mirror of https://github.com/ArduPilot/ardupilot
63 lines
2.1 KiB
C
63 lines
2.1 KiB
C
|
/* Copyright (C) 2017 Eugene Shamaev
|
||
|
|
*
|
||
|
|
* 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/>.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "AP_HAL_SITL.h"
|
||
|
|
|
||
|
|
#if HAL_WITH_UAVCAN
|
||
|
|
#include <AP_HAL/CAN.h>
|
||
|
|
|
||
|
|
class HALSITL::HALSITLCAN : public AP_HAL::CAN {
|
||
|
|
public:
|
||
|
|
HALSITLCAN() { }
|
||
|
|
~HALSITLCAN() { }
|
||
|
|
int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags) override;
|
||
|
|
int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic, uavcan::UtcTime& out_ts_utc,
|
||
|
|
uavcan::CanIOFlags& out_flags) override;
|
||
|
|
int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs, uint16_t num_configs) override;
|
||
|
|
uint16_t getNumFilters() const override;
|
||
|
|
uint64_t getErrorCount() const override;
|
||
|
|
|
||
|
|
bool begin(uint32_t bitrate) override;
|
||
|
|
void end() override;
|
||
|
|
void reset() override;
|
||
|
|
bool is_initialized() override;
|
||
|
|
int32_t tx_pending() override;
|
||
|
|
int32_t available() override;
|
||
|
|
|
||
|
|
|
||
|
|
private:
|
||
|
|
uint32_t _baudrate;
|
||
|
|
volatile bool _initialised;
|
||
|
|
volatile bool _in_timer;
|
||
|
|
};
|
||
|
|
|
||
|
|
class HALSITL::HALSITLCANDriver : public AP_HAL::CANManager
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
HALSITLCANDriver() { }
|
||
|
|
~HALSITLCANDriver() { }
|
||
|
|
uavcan::ICanIface* getIface(uint8_t iface_index) override;
|
||
|
|
const uavcan::ICanIface* getIface(uint8_t iface_index) const override;
|
||
|
|
uint8_t getNumIfaces() const override;
|
||
|
|
int16_t select(uavcan::CanSelectMasks& inout_masks,
|
||
|
|
const uavcan::CanFrame* (& pending_tx)[uavcan::MaxCanIfaces],
|
||
|
|
uavcan::MonotonicTime blocking_deadline) override;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|