mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.1 KiB
C
74 lines
2.1 KiB
C
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Author: Siddharth Bharat Purohit
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS
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#include <uavcan/uavcan.hpp>
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namespace uavcan
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{
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class CanDriver;
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class CanIface : public ICanIface, Noncopyable
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{
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friend class CanIfaceMgr;
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AP_HAL::CANIface* can_iface_;
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public:
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CanIface(AP_HAL::CANIface *can_iface) : can_iface_(can_iface) {}
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virtual int16_t send(const CanFrame& frame, MonotonicTime tx_deadline,
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CanIOFlags flags) override;
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virtual int16_t receive(CanFrame& out_frame, MonotonicTime& out_ts_monotonic,
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UtcTime& out_ts_utc, CanIOFlags& out_flags) override;
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int16_t configureFilters(const CanFilterConfig* filter_configs,
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uint16_t num_configs) override;
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uint16_t getNumFilters() const override;
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uint64_t getErrorCount() const override;
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};
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/**
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* Generic CAN driver.
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*/
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class CanIfaceMgr : public ICanDriver, Noncopyable
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{
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CanIface* ifaces[HAL_NUM_CAN_IFACES];
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uint8_t num_ifaces;
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HAL_EventHandle _event_handle;
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public:
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bool add_interface(AP_HAL::CANIface *can_drv);
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ICanIface* getIface(uint8_t iface_index) override;
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uint8_t getNumIfaces() const override;
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CanSelectMasks makeSelectMasks(const CanSelectMasks in_mask, const CanFrame* (& pending_tx)[MaxCanIfaces]) const;
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int16_t select(CanSelectMasks& inout_masks,
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const CanFrame* (& pending_tx)[MaxCanIfaces],
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const MonotonicTime blocking_deadline) override;
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};
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}
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#endif
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