Merge branch 'ThingSet:main' into packetised-can-handle-overflows

ThingSet · Oct 12, 2023 · 179ad6d · 179ad6d
2 parents e4c8e72 + eb7add3
commit 179ad6d
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Showing 2 changed files with 19 additions and 2 deletions.
diff --git a/include/thingset/can.h b/include/thingset/can.h
@@ -156,7 +156,6 @@ struct thingset_can
     uint8_t rx_buffer[CONFIG_THINGSET_CAN_RX_BUF_SIZE];
     int64_t next_pub_time;
     uint8_t node_addr;
-    bool pub_enable;
 };
 
 #ifdef CONFIG_THINGSET_CAN_MULTIPLE_INSTANCES
@@ -255,6 +254,13 @@ int thingset_can_send(uint8_t *tx_buf, size_t tx_len, uint8_t target_addr);
  */
 int thingset_can_set_report_rx_callback(thingset_can_report_rx_callback_t rx_cb);
 
+/**
+ * Get ThingSet CAN instance
+ *
+ * @returns Pointer to internal ThingSet CAN instance
+ */
+struct thingset_can *thingset_can_get_inst();
+
 #endif /* CONFIG_THINGSET_CAN_MULTIPLE_INSTANCES */
 
 #ifdef __cplusplus

diff --git a/src/can.c b/src/can.c
@@ -609,9 +609,20 @@ int thingset_can_set_report_rx_callback(thingset_can_report_rx_callback_t rx_cb)
     return thingset_can_set_report_rx_callback_inst(&ts_can_single, rx_cb);
 }
 
+struct thingset_can *thingset_can_get_inst()
+{
+    return &ts_can_single;
+}
+
 static void thingset_can_thread()
 {
-    thingset_can_init_inst(&ts_can_single, can_dev);
+    int err;
+
+    err = thingset_can_init_inst(&ts_can_single, can_dev);
+    if (err != 0) {
+        LOG_ERR("Failed to init ThingSet CAN: %d", err);
+        return;
+    }
 
     while (true) {
         thingset_can_process_inst(&ts_can_single, K_FOREVER);