/* * 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 . * * Code by Siddharth Bharat Purohit */ #pragma once #include #include class AP_CANManager; class CANSensor; class AP_CANDriver { public: friend class AP_CANManager; // init method for protocol drivers, specify driver index and if filters // are to be enabled virtual void init(uint8_t driver_index, bool enable_filters) = 0; // link protocol drivers with interfaces by adding reference to CANIface virtual bool add_interface(AP_HAL::CANIface* can_iface) = 0; // add an 11 bit auxillary driver virtual bool add_11bit_driver(CANSensor *sensor) { return false; } // handler for outgoing frames for auxillary drivers virtual bool write_aux_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us) { return false; } };