ardupilot/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h

77 lines
2.3 KiB
C
Raw Normal View History

/*
* 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/>.
*
* Author: Oliver Walters / Currawong Engineering Pty Ltd
*/
#pragma once
#include <stdint.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_CANManager/AP_CANManager.h>
#ifndef HAL_PICCOLO_CAN_ENABLE
#define HAL_PICCOLO_CAN_ENABLE HAL_NUM_CAN_IFACES
#endif
#if HAL_PICCOLO_CAN_ENABLE
// Piccolo message groups form part of the CAN ID of each frame
enum class PiccoloCAN_MessageGroup : uint8_t {
SIMULATOR = 0x00, // Simulator messages
SENSOR = 0x04, // External sensors
ACTUATOR = 0x07, // Actuators (e.g. ESC / servo)
ECU_OUT = 0x08, // Messages *from* an ECU
ECU_IN = 0x09, // Message *to* an ECU
SYSTEM = 0x19, // System messages (e.g. bootloader)
};
// Piccolo actuator types differentiate between actuator frames
enum class PiccoloCAN_ActuatorType : uint8_t {
SERVO = 0x00,
ESC = 0x20,
};
/*
* Generic PiccoloCAN device class implementation
*/
class AP_PiccoloCAN_Device
{
public:
virtual bool handle_can_frame(AP_HAL::CANFrame &frame) = 0;
// Determine if this device is "enabled" (default implementation returns false)
virtual bool is_enabled(void) const { return false; }
// Determine if this device has been seen within a specified timeframe
virtual bool is_connected(int64_t timeout_ms) const {
uint64_t now = AP_HAL::micros64();
return now < (last_msg_timestamp + (1000ULL * timeout_ms));
}
// Reset the received message timestamp
void reset_rx_timestamp() {
last_msg_timestamp = AP_HAL::micros64();
}
//! Timestamp of most recently received CAN message
uint64_t last_msg_timestamp = 0;
};
#endif // HAL_PICCOLO_CAN_ENABLE