mirror of https://github.com/ArduPilot/ardupilot
121 lines
3.2 KiB
C++
121 lines
3.2 KiB
C++
/*
|
|
* Copyright (C) 2017 Eugene Shamaev
|
|
*
|
|
* 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/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <inttypes.h>
|
|
#include <string.h>
|
|
#include <assert.h>
|
|
#include <cmath>
|
|
|
|
#if HAL_WITH_UAVCAN
|
|
|
|
#include "AP_HAL_Namespace.h"
|
|
#include "utility/functor.h"
|
|
#include <uavcan/driver/can.hpp>
|
|
#include <uavcan/time.hpp>
|
|
|
|
#define MAX_NUMBER_OF_CAN_INTERFACES 2
|
|
#define MAX_NUMBER_OF_CAN_DRIVERS 2
|
|
|
|
class AP_UAVCAN;
|
|
|
|
/**
|
|
* Single non-blocking CAN interface.
|
|
*/
|
|
class AP_HAL::CAN: public uavcan::ICanIface {
|
|
public:
|
|
/* CAN port open method
|
|
|
|
bitrate Selects the speed that the port will be configured to. If zero, the port speed is left unchanged.
|
|
|
|
return false - CAN port open failed
|
|
true - CAN port open succeeded
|
|
*/
|
|
virtual bool begin(uint32_t bitrate) = 0;
|
|
|
|
/*
|
|
CAN port close
|
|
*/
|
|
virtual void end() = 0;
|
|
|
|
/*
|
|
Reset opened CAN port
|
|
|
|
Pending messages to be transmitted are deleted and receive state and FIFO also reset.
|
|
All pending errors are cleared.
|
|
*/
|
|
virtual void reset() = 0;
|
|
|
|
/*
|
|
Test if CAN port is opened and initialized
|
|
|
|
return false - CAN port not initialized
|
|
true - CAN port is initialized
|
|
*/
|
|
virtual bool is_initialized() = 0;
|
|
|
|
/*
|
|
Return if CAN port has some untransmitted pending messages
|
|
|
|
return -1 - CAN port is not opened or initialized
|
|
0 - no messages are pending
|
|
positive - number of pending messages
|
|
*/
|
|
virtual int32_t tx_pending() = 0;
|
|
|
|
/*
|
|
Return if CAN port has received but yet read messages
|
|
|
|
return -1 - CAN port is not opened or initialized
|
|
0 - no messages are pending for read
|
|
positive - number of pending messages for read
|
|
*/
|
|
virtual int32_t available() = 0;
|
|
|
|
};
|
|
|
|
/**
|
|
* Generic CAN driver.
|
|
*/
|
|
class AP_HAL::CANManager: public uavcan::ICanDriver {
|
|
public:
|
|
/* CAN port open method
|
|
Opens port with specified bit rate
|
|
bitrate - selects the speed that the port will be configured to. If zero, the port speed is left
|
|
unchanged.
|
|
can_number - the index of can interface to be opened
|
|
|
|
return false - CAN port open failed
|
|
true - CAN port open succeeded
|
|
*/
|
|
virtual bool begin(uint32_t bitrate, uint8_t can_number) = 0;
|
|
|
|
/*
|
|
Test if CAN manager is ready and initialized
|
|
return false - CAN manager not initialized
|
|
true - CAN manager is initialized
|
|
*/
|
|
virtual bool is_initialized() = 0;
|
|
virtual void initialized(bool val);
|
|
|
|
virtual AP_UAVCAN *get_UAVCAN(void);
|
|
virtual void set_UAVCAN(AP_UAVCAN *uavcan);
|
|
};
|
|
|
|
#endif
|