AP_UAVCAN: add can driver getter

ArduPilot · Mar 11, 2018 · 1dd14a8 · 1dd14a8
1 parent 80cb2e3
commit 1dd14a8
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Showing 2 changed files with 11 additions and 0 deletions.
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -1347,4 +1347,12 @@ bool AP_UAVCAN::led_write(uint8_t led_index, uint8_t red, uint8_t green, uint8_t
     return true;
 }
 
+AP_UAVCAN *AP_UAVCAN::get_uavcan(uint8_t iface)
+{
+    if (iface >= MAX_NUMBER_OF_CAN_INTERFACES || !hal.can_mgr[iface]) {
+        return nullptr;
+    }
+    return hal.can_mgr[iface]->get_UAVCAN();
+}
+
 #endif // HAL_WITH_UAVCAN
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.h b/libraries/AP_UAVCAN/AP_UAVCAN.h
@@ -54,6 +54,9 @@ class AP_UAVCAN {
 
     static const struct AP_Param::GroupInfo var_info[];
 
+    // Return uavcan from @iface or nullptr if it's not ready or doesn't exist
+    static AP_UAVCAN *get_uavcan(uint8_t iface);
+
     // this function will register the listening class on a first free channel or on the specified channel
     // if preferred_channel = 0 then free channel will be searched for
     // if preferred_channel > 0 then listener will be added to specific channel