mirror of https://github.com/ArduPilot/ardupilot
198 lines
5.5 KiB
C
198 lines
5.5 KiB
C
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* Many thanks to members of the UAVCAN project:
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* Pavel Kirienko <pavel.kirienko@gmail.com>
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* Ilia Sheremet <illia.sheremet@gmail.com>
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*
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* license info can be found in the uavcan submodule located:
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* modules/uavcan/LICENSE
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* modules/uavcan/libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
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*/
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#pragma once
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#include "AP_HAL_Linux.h"
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#if HAL_NUM_CAN_IFACES
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#include <AP_HAL/CANIface.h>
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#include <linux/can.h>
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#include <string>
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#include <queue>
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#include <memory>
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#include <map>
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#include <unordered_set>
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#include <poll.h>
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namespace Linux {
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enum class SocketCanError
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{
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SocketReadFailure,
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SocketWriteFailure,
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TxTimeout
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};
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#define CAN_MAX_POLL_ITERATIONS_COUNT 100
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#define CAN_MAX_INIT_TRIES_COUNT 100
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#define CAN_FILTER_NUMBER 8
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class CANIface: public AP_HAL::CANIface {
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public:
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CANIface(int index)
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: _self_index(index)
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, _frames_in_socket_tx_queue(0)
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, _max_frames_in_socket_tx_queue(2)
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{ }
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~CANIface() { }
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// Initialise CAN Peripheral
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bool init(const uint32_t bitrate, const OperatingMode mode) override;
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// Put frame into Tx FIFO returns negative on error, 0 on buffer full,
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// 1 on successfully pushing a frame into FIFO
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int16_t send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
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CanIOFlags flags) override;
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// Receive frame from Rx Buffer, returns negative on error, 0 on nothing available,
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// 1 on successfully poping a frame
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int16_t receive(AP_HAL::CANFrame& out_frame, uint64_t& out_timestamp_us,
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CanIOFlags& out_flags) override;
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// Set Filters to ignore frames not to be handled by us
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bool configureFilters(const CanFilterConfig* filter_configs,
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uint16_t num_configs) override;
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// Always return false, there's no busoff condition in Linux CAN
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bool is_busoff() const override
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{
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return false;
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}
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void flush_tx() override;
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void clear_rx() override;
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// Get number of Filter configurations
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uint16_t getNumFilters() const override;
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// Get total number of Errors discovered
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uint32_t getErrorCount() const override;
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// returns true if init was successfully called
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bool is_initialized() const override;
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/******************************************
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* Select Method *
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* ****************************************/
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// wait until selected event is available, false when timed out waiting else true
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bool select(bool &read, bool &write,
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const AP_HAL::CANFrame* const pending_tx,
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uint64_t blocking_deadline) override;
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// setup event handle for waiting on events
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bool set_event_handle(AP_HAL::EventHandle* handle) override;
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// fetch stats text and return the size of the same,
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// results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt
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uint32_t get_stats(char* data, uint32_t max_size) override;
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class CANSocketEventSource : public AP_HAL::EventSource {
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friend class CANIface;
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CANIface *_ifaces[HAL_NUM_CAN_IFACES];
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public:
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// we just poll fd, no signaling is done
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void signal(uint32_t evt_mask) override { return; }
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bool wait(uint64_t duration, AP_HAL::EventHandle* evt_handle) override;
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};
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private:
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void _pollWrite();
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bool _pollRead();
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int _write(const AP_HAL::CANFrame& frame) const;
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int _read(AP_HAL::CANFrame& frame, uint64_t& ts_usec, bool& loopback) const;
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void _incrementNumFramesInSocketTxQueue();
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void _confirmSentFrame();
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bool _wasInPendingLoopbackSet(const AP_HAL::CANFrame& frame);
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bool _checkHWFilters(const can_frame& frame) const;
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bool _hasReadyTx() const;
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bool _hasReadyRx() const;
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void _poll(bool read, bool write);
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int _openSocket(const std::string& iface_name);
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void _updateDownStatusFromPollResult(const pollfd& pfd);
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uint32_t _bitrate;
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bool _down;
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bool _initialized;
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int _fd;
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const uint8_t _self_index;
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const unsigned _max_frames_in_socket_tx_queue;
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unsigned _frames_in_socket_tx_queue;
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uint32_t _tx_frame_counter;
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AP_HAL::EventHandle *_evt_handle;
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static CANSocketEventSource evt_can_socket[HAL_NUM_CAN_IFACES];
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pollfd _pollfd;
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std::map<SocketCanError, uint64_t> _errors;
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std::priority_queue<CanTxItem> _tx_queue;
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std::queue<CanRxItem> _rx_queue;
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std::unordered_multiset<uint32_t> _pending_loopback_ids;
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std::vector<can_filter> _hw_filters_container;
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struct {
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uint32_t tx_requests;
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uint32_t tx_full;
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uint32_t tx_confirmed;
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uint32_t tx_write_fail;
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uint32_t tx_success;
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uint32_t tx_timedout;
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uint32_t rx_received;
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uint32_t rx_errors;
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uint32_t num_downs;
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uint32_t num_rx_poll_req;
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uint32_t num_tx_poll_req;
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uint32_t num_poll_waits;
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uint32_t num_poll_tx_events;
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uint32_t num_poll_rx_events;
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} stats;
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};
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}
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#endif //#if HAL_NUM_CAN_IFACES
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