AP_HAL_SITL: definitions for CAN bus

libraries/AP_HAL_SITL/AP_HAL_SITL_Namespace.h

@@ -14,4 +14,6 @@ class Util;
 class Semaphore;
 class GPIO;
 class DigitalSource;
+class HALSITLCAN;
+class HALSITLCANDriver;
 }  // namespace HALSITL

libraries/AP_HAL_SITL/CAN.h

@@ -0,0 +1,62 @@
+/* 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 "AP_HAL_SITL.h"
+
+#if HAL_WITH_UAVCAN
+#include <AP_HAL/CAN.h>
+
+class HALSITL::HALSITLCAN : public AP_HAL::CAN {
+public:
+    HALSITLCAN() { }
+    ~HALSITLCAN() { }
+    int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags) override;
+    int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic, uavcan::UtcTime& out_ts_utc,
+            uavcan::CanIOFlags& out_flags) override;
+    int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs, uint16_t num_configs) override;
+    uint16_t getNumFilters() const override;
+    uint64_t getErrorCount() const override;
+
+    bool begin(uint32_t bitrate) override;
+    void end() override;
+    void reset() override;
+    bool is_initialized() override;
+    int32_t tx_pending() override;
+    int32_t available() override;
+
+
+private:
+    uint32_t _baudrate;
+    volatile bool _initialised;
+    volatile bool _in_timer;
+};
+
+class HALSITL::HALSITLCANDriver : public AP_HAL::CANManager
+{
+public:
+    HALSITLCANDriver() { }
+    ~HALSITLCANDriver() { }
+    uavcan::ICanIface* getIface(uint8_t iface_index) override;
+    const uavcan::ICanIface* getIface(uint8_t iface_index) const override;
+    uint8_t getNumIfaces() const override;
+    int16_t select(uavcan::CanSelectMasks& inout_masks,
+                   const uavcan::CanFrame* (& pending_tx)[uavcan::MaxCanIfaces],
+                   uavcan::MonotonicTime blocking_deadline) override;
+};
+
+#endif

libraries/AP_HAL_SITL/HAL_SITL_Class.cpp

@@ -62,7 +62,8 @@ HAL_SITL::HAL_SITL() :
         &sitlRCOutput,      /* rcoutput */
         &sitlScheduler,     /* scheduler */
         &utilInstance,      /* util */
-        &emptyOpticalFlow), /* onboard optical flow */
+        &emptyOpticalFlow, /* onboard optical flow */
+        nullptr),           /* CAN */
     _sitl_state(&sitlState)
 {}