AP_HAL_ChibiOS: add CAN driver

libraries/AP_HAL_ChibiOS/CAN.cpp

@@ -0,0 +1,84 @@
+/*
+ * 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/>.
+ * 
+ * Code by Andrew Tridgell and Siddharth Bharat Purohit
+ * Based on stm32 can driver by Pavel Kirienko
+ */
+
+#include "CAN.h"
+
+#if HAL_WITH_UAVCAN
+
+#include <uavcan_stm32/../../src/internal.hpp>
+
+using namespace ChibiOS;
+using namespace uavcan_stm32;
+
+extern const AP_HAL::HAL& hal;
+
+namespace uavcan_stm32 {
+
+uint64_t clock::getUtcUSecFromCanInterrupt()
+{
+    return AP_HAL::micros64();
+}
+
+uavcan::MonotonicTime clock::getMonotonic()
+{
+    return uavcan::MonotonicTime::fromUSec(AP_HAL::micros64());
+}
+
+}
+
+bool CANManager::begin(uint32_t bitrate, uint8_t can_number)
+{
+    if (can_helper.init(bitrate, CanIface::OperatingMode::NormalMode, can_number) == 0) {
+        bitrate_ = bitrate;
+        initialized_ = true;
+    }
+    return initialized_;
+}
+
+bool CANManager::is_initialized()
+{
+    return initialized_;
+}
+
+void CANManager::initialized(bool val)
+{
+    initialized_ = val;
+}
+
+AP_UAVCAN *CANManager::get_UAVCAN(void)
+{
+    return p_uavcan;
+}
+
+void CANManager::set_UAVCAN(AP_UAVCAN *uavcan)
+{
+    p_uavcan = uavcan;
+}
+
+void CANManager::_timer_tick()
+{
+    if (!initialized_) return;
+
+    if (p_uavcan != nullptr) {
+        p_uavcan->do_cyclic();
+    } else {
+        hal.console->printf("p_uavcan is nullptr");
+    }
+}
+
+#endif //HAL_WITH_UAVCAN

libraries/AP_HAL_ChibiOS/CAN.h

@@ -0,0 +1,83 @@
+/*
+ * 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/>.
+ * 
+ * Code by Andrew Tridgell and Siddharth Bharat Purohit
+ */
+
+#pragma once
+
+#include "AP_HAL_ChibiOS.h"
+
+#if HAL_WITH_UAVCAN
+
+#define UAVCAN_STM32_LOG(fmt, ...)  hal.console->printf("CANManager: " fmt "\n", ##__VA_ARGS__)
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan/time.hpp>
+
+#include <uavcan_stm32/thread.hpp>
+#include <uavcan_stm32/clock.hpp>
+#include <uavcan_stm32/can.hpp>
+
+#include <AP_UAVCAN/AP_UAVCAN.h>
+
+#define MAX_NUMBER_OF_CAN_INTERFACES    2
+#define MAX_NUMBER_OF_CAN_DRIVERS       2
+#define CAN_STM32_RX_QUEUE_SIZE         64
+class AP_UAVCAN;
+using namespace uavcan_stm32;
+
+namespace ChibiOS {
+/**
+ * Generic CAN driver.
+ */
+class CANManager: public AP_HAL::CANManager {
+public:
+    CANManager()
+        :  can_helper(), AP_HAL::CANManager(&can_helper.driver)   { }
+
+    /**
+     * Whether at least one iface had at least one successful IO since previous call of this method.
+     * This is designed for use with iface activity LEDs.
+     */
+    //bool hadActivity();
+
+    static CANManager *from(AP_HAL::CANManager *can)
+    {
+        return static_cast<CANManager*>(can);
+    }
+
+    bool begin(uint32_t bitrate, uint8_t can_number) override;
+
+    /*
+     Test if CAN manager is ready and initialized
+     return      false - CAN manager not initialized
+     true - CAN manager is initialized
+     */
+    bool is_initialized() override;
+    void initialized(bool val) override;
+
+    AP_UAVCAN *get_UAVCAN(void) override;
+    void set_UAVCAN(AP_UAVCAN *uavcan) override;
+    void _timer_tick();
+
+private:
+    AP_UAVCAN *p_uavcan;
+    bool initialized_;
+    uint32_t bitrate_;
+    CanInitHelper<CAN_STM32_RX_QUEUE_SIZE> can_helper;
+};
+
+}
+#endif