mirror of https://github.com/ArduPilot/ardupilot
83 lines
2.3 KiB
C
83 lines
2.3 KiB
C
|
/*
|
||
|
|
* This file is free software: you can redistribute it and/or modify it
|
||
|
|
* under the terms of the GNU General Public License as published by the
|
||
|
|
* Free Software Foundation, either version 3 of the License, or
|
||
|
|
* (at your option) any later version.
|
||
|
|
*
|
||
|
|
* This file is distributed in the hope that it will be useful, but
|
||
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||
|
|
* See the GNU General Public License for more details.
|
||
|
|
*
|
||
|
|
* You should have received a copy of the GNU General Public License along
|
||
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*
|
||
|
|
* Code by Andrew Tridgell and Siddharth Bharat Purohit
|
||
|
|
*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "AP_HAL_ChibiOS.h"
|
||
|
|
|
||
|
|
#if HAL_WITH_UAVCAN
|
||
|
|
|
||
|
|
#define UAVCAN_STM32_LOG(fmt, ...) hal.console->printf("CANManager: " fmt "\n", ##__VA_ARGS__)
|
||
|
|
|
||
|
|
#include <uavcan/uavcan.hpp>
|
||
|
|
#include <uavcan/time.hpp>
|
||
|
|
|
||
|
|
#include <uavcan_stm32/thread.hpp>
|
||
|
|
#include <uavcan_stm32/clock.hpp>
|
||
|
|
#include <uavcan_stm32/can.hpp>
|
||
|
|
|
||
|
|
#include <AP_UAVCAN/AP_UAVCAN.h>
|
||
|
|
|
||
|
|
#define MAX_NUMBER_OF_CAN_INTERFACES 2
|
||
|
|
#define MAX_NUMBER_OF_CAN_DRIVERS 2
|
||
|
|
#define CAN_STM32_RX_QUEUE_SIZE 64
|
||
|
|
class AP_UAVCAN;
|
||
|
|
using namespace uavcan_stm32;
|
||
|
|
|
||
|
|
namespace ChibiOS {
|
||
|
|
/**
|
||
|
|
* Generic CAN driver.
|
||
|
|
*/
|
||
|
|
class CANManager: public AP_HAL::CANManager {
|
||
|
|
public:
|
||
|
|
CANManager()
|
||
|
|
: can_helper(), AP_HAL::CANManager(&can_helper.driver) { }
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Whether at least one iface had at least one successful IO since previous call of this method.
|
||
|
|
* This is designed for use with iface activity LEDs.
|
||
|
|
*/
|
||
|
|
//bool hadActivity();
|
||
|
|
|
||
|
|
static CANManager *from(AP_HAL::CANManager *can)
|
||
|
|
{
|
||
|
|
return static_cast<CANManager*>(can);
|
||
|
|
}
|
||
|
|
|
||
|
|
bool begin(uint32_t bitrate, uint8_t can_number) override;
|
||
|
|
|
||
|
|
/*
|
||
|
|
Test if CAN manager is ready and initialized
|
||
|
|
return false - CAN manager not initialized
|
||
|
|
true - CAN manager is initialized
|
||
|
|
*/
|
||
|
|
bool is_initialized() override;
|
||
|
|
void initialized(bool val) override;
|
||
|
|
|
||
|
|
AP_UAVCAN *get_UAVCAN(void) override;
|
||
|
|
void set_UAVCAN(AP_UAVCAN *uavcan) override;
|
||
|
|
void _timer_tick();
|
||
|
|
|
||
|
|
private:
|
||
|
|
AP_UAVCAN *p_uavcan;
|
||
|
|
bool initialized_;
|
||
|
|
uint32_t bitrate_;
|
||
|
|
CanInitHelper<CAN_STM32_RX_QUEUE_SIZE> can_helper;
|
||
|
|
};
|
||
|
|
|
||
|
|
}
|
||
|
|
#endif
|