mirror of https://github.com/ArduPilot/ardupilot
83 lines
1.8 KiB
C++
83 lines
1.8 KiB
C++
/*
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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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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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* Based on stm32 can driver by Pavel Kirienko
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*/
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#include "CAN.h"
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#if HAL_WITH_UAVCAN
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#include <uavcan_stm32/../../src/internal.hpp>
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using namespace ChibiOS;
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using namespace uavcan_stm32;
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extern const AP_HAL::HAL& hal;
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namespace uavcan_stm32 {
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uint64_t clock::getUtcUSecFromCanInterrupt()
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{
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return AP_HAL::micros64();
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}
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uavcan::MonotonicTime clock::getMonotonic()
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{
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return uavcan::MonotonicTime::fromUSec(AP_HAL::micros64());
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}
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}
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bool CANManager::begin(uint32_t bitrate, uint8_t can_number)
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{
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if (can_helper.init(bitrate, CanIface::OperatingMode::NormalMode, can_number) == 0) {
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bitrate_ = bitrate;
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initialized_ = true;
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}
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return initialized_;
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}
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bool CANManager::is_initialized()
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{
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return initialized_;
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}
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void CANManager::initialized(bool val)
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{
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initialized_ = val;
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}
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AP_UAVCAN *CANManager::get_UAVCAN(void)
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{
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return p_uavcan;
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}
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void CANManager::set_UAVCAN(AP_UAVCAN *uavcan)
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{
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p_uavcan = uavcan;
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}
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void CANManager::_timer_tick()
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{
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if (!initialized_) return;
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if (p_uavcan != nullptr) {
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p_uavcan->do_cyclic();
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}
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}
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#endif //HAL_WITH_UAVCAN
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