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68 lines
2.1 KiB
68 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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* Siddharth Bharat Purohit |
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*/ |
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#pragma once |
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#include "AP_HAL_ChibiOS.h" |
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#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES |
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#include "CAN.h" |
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#include <AP_UAVCAN/AP_UAVCAN_SLCAN.h> |
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#include "CANThread.h" |
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#include "CANClock.h" |
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#include "CANIface.h" |
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#define SLCAN_ROUTER_QUEUE_SIZE 64 |
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struct CanRouteItem { |
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uint64_t utc_usec; |
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uavcan::CanFrame frame; |
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CanRouteItem() : |
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utc_usec(0) |
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{ |
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} |
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}; |
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class SLCANRouter { |
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ChibiOS_CAN::CanIface* _can_if; |
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SLCAN::CAN _slcan_if; |
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ObjectBuffer<CanRouteItem> _can_tx_queue; |
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ObjectBuffer<CanRouteItem> _slcan_tx_queue; |
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ChibiOS_CAN::BusEvent* _update_event; |
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uint32_t _last_active_time = 0; |
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uint32_t _slcan_rt_timeout = 0; |
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bool _thread_started = false; |
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bool _thread_suspended = false; |
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HAL_Semaphore router_sem; |
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thread_reference_t _s2c_thd_ref; |
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thread_reference_t _c2s_thd_ref; |
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void timer(void); |
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AP_HAL::UARTDriver* _port; |
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public: |
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SLCANRouter() : _slcan_if(SLCAN_DRIVER_INDEX, SLCAN_RX_QUEUE_SIZE), _can_tx_queue(SLCAN_ROUTER_QUEUE_SIZE), _slcan_tx_queue(SLCAN_ROUTER_QUEUE_SIZE) |
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{} |
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void init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* update_event); |
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void route_frame_to_slcan(ChibiOS_CAN::CanIface* can_if, const uavcan::CanFrame& frame, uint64_t timestamp_usec); |
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void route_frame_to_can(const uavcan::CanFrame& frame, uint64_t timestamp_usec); |
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void slcan2can_router_trampoline(void); |
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void can2slcan_router_trampoline(void); |
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void run(void); |
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}; |
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#endif
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