mirror of https://github.com/ArduPilot/ardupilot
111 lines
3.3 KiB
C++
111 lines
3.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_CANDriver.h"
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#include <AP_HAL/Semaphores.h>
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#include <AP_UAVCAN/AP_UAVCAN.h>
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#ifndef HAL_ENABLE_CANTESTER
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#define HAL_ENABLE_CANTESTER 0
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#endif
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_CANMANAGER_ENABLED && HAL_ENABLE_CANTESTER
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class CANTester : public AP_CANDriver
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{
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public:
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CANTester()
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{
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// update protected var for parameter interface
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AP_Param::setup_object_defaults(this, var_info);
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}
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static const struct AP_Param::GroupInfo var_info[];
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/* Do not allow copies */
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CLASS_NO_COPY(CANTester);
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void init(uint8_t driver_index, bool enable_filters) override;
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bool add_interface(AP_HAL::CANIface* can_iface) override;
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bool run_kdecan_enumeration(bool start_stop);
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static CANTester *get_cantester(uint8_t driver_index);
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private:
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enum {
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TEST_NONE,
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TEST_LOOPBACK,
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TEST_BUSOFF_RECOVERY,
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TEST_UAVCAN_DNA,
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TEST_KDE_CAN,
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TEST_UAVCAN_ESC,
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TEST_UAVCAN_FD_ESC,
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TEST_END,
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};
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struct loopback_stats_s {
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uint32_t num_tx;
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uint32_t failed_tx;
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uint32_t num_rx;
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uint32_t num_flushed_rx;
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uint32_t bad_rx_data;
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uint32_t bad_rx_seq;
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uint16_t tx_seq;
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uint16_t next_valid_seq;
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} _loopback_stats[HAL_NUM_CAN_IFACES];
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void main_thread();
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bool test_loopback(uint32_t loop_rate);
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void create_loopback_frame(loopback_stats_s &stats, AP_HAL::CANFrame& frame);
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void check_loopback_frame(loopback_stats_s &stats, AP_HAL::CANFrame& frame);
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bool test_busoff_recovery();
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bool test_uavcan_dna();
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bool test_kdecan();
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bool test_uavcan_esc(bool enable_canfd);
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// write frame on CAN bus, returns true on success
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bool write_frame(uint8_t iface, AP_HAL::CANFrame &out_frame, uint64_t timeout);
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// read frame on CAN bus, returns true on success
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bool read_frame(uint8_t iface, AP_HAL::CANFrame &recv_frame, uint64_t timeout, AP_HAL::CANIface::CanIOFlags &flags);
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void reset_frame(AP_HAL::CANFrame& frame);
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bool _initialized;
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uint8_t _driver_index;
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AP_HAL::CANIface* _can_ifaces[HAL_NUM_CAN_IFACES];
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// Classes required for UAVCAN Test
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class RaiiSynchronizer {};
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uavcan::PoolAllocator<UAVCAN_NODE_POOL_SIZE, UAVCAN_NODE_POOL_BLOCK_SIZE, CANTester::RaiiSynchronizer> _node_allocator;
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HAL_EventHandle _event_handle;
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AP_Int8 _test_driver_index;
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AP_Int8 _test_port;
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AP_Int32 _test_id;
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AP_Int32 _loop_rate;
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uint8_t _num_ifaces;
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bool _kdecan_enumeration;
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};
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#endif //#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_MAX_CAN_PROTOCOL_DRIVERS
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