From cf535481e92690584e0f84e99512d489df6c6282 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 22 Jul 2021 22:21:08 +0530
Subject: [PATCH] AP_CANSensor: create a separate register driver method

---
 libraries/AP_CANManager/AP_CANSensor.cpp | 12 +++++++++---
 libraries/AP_CANManager/AP_CANSensor.h   |  7 +++++--
 2 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_CANManager/AP_CANSensor.cpp b/libraries/AP_CANManager/AP_CANSensor.cpp
index 3e869a3c58..457707ba46 100644
--- a/libraries/AP_CANManager/AP_CANSensor.cpp
+++ b/libraries/AP_CANManager/AP_CANSensor.cpp
@@ -30,20 +30,26 @@ extern const AP_HAL::HAL& hal;
 #define debug_can(level_debug, fmt, args...)
 #endif
 
-CANSensor::CANSensor(const char *driver_name, AP_CANManager::Driver_Type dtype, uint16_t stack_size) :
+CANSensor::CANSensor(const char *driver_name, uint16_t stack_size) :
     _driver_name(driver_name),
     _stack_size(stack_size)
+{}
+
+
+void CANSensor::register_driver(AP_CANManager::Driver_Type dtype)
 {
 #if HAL_CANMANAGER_ENABLED
     if (!AP::can().register_driver(dtype, this)) {
-        debug_can(AP_CANManager::LOG_ERROR, "Failed to register CANSensor %s", driver_name);
+        debug_can(AP_CANManager::LOG_ERROR, "Failed to register CANSensor %s", _driver_name);
     } else {
-        debug_can(AP_CANManager::LOG_INFO, "%s: constructed", driver_name);
+        debug_can(AP_CANManager::LOG_INFO, "%s: constructed", _driver_name);
     }
 #elif defined(HAL_BUILD_AP_PERIPH)
     register_driver_periph(dtype);
 #endif
 }
+
+
 #ifdef HAL_BUILD_AP_PERIPH
 CANSensor::CANSensor_Periph CANSensor::_periph[HAL_NUM_CAN_IFACES];
 
diff --git a/libraries/AP_CANManager/AP_CANSensor.h b/libraries/AP_CANManager/AP_CANSensor.h
index 78e8c54f5f..6584f1a4ff 100644
--- a/libraries/AP_CANManager/AP_CANSensor.h
+++ b/libraries/AP_CANManager/AP_CANSensor.h
@@ -24,8 +24,8 @@
 
 class CANSensor : public AP_CANDriver {
 public:
-    CANSensor(const char *driver_name, AP_CANManager::Driver_Type dtype, uint16_t stack_size=2048);
-    
+    CANSensor(const char *driver_name, uint16_t stack_size=2048);
+
     /* Do not allow copies */
     CANSensor(const CANSensor &other) = delete;
     CANSensor &operator=(const CANSensor&) = delete;
@@ -48,6 +48,9 @@ public:
     }
 #endif
 
+protected:
+    void register_driver(AP_CANManager::Driver_Type dtype);
+
 private:
     void loop();