AP_HAL_ChibiOS: use get_HAL_mutable() to install new CAN interfaces

Avoids dubious extern redefinition.
ArduPilot · Nov 27, 2023 · 87fef1a · 87fef1a
1 parent 008c0ba
commit 87fef1a
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -85,7 +85,7 @@
 #error "Unsupported MCU for FDCAN"
 #endif
 
-extern AP_HAL::HAL& hal;
+extern const AP_HAL::HAL& hal;
 
 #define STR(x) #x
 #define XSTR(x) STR(x)
@@ -568,7 +568,7 @@ bool CANIface::init(const uint32_t bitrate, const uint32_t fdbitrate, const Oper
     if (can_ifaces[self_index_] == nullptr) {
         can_ifaces[self_index_] = this;
 #if !defined(HAL_BOOTLOADER_BUILD)
-        hal.can[self_index_] = this;
+        AP_HAL::get_HAL_mutable().can[self_index_] = this;
 #endif
     }
 

diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
@@ -84,7 +84,7 @@
 #endif
 
 
-extern AP_HAL::HAL& hal;
+extern const AP_HAL::HAL& hal;
 
 using namespace ChibiOS;
 
@@ -846,7 +846,7 @@ bool CANIface::init(const uint32_t bitrate, const CANIface::OperatingMode mode)
     if (can_ifaces[self_index_] == nullptr) {
         can_ifaces[self_index_] = this;
 #if !defined(HAL_BOOTLOADER_BUILD)
-        hal.can[self_index_] = this;
+        AP_HAL::get_HAL_mutable().can[self_index_] = this;
 #endif
     }