You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
116 lines
3.0 KiB
116 lines
3.0 KiB
/* |
|
* Copyright (C) 2017 Eugene Shamaev |
|
* |
|
* 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/>. |
|
*/ |
|
|
|
#pragma once |
|
|
|
#include <inttypes.h> |
|
#include <string.h> |
|
#include <assert.h> |
|
#include <cmath> |
|
|
|
#if HAL_WITH_UAVCAN |
|
|
|
#include "AP_HAL_Namespace.h" |
|
#include "utility/functor.h" |
|
#include <uavcan/driver/can.hpp> |
|
#include <uavcan/time.hpp> |
|
|
|
class AP_UAVCAN; |
|
|
|
/** |
|
* Single non-blocking CAN interface. |
|
*/ |
|
class AP_HAL::CAN: public uavcan::ICanIface { |
|
public: |
|
/* CAN port open method |
|
|
|
bitrate Selects the speed that the port will be configured to. If zero, the port speed is left unchanged. |
|
|
|
return false - CAN port open failed |
|
true - CAN port open succeeded |
|
*/ |
|
virtual bool begin(uint32_t bitrate) = 0; |
|
|
|
/* |
|
CAN port close |
|
*/ |
|
virtual void end() = 0; |
|
|
|
/* |
|
Reset opened CAN port |
|
|
|
Pending messages to be transmitted are deleted and receive state and FIFO also reset. |
|
All pending errors are cleared. |
|
*/ |
|
virtual void reset() = 0; |
|
|
|
/* |
|
Test if CAN port is opened and initialized |
|
|
|
return false - CAN port not initialized |
|
true - CAN port is initialized |
|
*/ |
|
virtual bool is_initialized() = 0; |
|
|
|
/* |
|
Return if CAN port has some untransmitted pending messages |
|
|
|
return -1 - CAN port is not opened or initialized |
|
0 - no messages are pending |
|
positive - number of pending messages |
|
*/ |
|
virtual int32_t tx_pending() = 0; |
|
|
|
/* |
|
Return if CAN port has received but yet read messages |
|
|
|
return -1 - CAN port is not opened or initialized |
|
0 - no messages are pending for read |
|
positive - number of pending messages for read |
|
*/ |
|
virtual int32_t available() = 0; |
|
|
|
}; |
|
|
|
/** |
|
* Generic CAN driver. |
|
*/ |
|
class AP_HAL::CANManager: public uavcan::ICanDriver { |
|
public: |
|
/* CAN port open method |
|
Opens port with specified bit rate |
|
bitrate - selects the speed that the port will be configured to. If zero, the port speed is left |
|
unchanged. |
|
can_number - the index of can interface to be opened |
|
|
|
return false - CAN port open failed |
|
true - CAN port open succeeded |
|
*/ |
|
virtual bool begin(uint32_t bitrate, uint8_t can_number) = 0; |
|
|
|
/* |
|
Test if CAN manager is ready and initialized |
|
return false - CAN manager not initialized |
|
true - CAN manager is initialized |
|
*/ |
|
virtual bool is_initialized() = 0; |
|
|
|
virtual AP_UAVCAN *get_UAVCAN(void); |
|
virtual void set_UAVCAN(AP_UAVCAN *uavcan); |
|
}; |
|
|
|
#endif
|
|
|