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.
58 lines
1.4 KiB
58 lines
1.4 KiB
/* |
|
* 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/>. |
|
* |
|
* Code by Andrew Tridgell and Siddharth Bharat Purohit |
|
* Based on stm32 can driver by Pavel Kirienko |
|
*/ |
|
|
|
#include "CAN.h" |
|
|
|
#if HAL_WITH_UAVCAN |
|
|
|
#include "CANInternal.h" |
|
#include "CANClock.h" |
|
|
|
|
|
extern const AP_HAL::HAL& hal; |
|
using namespace ChibiOS; |
|
namespace ChibiOS_CAN { |
|
|
|
uint64_t clock::getUtcUSecFromCanInterrupt() |
|
{ |
|
return AP_HAL::micros64(); |
|
} |
|
|
|
uavcan::MonotonicTime clock::getMonotonic() |
|
{ |
|
return uavcan::MonotonicTime::fromUSec(AP_HAL::micros64()); |
|
} |
|
|
|
} |
|
|
|
bool CANManager::begin(uint32_t bitrate, uint8_t can_number) |
|
{ |
|
return (can_helper.init(bitrate, ChibiOS_CAN::CanIface::OperatingMode::NormalMode, can_number) == 0); |
|
} |
|
|
|
bool CANManager::is_initialized() |
|
{ |
|
return initialized_; |
|
} |
|
|
|
void CANManager::initialized(bool val) |
|
{ |
|
initialized_ = val; |
|
} |
|
|
|
#endif //HAL_WITH_UAVCAN
|
|
|