mirror of https://github.com/ArduPilot/ardupilot
134 lines
4.2 KiB
C++
134 lines
4.2 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 Siddharth Bharat Purohit
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
|
|
#include "AP_HAL/utility/RingBuffer.h"
|
|
#include <AP_Param/AP_Param.h>
|
|
|
|
#define SLCAN_BUFFER_SIZE 200
|
|
#define SLCAN_RX_QUEUE_SIZE 64
|
|
|
|
#ifndef HAL_CAN_RX_QUEUE_SIZE
|
|
#define HAL_CAN_RX_QUEUE_SIZE 128
|
|
#endif
|
|
|
|
static_assert(HAL_CAN_RX_QUEUE_SIZE <= 254, "Invalid CAN Rx queue size");
|
|
|
|
namespace SLCAN
|
|
{
|
|
|
|
class CANIface: public AP_HAL::CANIface
|
|
{
|
|
|
|
int16_t reportFrame(const AP_HAL::CANFrame& frame, uint64_t timestamp_usec);
|
|
|
|
const char* processCommand(char* cmd);
|
|
|
|
// pushes received frame into queue, false if failed
|
|
bool push_Frame(AP_HAL::CANFrame &frame);
|
|
|
|
// Methods to handle different types of frames,
|
|
// return true if successfully received frame type
|
|
bool handle_FrameRTRStd(const char* cmd);
|
|
bool handle_FrameRTRExt(const char* cmd);
|
|
bool handle_FrameDataStd(const char* cmd);
|
|
bool handle_FrameDataExt(const char* cmd);
|
|
|
|
// Parsing bytes received on the serial port
|
|
inline void addByte(const uint8_t byte);
|
|
|
|
// track changes to slcan serial port
|
|
void update_slcan_port();
|
|
|
|
bool initialized_;
|
|
|
|
char buf_[SLCAN_BUFFER_SIZE + 1]; // buffer to record raw frame nibbles before parsing
|
|
uint32_t _pending_frame_size = 0; // holds the size of frame to be tx
|
|
int16_t pos_ = 0; // position in the buffer recording nibble frames before parsing
|
|
AP_HAL::UARTDriver* _port; // UART interface port reference to be used for SLCAN iface
|
|
|
|
ObjectBuffer<AP_HAL::CANIface::CanRxItem> rx_queue_; // Parsed Rx Frame queue
|
|
|
|
const uint32_t _serial_lock_key = 0x53494442; // Key used to lock UART port for use by slcan
|
|
|
|
AP_Int8 _slcan_can_port;
|
|
AP_Int8 _slcan_ser_port;
|
|
AP_Int8 _slcan_timeout;
|
|
AP_Int8 _slcan_start_delay;
|
|
|
|
bool _slcan_start_req;
|
|
uint32_t _slcan_start_req_time;
|
|
int8_t _prev_ser_port;
|
|
int8_t _iface_num = -1;
|
|
uint32_t _last_had_activity;
|
|
AP_HAL::CANIface* _can_iface; // Can interface to be used for interaction by SLCAN interface
|
|
HAL_Semaphore port_sem;
|
|
bool _set_by_sermgr;
|
|
public:
|
|
CANIface():
|
|
rx_queue_(HAL_CAN_RX_QUEUE_SIZE)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
}
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
bool init(const uint32_t bitrate, const OperatingMode mode) override
|
|
{
|
|
return false;
|
|
}
|
|
|
|
// Initialisation of SLCAN Passthrough method of operation
|
|
bool init_passthrough(uint8_t i);
|
|
|
|
// Set UART port to be used with slcan interface
|
|
int set_port(AP_HAL::UARTDriver* port);
|
|
|
|
void reset_params();
|
|
int8_t get_iface_num() const
|
|
{
|
|
return _iface_num;
|
|
}
|
|
|
|
// Overriden methods
|
|
bool set_event_handle(AP_HAL::EventHandle* evt_handle) override;
|
|
uint16_t getNumFilters() const override;
|
|
uint32_t getErrorCount() const override;
|
|
uint32_t get_stats(char* data, uint32_t max_size) override;
|
|
bool is_busoff() const override;
|
|
bool configureFilters(const CanFilterConfig* filter_configs, uint16_t num_configs) override;
|
|
void flush_tx() override;
|
|
void clear_rx() override;
|
|
bool is_initialized() const override;
|
|
bool select(bool &read, bool &write,
|
|
const AP_HAL::CANFrame* const pending_tx,
|
|
uint64_t blocking_deadline) override;
|
|
int16_t send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
|
|
AP_HAL::CANIface::CanIOFlags flags) override;
|
|
|
|
int16_t receive(AP_HAL::CANFrame& out_frame, uint64_t& rx_time,
|
|
AP_HAL::CANIface::CanIOFlags& out_flags) override;
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|