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134 lines
3.6 KiB
134 lines
3.6 KiB
/* |
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* Copyright (C) 2017 Eugene Shamaev |
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* |
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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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#pragma once |
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#include <inttypes.h> |
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#include <string.h> |
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#include <assert.h> |
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#include <cmath> |
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#if HAL_WITH_UAVCAN |
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#include "AP_HAL_Namespace.h" |
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#include "utility/functor.h" |
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#include <uavcan/driver/can.hpp> |
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#include <uavcan/time.hpp> |
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#define MAX_NUMBER_OF_CAN_INTERFACES 2 |
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#define MAX_NUMBER_OF_CAN_DRIVERS 2 |
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/** |
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* Interface that CAN protocols need to implement |
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*/ |
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class AP_HAL::CANProtocol { |
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public: |
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/* method called when initializing the CAN interfaces |
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* |
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* if initialization doesn't have errors, protocol class |
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* should create a thread to do send and receive operations |
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*/ |
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virtual void init(uint8_t driver_index, bool enable_filters) = 0; |
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}; |
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/** |
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* Single non-blocking CAN interface. |
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*/ |
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class AP_HAL::CAN: public uavcan::ICanIface { |
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public: |
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/* CAN port open method |
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bitrate Selects the speed that the port will be configured to. If zero, the port speed is left unchanged. |
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return false - CAN port open failed |
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true - CAN port open succeeded |
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*/ |
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virtual bool begin(uint32_t bitrate) = 0; |
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/* |
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CAN port close |
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*/ |
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virtual void end() = 0; |
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/* |
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Reset opened CAN port |
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Pending messages to be transmitted are deleted and receive state and FIFO also reset. |
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All pending errors are cleared. |
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*/ |
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virtual void reset() = 0; |
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/* |
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Test if CAN port is opened and initialized |
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return false - CAN port not initialized |
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true - CAN port is initialized |
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*/ |
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virtual bool is_initialized() = 0; |
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/* |
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Return if CAN port has some untransmitted pending messages |
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return -1 - CAN port is not opened or initialized |
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0 - no messages are pending |
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positive - number of pending messages |
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*/ |
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virtual int32_t tx_pending() = 0; |
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/* |
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Return if CAN port has received but not yet read messages |
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return -1 - CAN port is not opened or initialized |
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0 - no messages are pending for read |
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positive - number of pending messages for read |
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*/ |
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virtual int32_t available() = 0; |
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}; |
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/** |
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* Generic CAN driver. |
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*/ |
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class AP_HAL::CANManager { |
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public: |
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CANManager(uavcan::ICanDriver* driver) : _driver(driver) {} |
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/* CAN port open method |
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Opens port with specified bit rate |
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bitrate - selects the speed that the port will be configured to. If zero, the port speed is left |
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unchanged. |
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can_number - the index of can interface to be opened |
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return false - CAN port open failed |
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true - CAN port open succeeded |
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*/ |
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virtual bool begin(uint32_t bitrate, uint8_t can_number) = 0; |
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/* |
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Test if CAN manager is ready and initialized |
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return false - CAN manager not initialized |
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true - CAN manager is initialized |
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*/ |
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virtual bool is_initialized() = 0; |
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virtual void initialized(bool val) = 0; |
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uavcan::ICanDriver* get_driver() { return _driver; } |
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private: |
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uavcan::ICanDriver* _driver; |
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}; |
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#endif
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