ardupilot/libraries/AP_HAL_ChibiOS/CAN.h

78 lines
2.0 KiB
C++

/*
* 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/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include "AP_HAL_ChibiOS.h"
#if HAL_WITH_UAVCAN
#define CAN_STM32_LOG(fmt, ...) hal.console->printf("CANManager: " fmt "\n", ##__VA_ARGS__)
#include <uavcan/uavcan.hpp>
#include <uavcan/time.hpp>
#include "CANThread.h"
#include "CANClock.h"
#if defined(STM32H7XX)
#include "CANFDIface.h"
#else
#include "CANIface.h"
#endif
#define MAX_NUMBER_OF_CAN_INTERFACES 2
#define MAX_NUMBER_OF_CAN_DRIVERS 2
#define CAN_STM32_RX_QUEUE_SIZE 64
namespace ChibiOS {
/**
* Generic CAN driver.
*/
class CANManager: public AP_HAL::CANManager {
public:
CANManager()
: can_helper(), AP_HAL::CANManager(&can_helper.driver) { }
/**
* Whether at least one iface had at least one successful IO since previous call of this method.
* This is designed for use with iface activity LEDs.
*/
//bool hadActivity();
static CANManager *from(AP_HAL::CANManager *can)
{
return static_cast<CANManager*>(can);
}
bool begin(uint32_t bitrate, uint8_t can_number) override;
/*
Test if CAN manager is ready and initialized
return false - CAN manager not initialized
true - CAN manager is initialized
*/
bool is_initialized() override;
void initialized(bool val) override;
private:
bool initialized_;
ChibiOS_CAN::CanInitHelper<CAN_STM32_RX_QUEUE_SIZE> can_helper;
};
}
#endif