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76 lines
2.3 KiB
76 lines
2.3 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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CANSensor class, for easy creation of CAN sensors using custom CAN protocols |
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*/ |
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#pragma once |
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#include "AP_CANManager.h" |
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS |
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class CANSensor : public AP_CANDriver { |
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public: |
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CANSensor(const char *driver_name, uint16_t stack_size=2048); |
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/* Do not allow copies */ |
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CANSensor(const CANSensor &other) = delete; |
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CANSensor &operator=(const CANSensor&) = delete; |
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void init(uint8_t driver_index, bool enable_filters) override; |
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bool add_interface(AP_HAL::CANIface* can_iface) override; |
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// handler for incoming frames |
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virtual void handle_frame(AP_HAL::CANFrame &frame) = 0; |
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// handler for outgoing frames |
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bool write_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us); |
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#ifdef HAL_BUILD_AP_PERIPH |
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static void set_periph(const uint8_t i, const AP_CANManager::Driver_Type protocol, AP_HAL::CANIface* iface) { |
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if (i < HAL_NUM_CAN_IFACES) { |
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_periph[i].protocol = protocol; |
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_periph[i].iface = iface; |
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} |
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} |
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#endif |
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protected: |
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void register_driver(AP_CANManager::Driver_Type dtype); |
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private: |
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void loop(); |
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const char *const _driver_name; |
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const uint16_t _stack_size; |
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bool _initialized; |
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uint8_t _driver_index; |
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AP_CANDriver *_can_driver; |
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HAL_EventHandle _event_handle; |
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AP_HAL::CANIface* _can_iface; |
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#ifdef HAL_BUILD_AP_PERIPH |
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void register_driver_periph(const AP_CANManager::Driver_Type dtype); |
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struct CANSensor_Periph { |
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AP_HAL::CANIface* iface; |
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AP_CANManager::Driver_Type protocol; |
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} static _periph[HAL_NUM_CAN_IFACES]; |
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#endif |
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}; |
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#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS |
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