AP_HAL: top level HAL definitions for CAN bus driver

libraries/AP_HAL/AP_HAL.h

@@ -19,6 +19,10 @@
 #include "Util.h"
 #include "OpticalFlow.h"
 
+#if HAL_WITH_UAVCAN
+#include "CAN.h"
+#endif
+
 #include "utility/Print.h"
 #include "utility/Stream.h"
 #include "utility/BetterStream.h"

libraries/AP_HAL/AP_HAL_Namespace.h

@@ -29,6 +29,9 @@ namespace AP_HAL {
     class Semaphore;
     class OpticalFlow;
 
+    class CANManager;
+    class CAN;
+
     class Util;
 
     /* Utility Classes */

libraries/AP_HAL/CAN.h

@@ -0,0 +1,116 @@
+/*
+ * 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>
+
+class AP_UAVCAN;
+
+/**
+ * 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
+     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
+     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
+     0 - no messages are pending
+     positive - number of pending messages
+     */
+    virtual int32_t tx_pending() = 0;
+
+    /*
+     Return if CAN port has received but yet read messages
+
+     return      -1 - CAN port is not opened or initialized
+     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 uavcan::ICanDriver {
+public:
+    /*  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
+     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 AP_UAVCAN *get_UAVCAN(void);
+    virtual void set_UAVCAN(AP_UAVCAN *uavcan);
+};
+
+#endif

libraries/AP_HAL/HAL.h

@@ -11,6 +11,9 @@
 #include "UARTDriver.h"
 #include "system.h"
 #include "OpticalFlow.h"
+#if HAL_WITH_UAVCAN
+#include "CAN.h"
+#endif
 
 class AP_HAL::HAL {
 public:
@@ -30,7 +33,8 @@ public:
         AP_HAL::RCOutput*   _rcout,
         AP_HAL::Scheduler*  _scheduler,
         AP_HAL::Util*       _util,
-        AP_HAL::OpticalFlow *_opticalflow)
+        AP_HAL::OpticalFlow *_opticalflow,
+        AP_HAL::CANManager* _can_mgr)
         :
         uartA(_uartA),
         uartB(_uartB),
@@ -48,7 +52,8 @@ public:
         rcout(_rcout),
         scheduler(_scheduler),
         util(_util),
-        opticalflow(_opticalflow)
+        opticalflow(_opticalflow),
+        can_mgr(_can_mgr)
     {
         AP_HAL::init();
     }
@@ -88,4 +93,5 @@ public:
     AP_HAL::Scheduler*  scheduler;
     AP_HAL::Util        *util;
     AP_HAL::OpticalFlow *opticalflow;
+    AP_HAL::CANManager* can_mgr;
 };

libraries/AP_HAL/Scheduler.h

@@ -60,4 +60,6 @@ public:
        optional function to stop clock at a given time, used by log replay
      */
     virtual void     stop_clock(uint64_t time_usec) {}
+
+    virtual void create_uavcan_thread() {};
 };