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AP_UAVCAN: add source for SLCAN interface

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Siddharth Purohit 6 years ago committed by Andrew Tridgell
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  1. 592
      libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.cpp
  2. 227
      libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.h

592
libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.cpp
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/*
* 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/>.
*
* Author: Siddharth Bharat Purohit
* Referenced from implementation by Pavel Kirienko <pavel.kirienko@zubax.com>
* for Zubax Babel
*/
#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
#include "AP_UAVCAN_SLCAN.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Common/Semaphore.h>
extern const AP_HAL::HAL& hal;
static uint8_t nibble2hex(uint8_t x)
{
// Allocating in RAM because it's faster
static uint8_t ConversionTable[] =
{
'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'
};
return ConversionTable[x & 0x0F];
}
static bool hex2nibble_error;
static uint8_t hex2nibble(char ch)
{
// Must go into RAM, not flash, because flash is slow
static uint8_t ConversionTable[] =
{
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255,
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, // 0..9
255, 255, 255, 255, 255, 255, 255,
10, 11, 12, 13, 14, 15, // A..F
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255,
10, 11, 12, 13, 14, 15, // a..f
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255
};
const uint8_t out = ConversionTable[int(ch)];
if (out == 255)
{
hex2nibble_error = true;
}
return out;
}
bool SLCAN::CAN::push_Frame(uavcan::CanFrame &frame)
{
SLCAN::CanRxItem frm;
frm.frame = frame;
frm.flags = 0;
frm.utc_usec = AP_HAL::micros64();
return rx_queue_.push(frm);
}
/**
* General frame format:
* <type> <id> <dlc> <data>
* The emitting functions below are highly optimized for speed.
*/
bool SLCAN::CAN::handle_FrameDataExt(const char* cmd)
{
uavcan::CanFrame f;
hex2nibble_error = false;
f.id = f.FlagEFF |
(hex2nibble(cmd[1]) << 28) |
(hex2nibble(cmd[2]) << 24) |
(hex2nibble(cmd[3]) << 20) |
(hex2nibble(cmd[4]) << 16) |
(hex2nibble(cmd[5]) << 12) |
(hex2nibble(cmd[6]) << 8) |
(hex2nibble(cmd[7]) << 4) |
(hex2nibble(cmd[8]) << 0);
if (cmd[9] < '0' || cmd[9] > ('0' + uavcan::CanFrame::MaxDataLen))
{
return false;
}
f.dlc = cmd[9] - '0';
assert(f.dlc <= uavcan::CanFrame::MaxDataLen);
{
const char* p = &cmd[10];
for (unsigned i = 0; i < f.dlc; i++)
{
f.data[i] = (hex2nibble(*p) << 4) | hex2nibble(*(p + 1));
p += 2;
}
}
if (hex2nibble_error)
{
return false;
}
return push_Frame(f);
}
bool SLCAN::CAN::handle_FrameDataStd(const char* cmd)
{
uavcan::CanFrame f;
hex2nibble_error = false;
f.id = (hex2nibble(cmd[1]) << 8) |
(hex2nibble(cmd[2]) << 4) |
(hex2nibble(cmd[3]) << 0);
if (cmd[4] < '0' || cmd[4] > ('0' + uavcan::CanFrame::MaxDataLen))
{
return false;
}
f.dlc = cmd[4] - '0';
assert(f.dlc <= uavcan::CanFrame::MaxDataLen);
{
const char* p = &cmd[5];
for (unsigned i = 0; i < f.dlc; i++)
{
f.data[i] = (hex2nibble(*p) << 4) | hex2nibble(*(p + 1));
p += 2;
}
}
if (hex2nibble_error)
{
return false;
}
return push_Frame(f);
}
bool SLCAN::CAN::handle_FrameRTRExt(const char* cmd)
{
uavcan::CanFrame f;
hex2nibble_error = false;
f.id = f.FlagEFF | f.FlagRTR |
(hex2nibble(cmd[1]) << 28) |
(hex2nibble(cmd[2]) << 24) |
(hex2nibble(cmd[3]) << 20) |
(hex2nibble(cmd[4]) << 16) |
(hex2nibble(cmd[5]) << 12) |
(hex2nibble(cmd[6]) << 8) |
(hex2nibble(cmd[7]) << 4) |
(hex2nibble(cmd[8]) << 0);
if (cmd[9] < '0' || cmd[9] > ('0' + uavcan::CanFrame::MaxDataLen))
{
return false;
}
f.dlc = cmd[9] - '0';
if (f.dlc > uavcan::CanFrame::MaxDataLen) {
return false;
}
if (hex2nibble_error)
{
return false;
}
return push_Frame(f);
}
bool SLCAN::CAN::handle_FrameRTRStd(const char* cmd)
{
uavcan::CanFrame f;
hex2nibble_error = false;
f.id = f.FlagRTR |
(hex2nibble(cmd[1]) << 8) |
(hex2nibble(cmd[2]) << 4) |
(hex2nibble(cmd[3]) << 0);
if (cmd[4] < '0' || cmd[4] > ('0' + uavcan::CanFrame::MaxDataLen))
{
return false;
}
f.dlc = cmd[4] - '0';
if (f.dlc <= uavcan::CanFrame::MaxDataLen) {
return false;
}
if (hex2nibble_error)
{
return false;
}
return push_Frame(f);
}
static inline const char* getASCIIStatusCode(bool status) { return status ? "\r" : "\a"; }
bool SLCAN::CANManager::begin(uint32_t bitrate, uint8_t can_number)
{
if (driver_.init(1000000, SLCAN::CAN::NormalMode) < 0) {
return false;
}
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&SLCAN::CANManager::reader_trampoline, void), "SLCAN", 4096, AP_HAL::Scheduler::PRIORITY_CAN, -1)) {
return false;
}
initialized(true);
return true;
}
bool SLCAN::CANManager::is_initialized()
{
return initialized_;
}
void SLCAN::CANManager::initialized(bool val)
{
initialized_ = val;
}
int SLCAN::CAN::init(const uint32_t bitrate, const OperatingMode mode)
{
_port = AP_SerialManager::get_instance()->find_serial(AP_SerialManager::SerialProtocol_SLCAN, 0);
if (_port == nullptr) {
return -1;
}
initialized_ = true;
return 0;
}
/**
* General frame format:
* <type> <id> <dlc> <data> [timestamp msec] [flags]
* Types:
* R - RTR extended
* r - RTR standard
* T - Data extended
* t - Data standard
* Flags:
* L - this frame is a loopback frame; timestamp field contains TX timestamp
*/
int16_t SLCAN::CAN::reportFrame(const uavcan::CanFrame& frame, bool loopback, uint64_t timestamp_usec)
{
constexpr unsigned SLCANMaxFrameSize = 40;
uint8_t buffer[SLCANMaxFrameSize] = {'\0'};
uint8_t* p = &buffer[0];
/*
* Frame type
*/
if (frame.isRemoteTransmissionRequest())
{
*p++ = frame.isExtended() ? 'R' : 'r';
}
else if (frame.isErrorFrame())
{
return -1; // Not supported
}
else
{
*p++ = frame.isExtended() ? 'T' : 't';
}
/*
* ID
*/
{
const uint32_t id = frame.id & frame.MaskExtID;
if (frame.isExtended())
{
*p++ = nibble2hex(id >> 28);
*p++ = nibble2hex(id >> 24);
*p++ = nibble2hex(id >> 20);
*p++ = nibble2hex(id >> 16);
*p++ = nibble2hex(id >> 12);
}
*p++ = nibble2hex(id >> 8);
*p++ = nibble2hex(id >> 4);
*p++ = nibble2hex(id >> 0);
}
/*
* DLC
*/
*p++ = char('0' + frame.dlc);
/*
* Data
*/
for(unsigned i = 0; i < frame.dlc; i++)
{
const uint8_t byte = frame.data[i];
*p++ = nibble2hex(byte >> 4);
*p++ = nibble2hex(byte);
}
/*
* Timestamp
*/
//if (param_cache.timestamping_on)
{
// SLCAN format - [0, 60000) milliseconds
const auto slcan_timestamp = uint16_t(timestamp_usec / 1000U);
*p++ = nibble2hex(slcan_timestamp >> 12);
*p++ = nibble2hex(slcan_timestamp >> 8);
*p++ = nibble2hex(slcan_timestamp >> 4);
*p++ = nibble2hex(slcan_timestamp >> 0);
}
/*
* Flags
*/
//if (param_cache.flags_on)
{
if (loopback)
{
*p++ = 'L';
}
}
/*
* Finalization
*/
*p++ = '\r';
const auto frame_size = unsigned(p - &buffer[0]);
if (_port->txspace() < _pending_frame_size) {
_pending_frame_size = frame_size;
return 0;
}
//Write to Serial
if (!_port->write(&buffer[0], frame_size)) {
return 0;
}
return 1;
}
/**
* Accepts command string, returns response string or nullptr if no response is needed.
*/
const char* SLCAN::CAN::processCommand(char* cmd)
{
/*
* High-traffic SLCAN commands go first
*/
if (cmd[0] == 'T')
{
return handle_FrameDataExt(cmd) ? "Z\r" : "\a";
}
else if (cmd[0] == 't')
{
return handle_FrameDataStd(cmd) ? "z\r" : "\a";
}
else if (cmd[0] == 'R')
{
return handle_FrameRTRExt(cmd) ? "Z\r" : "\a";
}
else if (cmd[0] == 'r' && cmd[1] <= '9') // The second condition is needed to avoid greedy matching
{ // See long commands below
return handle_FrameRTRStd(cmd) ? "z\r" : "\a";
}
/*
* Regular SLCAN commands
*/
switch (cmd[0])
{
case 'S': // Set CAN bitrate
case 'O': // Open CAN in normal mode
case 'L': // Open CAN in listen-only mode
case 'l': // Open CAN with loopback enabled
case 'C': // Close CAN
case 'M': // Set CAN acceptance filter ID
case 'm': // Set CAN acceptance filter mask
case 'U': // Set UART baud rate, see http://www.can232.com/docs/can232_v3.pdf
case 'Z': // Enable/disable RX and loopback timestamping
{
return getASCIIStatusCode(true); // Returning success for compatibility reasons
}
case 'F': // Get status flags
{
_port->printf("F%02X\r", unsigned(0)); // Returning success for compatibility reasons
return nullptr;
}
case 'V': // HW/SW version
{
_port->printf("V%x%x%x%x\r", AP_UAVCAN_HW_VERS_MAJOR, AP_UAVCAN_HW_VERS_MINOR, AP_UAVCAN_SW_VERS_MAJOR, AP_UAVCAN_SW_VERS_MINOR);
return nullptr;
}
case 'N': // Serial number
{
uavcan::protocol::HardwareVersion hw_version; // Standard type uavcan.protocol.HardwareVersion
const uint8_t uid_buf_len = hw_version.unique_id.capacity();
uint8_t uid_len = uid_buf_len;
uint8_t unique_id[uid_buf_len];
char buf[uid_buf_len * 2 + 1] = {'\0'};
char* pos = &buf[0];
if (hal.util->get_system_id_unformatted(unique_id, uid_len)) {
for (uint8_t i = 0; i < uid_buf_len; i++)
{
*pos++ = nibble2hex(unique_id[i] >> 4);
*pos++ = nibble2hex(unique_id[i]);
}
}
*pos++ = '\0';
_port->printf("N%s\r", &buf[0]);
return nullptr;
}
default:
{
break;
}
}
return getASCIIStatusCode(false);
}
/**
* Please keep in mind that this function is strongly optimized for speed.
*/
inline void SLCAN::CAN::addByte(const uint8_t byte)
{
if ((byte >= 32 && byte <= 126)) // Normal printable ASCII character
{
if (pos_ < SLCAN_BUFFER_SIZE)
{
buf_[pos_] = char(byte);
pos_ += 1;
}
else
{
reset(); // Buffer overrun; silently drop the data
}
}
else if (byte == '\r') // End of command (SLCAN)
{
// Processing the command
buf_[pos_] = '\0';
const char* const response = processCommand(reinterpret_cast<char*>(&buf_[0]));
reset();
// Sending the response if provided
if (response != nullptr)
{
_port->write(reinterpret_cast<const uint8_t*>(response),
strlen(response));
}
}
else if (byte == 8 || byte == 127) // DEL or BS (backspace)
{
if (pos_ > 0)
{
pos_ -= 1;
}
}
else // This also includes Ctrl+C, Ctrl+D
{
reset(); // Invalid byte - drop the current command
}
}
void SLCAN::CAN::reset()
{
pos_ = 0;
}
void SLCAN::CAN::reader() {
if (_port == nullptr) {
return;
}
if (!_port_initialised) {
_port->begin(921600);
_port_initialised = true;
}
_port->wait_timeout(1, 1);
size_t nread = _port->available();
if (nread > 0) {
int16_t data = _port->read();
while (data != -1) {
addByte(data);
data = _port->read();
}
}
}
int16_t SLCAN::CAN::send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags)
{
if (frame.isErrorFrame() || frame.dlc > 8) {
return -ErrUnsupportedFrame;
}
return reportFrame(frame, flags & uavcan::CanIOFlagLoopback, AP_HAL::micros64());
}
int16_t SLCAN::CAN::receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags)
{
out_ts_monotonic = uavcan::MonotonicTime::fromUSec(AP_HAL::micros64());; // High precision is not required for monotonic timestamps
uint64_t utc_usec;
CanRxItem frm;
rx_queue_.pop(frm);
out_frame = frm.frame;
utc_usec = frm.utc_usec;
out_flags = frm.flags;
out_ts_utc = uavcan::UtcTime::fromUSec(utc_usec);
return 1;
}
bool SLCAN::CAN::pending_frame_sent()
{
if (_pending_frame_size == 0) {
return false;
} else if (_port->txspace() >= _pending_frame_size) {
_pending_frame_size = 0;
return true;
}
return false;
}
bool SLCAN::CAN::isRxBufferEmpty()
{
return rx_queue_.available() == 0;
}
bool SLCAN::CAN::canAcceptNewTxFrame() const
{
constexpr unsigned SLCANMaxFrameSize = 40;
if (_port->txspace() >= SLCANMaxFrameSize) {
return true;
}
return false;
}
uavcan::CanSelectMasks SLCAN::CANManager::makeSelectMasks(const uavcan::CanFrame* (&pending_tx)[uavcan::MaxCanIfaces])
{
uavcan::CanSelectMasks msk;
for (uint8_t i = 0; i < _ifaces_num; i++) {
if (!driver_.is_initialized()) {
continue;
}
if (!driver_.isRxBufferEmpty()) {
msk.read |= 1 << i;
}
if (pending_tx[i] != nullptr) {
if (driver_.canAcceptNewTxFrame()) {
msk.write |= 1 << i;
}
}
}
return msk;
}
int16_t SLCAN::CANManager::select(uavcan::CanSelectMasks& inout_masks,
const uavcan::CanFrame* (&pending_tx)[uavcan::MaxCanIfaces], uavcan::MonotonicTime blocking_deadline)
{
const uavcan::CanSelectMasks in_masks = inout_masks;
const uavcan::MonotonicTime time = uavcan::MonotonicTime::fromUSec(AP_HAL::micros64());
inout_masks = makeSelectMasks(pending_tx); // Check if we already have some of the requested events
if ((inout_masks.read & in_masks.read) != 0 || (inout_masks.write & in_masks.write) != 0) {
return 1;
}
_irq_handler_ctx = chThdGetSelfX();
if (blocking_deadline.toUSec()) {
chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I((blocking_deadline - time).toUSec())); // Block until timeout expires or any iface updates
}
inout_masks = makeSelectMasks(pending_tx); // Return what we got even if none of the requested events are set
return 1; // Return value doesn't matter as long as it is non-negative
}
void SLCAN::CANManager::reader_trampoline(void)
{
while (true) {
driver_.reader();
if ((driver_.pending_frame_sent() || !driver_.isRxBufferEmpty()) && _irq_handler_ctx) {
chEvtSignalI(_irq_handler_ctx, EVENT_MASK(0));
}
}
}
#endif //HAL_WITH_UAVCAN

227
libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.h
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#pragma once
#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
#include <AP_HAL/CAN.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include "AP_HAL/utility/RingBuffer.h"
#define SLCAN_BUFFER_SIZE 200
#define SLCAN_STM32_RX_QUEUE_SIZE 64
#define SLCAN_DRIVER_INDEX 2
namespace SLCAN {
/**
* Driver error codes.
* These values can be returned from driver functions negated.
*/
static const int16_t ErrUnknown = 1000; ///< Reserved for future use
static const int16_t ErrNotImplemented = 1001; ///< Feature not implemented
static const int16_t ErrInvalidBitRate = 1002; ///< Bit rate not supported
static const int16_t ErrLogic = 1003; ///< Internal logic error
static const int16_t ErrUnsupportedFrame = 1004; ///< Frame not supported (e.g. RTR, CAN FD, etc)
static const int16_t ErrMsrInakNotSet = 1005; ///< INAK bit of the MSR register is not 1
static const int16_t ErrMsrInakNotCleared = 1006; ///< INAK bit of the MSR register is not 0
static const int16_t ErrBitRateNotDetected = 1007; ///< Auto bit rate detection could not be finished
static const int16_t ErrFilterNumConfigs = 1008; ///< Auto bit rate detection could not be finished
class CANManager;
/**
* RX queue item.
* The application shall not use this directly.
*/
struct CanRxItem {
uint64_t utc_usec;
uavcan::CanFrame frame;
uavcan::CanIOFlags flags;
CanRxItem() :
utc_usec(0), flags(0)
{
}
};
class CAN: public AP_HAL::CAN {
friend class CANManager;
struct TxItem {
uavcan::MonotonicTime deadline;
uavcan::CanFrame frame;
bool pending;
bool loopback;
bool abort_on_error;
TxItem() :
pending(false), loopback(false), abort_on_error(false)
{
}
};
enum {
NumTxMailboxes = 3
};
enum {
NumFilters = 14
};
uint32_t bitrate_;
virtual int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline,
uavcan::CanIOFlags flags) override;
virtual int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags) override;
int16_t reportFrame(const uavcan::CanFrame& frame, bool loopback, uint64_t timestamp_usec);
virtual int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs, uint16_t num_configs) override
{
//TODO: possibly check at the first serial read
return 0;
}
virtual uint16_t getNumFilters() const override
{
return NumFilters;
}
/**
* Total number of hardware failures and other kinds of errors (e.g. queue overruns).
* May increase continuously if the interface is not connected to the bus.
*/
virtual uint64_t getErrorCount() const override
{
return 0;
}
const char* processCommand(char* cmd);
bool push_Frame(uavcan::CanFrame &frame);
bool handle_FrameRTRStd(const char* cmd);
bool handle_FrameRTRExt(const char* cmd);
bool handle_FrameDataStd(const char* cmd);
bool handle_FrameDataExt(const char* cmd);
inline void addByte(const uint8_t byte);
void reader(void);
bool initialized_;
bool _port_initialised;
char buf_[SLCAN_BUFFER_SIZE + 1];
int16_t pos_ = 0;
AP_HAL::UARTDriver *_port = nullptr;
ObjectBuffer<CanRxItem> rx_queue_;
uint8_t self_index_;
HAL_Semaphore rx_sem_;
unsigned _pending_frame_size = 0;
public:
CAN(uint8_t self_index, uint8_t rx_queue_capacity):
self_index_(self_index), rx_queue_(rx_queue_capacity), _port_initialised(false)
{
UAVCAN_ASSERT(self_index_ < CAN_STM32_NUM_IFACES);
}
enum {
MaxRxQueueCapacity = 254
};
enum OperatingMode {
NormalMode, SilentMode
};
int init(const uint32_t bitrate, const OperatingMode mode);
bool begin(uint32_t bitrate) override
{
if (init(bitrate, OperatingMode::NormalMode) == 0) {
bitrate_ = bitrate;
initialized_ = true;
} else {
initialized_ = false;
}
return initialized_;
}
void end() override
{
}
void reset() override;
int32_t tx_pending() override {
return _port->tx_pending() ? 0:-1;
}
int32_t available() override {
return _port->available() ? 0:-1;
}
bool is_initialized() override {
return initialized_;
}
bool pending_frame_sent();
bool isRxBufferEmpty(void);
bool canAcceptNewTxFrame() const;
};
class CANManager: public AP_HAL::CANManager, public uavcan::ICanDriver {
bool initialized_;
CAN driver_;
uint8_t _ifaces_num = 1;
virtual int16_t select(uavcan::CanSelectMasks& inout_masks,
const uavcan::CanFrame* (&pending_tx)[uavcan::MaxCanIfaces], uavcan::MonotonicTime blocking_deadline) override;
uavcan::CanSelectMasks makeSelectMasks(const uavcan::CanFrame* (&pending_tx)[uavcan::MaxCanIfaces]);
thread_t *_irq_handler_ctx = nullptr;
public:
CANManager()
: AP_HAL::CANManager(this), initialized_(false), driver_(SLCAN_DRIVER_INDEX, SLCAN_STM32_RX_QUEUE_SIZE)
{ }
/**
* Whether at least one iface had at least one successful IO since previous call of this method.
* This is designed for use with iface activity LEDs.
*/
//bool hadActivity();
static CANManager *from(AP_HAL::CANManager *can)
{
return static_cast<CANManager*>(can);
}
bool begin(uint32_t bitrate, uint8_t can_number) override;
/*
Test if CAN manager is ready and initialized
return false - CAN manager not initialized
true - CAN manager is initialized
*/
bool is_initialized() override;
void initialized(bool val) override;
virtual CAN* getIface(uint8_t iface_index) override { return &driver_; }
virtual uint8_t getNumIfaces() const override
{
return _ifaces_num;
}
static void reader(void);
void reader_trampoline(void);
};
}
#endif //#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
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