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73 lines
2.1 KiB
73 lines
2.1 KiB
/* |
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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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* Author: Siddharth Bharat Purohit |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#if HAL_ENABLE_LIBUAVCAN_DRIVERS |
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#include <uavcan/uavcan.hpp> |
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namespace uavcan |
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{ |
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class CanDriver; |
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class CanIface : public ICanIface, Noncopyable |
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{ |
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friend class CanIfaceMgr; |
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AP_HAL::CANIface* can_iface_; |
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public: |
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CanIface(AP_HAL::CANIface *can_iface) : can_iface_(can_iface) {} |
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virtual int16_t send(const CanFrame& frame, MonotonicTime tx_deadline, |
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CanIOFlags flags) override; |
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virtual int16_t receive(CanFrame& out_frame, MonotonicTime& out_ts_monotonic, |
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UtcTime& out_ts_utc, CanIOFlags& out_flags) override; |
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int16_t configureFilters(const CanFilterConfig* filter_configs, |
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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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}; |
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/** |
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* Generic CAN driver. |
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*/ |
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class CanIfaceMgr : public ICanDriver, Noncopyable |
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{ |
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CanIface* ifaces[HAL_NUM_CAN_IFACES]; |
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uint8_t num_ifaces; |
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HAL_EventHandle _event_handle; |
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public: |
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bool add_interface(AP_HAL::CANIface *can_drv); |
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ICanIface* getIface(uint8_t iface_index) override; |
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uint8_t getNumIfaces() const override; |
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CanSelectMasks makeSelectMasks(const CanSelectMasks in_mask, const CanFrame* (& pending_tx)[MaxCanIfaces]) const; |
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int16_t select(CanSelectMasks& inout_masks, |
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const CanFrame* (& pending_tx)[MaxCanIfaces], |
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const MonotonicTime blocking_deadline) override; |
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}; |
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} |
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#endif
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