mirror of https://github.com/ArduPilot/ardupilot
63 lines
2.1 KiB
C++
63 lines
2.1 KiB
C++
/* 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 "AP_HAL_SITL.h"
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#if HAL_WITH_UAVCAN
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#include <AP_HAL/CAN.h>
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class HALSITL::HALSITLCAN : public AP_HAL::CAN {
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public:
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HALSITLCAN() { }
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~HALSITLCAN() { }
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int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags) override;
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int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic, uavcan::UtcTime& out_ts_utc,
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uavcan::CanIOFlags& out_flags) override;
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int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs, uint16_t num_configs) override;
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uint16_t getNumFilters() const override;
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uint64_t getErrorCount() const override;
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bool begin(uint32_t bitrate) override;
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void end() override;
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void reset() override;
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bool is_initialized() override;
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int32_t tx_pending() override;
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int32_t available() override;
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private:
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uint32_t _baudrate;
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volatile bool _initialised;
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volatile bool _in_timer;
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};
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class HALSITL::HALSITLCANDriver : public AP_HAL::CANManager
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{
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public:
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HALSITLCANDriver() { }
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~HALSITLCANDriver() { }
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uavcan::ICanIface* getIface(uint8_t iface_index) override;
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const uavcan::ICanIface* getIface(uint8_t iface_index) const override;
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uint8_t getNumIfaces() const override;
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int16_t select(uavcan::CanSelectMasks& inout_masks,
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const uavcan::CanFrame* (& pending_tx)[uavcan::MaxCanIfaces],
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uavcan::MonotonicTime blocking_deadline) override;
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};
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#endif
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