mirror of https://github.com/ArduPilot/ardupilot
135 lines
3.6 KiB
C++
135 lines
3.6 KiB
C++
/*
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* Copyright (C) 2017 Eugene Shamaev
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* 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 <inttypes.h>
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#include <string.h>
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#include <assert.h>
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#include <cmath>
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#if HAL_WITH_UAVCAN
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#include "AP_HAL_Namespace.h"
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#include "utility/functor.h"
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#include <uavcan/driver/can.hpp>
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#include <uavcan/time.hpp>
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#define MAX_NUMBER_OF_CAN_INTERFACES 2
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#define MAX_NUMBER_OF_CAN_DRIVERS 2
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/**
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* Interface that CAN protocols need to implement
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*/
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class AP_HAL::CANProtocol {
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public:
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/* method called when initializing the CAN interfaces
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*
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* if initialization doesn't have errors, protocol class
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* should create a thread to do send and receive operations
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*/
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virtual void init(uint8_t driver_index, bool enable_filters) = 0;
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};
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/**
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* Single non-blocking CAN interface.
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*/
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class AP_HAL::CANHal: public uavcan::ICanIface {
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public:
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/* CAN port open method
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bitrate Selects the speed that the port will be configured to. If zero, the port speed is left unchanged.
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return false - CAN port open failed
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true - CAN port open succeeded
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*/
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virtual bool begin(uint32_t bitrate) = 0;
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/*
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CAN port close
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*/
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virtual void end() = 0;
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/*
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Reset opened CAN port
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Pending messages to be transmitted are deleted and receive state and FIFO also reset.
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All pending errors are cleared.
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*/
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virtual void reset() = 0;
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/*
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Test if CAN port is opened and initialized
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return false - CAN port not initialized
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true - CAN port is initialized
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*/
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virtual bool is_initialized() = 0;
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/*
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Return if CAN port has some untransmitted pending messages
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return -1 - CAN port is not opened or initialized
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0 - no messages are pending
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positive - number of pending messages
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*/
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virtual int32_t tx_pending() = 0;
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/*
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Return if CAN port has received but not yet read messages
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return -1 - CAN port is not opened or initialized
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0 - no messages are pending for read
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positive - number of pending messages for read
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*/
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virtual int32_t available() = 0;
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};
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/**
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* Generic CAN driver.
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*/
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class AP_HAL::CANManager {
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public:
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CANManager(uavcan::ICanDriver* driver) : _driver(driver) {}
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/* CAN port open method
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Opens port with specified bit rate
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bitrate - selects the speed that the port will be configured to. If zero, the port speed is left
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unchanged.
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can_number - the index of can interface to be opened
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return false - CAN port open failed
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true - CAN port open succeeded
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*/
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virtual bool begin(uint32_t bitrate, uint8_t can_number) = 0;
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/*
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Test if CAN manager is ready and initialized
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return false - CAN manager not initialized
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true - CAN manager is initialized
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*/
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virtual bool is_initialized() = 0;
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virtual void initialized(bool val) = 0;
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uavcan::ICanDriver* get_driver() { return _driver; }
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private:
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uavcan::ICanDriver* _driver;
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};
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#endif
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