ardupilot/libraries/AP_HAL/CAN.h

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/*
* 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 <inttypes.h>
#include <string.h>
#include <assert.h>
#include <cmath>
#if HAL_WITH_UAVCAN
#include "AP_HAL_Namespace.h"
#include "utility/functor.h"
#include <uavcan/driver/can.hpp>
#include <uavcan/time.hpp>
#define MAX_NUMBER_OF_CAN_INTERFACES 2
#define MAX_NUMBER_OF_CAN_DRIVERS 2
/**
* Interface that CAN protocols need to implement
*/
class AP_HAL::CANProtocol {
public:
/* method called when initializing the CAN interfaces
*
* if initialization doesn't have errors, protocol class
* should create a thread to do send and receive operations
*/
virtual void init(uint8_t driver_index, bool enable_filters) = 0;
};
/**
* Single non-blocking CAN interface.
*/
class AP_HAL::CAN: public uavcan::ICanIface {
public:
/* CAN port open method
bitrate Selects the speed that the port will be configured to. If zero, the port speed is left unchanged.
return false - CAN port open failed
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true - CAN port open succeeded
*/
virtual bool begin(uint32_t bitrate) = 0;
/*
CAN port close
*/
virtual void end() = 0;
/*
Reset opened CAN port
Pending messages to be transmitted are deleted and receive state and FIFO also reset.
All pending errors are cleared.
*/
virtual void reset() = 0;
/*
Test if CAN port is opened and initialized
return false - CAN port not initialized
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true - CAN port is initialized
*/
virtual bool is_initialized() = 0;
/*
Return if CAN port has some untransmitted pending messages
return -1 - CAN port is not opened or initialized
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0 - no messages are pending
positive - number of pending messages
*/
virtual int32_t tx_pending() = 0;
/*
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Return if CAN port has received but not yet read messages
return -1 - CAN port is not opened or initialized
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0 - no messages are pending for read
positive - number of pending messages for read
*/
virtual int32_t available() = 0;
};
/**
* Generic CAN driver.
*/
class AP_HAL::CANManager {
public:
CANManager(uavcan::ICanDriver* driver) : _driver(driver) {}
/* CAN port open method
Opens port with specified bit rate
bitrate - selects the speed that the port will be configured to. If zero, the port speed is left
unchanged.
can_number - the index of can interface to be opened
return false - CAN port open failed
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true - CAN port open succeeded
*/
virtual bool begin(uint32_t bitrate, uint8_t can_number) = 0;
/*
Test if CAN manager is ready and initialized
return false - CAN manager not initialized
true - CAN manager is initialized
*/
virtual bool is_initialized() = 0;
virtual void initialized(bool val) = 0;
uavcan::ICanDriver* get_driver() { return _driver; }
private:
uavcan::ICanDriver* _driver;
};
#endif