743 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -426,11 +426,6 @@ static void handle_param_executeopcode(CanardInstance* ins, CanardRxTransfer* tr
 );
 }
 
-static void canard_broadcast(uint64_t data_type_signature,
-                                uint16_t data_type_id,
-                                uint8_t priority,
-                                const void* payload,
-                                uint16_t payload_len);
 static void processTx(void);
 static void processRx(void);
 
@@ -882,11 +877,11 @@ static void can_safety_button_update(void)
     uint8_t buffer[ARDUPILOT_INDICATION_BUTTON_MAX_SIZE] {};
     uint16_t total_size = ardupilot_indication_Button_encode(&pkt, buffer, !periph.canfdout());
 
-    canard_broadcast(ARDUPILOT_INDICATION_BUTTON_SIGNATURE,
-                    ARDUPILOT_INDICATION_BUTTON_ID,
-                    CANARD_TRANSFER_PRIORITY_LOW,
-                    &buffer[0],
-                    total_size);
+    periph.canard_broadcast(ARDUPILOT_INDICATION_BUTTON_SIGNATURE,
+                            ARDUPILOT_INDICATION_BUTTON_ID,
+                            CANARD_TRANSFER_PRIORITY_LOW,
+                            &buffer[0],
+                            total_size);
 }
 #endif // HAL_GPIO_PIN_SAFE_BUTTON
 
@@ -1136,11 +1131,11 @@ static uint8_t* get_tid_ptr(uint32_t transfer_desc)
     return &tid_map_ptr->next->tid;
 }
 
-static void canard_broadcast(uint64_t data_type_signature,
-                                uint16_t data_type_id,
-                                uint8_t priority,
-                                const void* payload,
-                                uint16_t payload_len)
+void AP_Periph_FW::canard_broadcast(uint64_t data_type_signature,
+                                    uint16_t data_type_id,
+                                    uint8_t priority,
+                                    const void* payload,
+                                    uint16_t payload_len)
 {
     if (canardGetLocalNodeID(&dronecan.canard) == CANARD_BROADCAST_NODE_ID) {
         return;
@@ -1295,11 +1290,11 @@ static void node_status_send(void)
 
     uint32_t len = uavcan_protocol_NodeStatus_encode(&node_status, buffer, !periph.canfdout());
 
-    canard_broadcast(UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE,
-                    UAVCAN_PROTOCOL_NODESTATUS_ID,
-                    CANARD_TRANSFER_PRIORITY_LOW,
-                    buffer,
-                    len);
+    periph.canard_broadcast(UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE,
+                            UAVCAN_PROTOCOL_NODESTATUS_ID,
+                            CANARD_TRANSFER_PRIORITY_LOW,
+                            buffer,
+                            len);
 }
 
 
@@ -2674,11 +2669,11 @@ void can_printf(const char *fmt, ...)
         uint8_t buffer_packet[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE] {};
         const uint32_t len = uavcan_protocol_debug_LogMessage_encode(&pkt, buffer_packet, !periph.canfdout());
 
-        canard_broadcast(UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
-                        UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_ID,
-                        CANARD_TRANSFER_PRIORITY_LOW,
-                        buffer_packet,
-                        len);
+        periph.canard_broadcast(UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
+                                UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_ID,
+                                CANARD_TRANSFER_PRIORITY_LOW,
+                                buffer_packet,
+                                len);
     }
     
 #else
@@ -2692,11 +2687,11 @@ void can_printf(const char *fmt, ...)
 
     uint32_t len = uavcan_protocol_debug_LogMessage_encode(&pkt, buffer, !periph.canfdout());
 
-    canard_broadcast(UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
-                    UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_ID,
-                    CANARD_TRANSFER_PRIORITY_LOW,
-                    buffer,
-                    len);
+    periph.canard_broadcast(UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
+                            UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_ID,
+                            CANARD_TRANSFER_PRIORITY_LOW,
+                            buffer,
+                            len);
 
 #endif
 }