mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.0 KiB
C++
78 lines
2.0 KiB
C++
/*
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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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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include "AP_HAL_ChibiOS.h"
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#if HAL_WITH_UAVCAN
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#define CAN_STM32_LOG(fmt, ...) hal.console->printf("CANManager: " fmt "\n", ##__VA_ARGS__)
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#include <uavcan/uavcan.hpp>
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#include <uavcan/time.hpp>
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#include "CANThread.h"
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#include "CANClock.h"
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#if defined(STM32H7XX)
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#include "CANFDIface.h"
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#else
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#include "CANIface.h"
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#endif
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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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#define CAN_STM32_RX_QUEUE_SIZE 64
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namespace ChibiOS {
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/**
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* Generic CAN driver.
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*/
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class CANManager: public AP_HAL::CANManager {
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public:
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CANManager()
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: can_helper(), AP_HAL::CANManager(&can_helper.driver) { }
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/**
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* Whether at least one iface had at least one successful IO since previous call of this method.
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* This is designed for use with iface activity LEDs.
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*/
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//bool hadActivity();
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static CANManager *from(AP_HAL::CANManager *can)
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{
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return static_cast<CANManager*>(can);
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}
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bool begin(uint32_t bitrate, uint8_t can_number) override;
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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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bool is_initialized() override;
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void initialized(bool val) override;
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private:
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bool initialized_;
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ChibiOS_CAN::CanInitHelper<CAN_STM32_RX_QUEUE_SIZE> can_helper;
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};
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}
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#endif
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