ardupilot/libraries/AP_HAL_ChibiOS/CAN.cpp

85 lines
1.9 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
* Based on stm32 can driver by Pavel Kirienko
*/
#include "CAN.h"
#if HAL_WITH_UAVCAN
#include <uavcan_stm32/../../src/internal.hpp>
using namespace ChibiOS;
using namespace uavcan_stm32;
extern const AP_HAL::HAL& hal;
namespace uavcan_stm32 {
uint64_t clock::getUtcUSecFromCanInterrupt()
{
return AP_HAL::micros64();
}
uavcan::MonotonicTime clock::getMonotonic()
{
return uavcan::MonotonicTime::fromUSec(AP_HAL::micros64());
}
}
bool CANManager::begin(uint32_t bitrate, uint8_t can_number)
{
if (can_helper.init(bitrate, CanIface::OperatingMode::NormalMode, can_number) == 0) {
bitrate_ = bitrate;
initialized_ = true;
}
return initialized_;
}
bool CANManager::is_initialized()
{
return initialized_;
}
void CANManager::initialized(bool val)
{
initialized_ = val;
}
AP_UAVCAN *CANManager::get_UAVCAN(void)
{
return p_uavcan;
}
void CANManager::set_UAVCAN(AP_UAVCAN *uavcan)
{
p_uavcan = uavcan;
}
void CANManager::_timer_tick()
{
if (!initialized_) return;
if (p_uavcan != nullptr) {
p_uavcan->do_cyclic();
} else {
hal.console->printf("p_uavcan is nullptr");
}
}
#endif //HAL_WITH_UAVCAN