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82 lines
2.2 KiB
82 lines
2.2 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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* Code by Andrew Tridgell and 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 |
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#define UAVCAN_STM32_LOG(fmt, ...) hal.console->printf("CANManager: " fmt "\n", ##__VA_ARGS__) |
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#include <uavcan/uavcan.hpp> |
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#include <uavcan/time.hpp> |
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#include <uavcan_stm32/thread.hpp> |
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#include <uavcan_stm32/clock.hpp> |
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#include <uavcan_stm32/can.hpp> |
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#include <AP_UAVCAN/AP_UAVCAN.h> |
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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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#define CAN_STM32_RX_QUEUE_SIZE 64 |
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class AP_UAVCAN; |
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namespace ChibiOS { |
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/** |
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* Generic CAN driver. |
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*/ |
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class CANManager: public AP_HAL::CANManager { |
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public: |
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CANManager() |
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: can_helper(), AP_HAL::CANManager(&can_helper.driver) { } |
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/** |
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* Whether at least one iface had at least one successful IO since previous call of this method. |
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* This is designed for use with iface activity LEDs. |
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*/ |
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//bool hadActivity(); |
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static CANManager *from(AP_HAL::CANManager *can) |
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{ |
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return static_cast<CANManager*>(can); |
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} |
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bool begin(uint32_t bitrate, uint8_t can_number) override; |
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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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bool is_initialized() override; |
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void initialized(bool val) override; |
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AP_UAVCAN *get_UAVCAN(void) override; |
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void set_UAVCAN(AP_UAVCAN *uavcan) override; |
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void _timer_tick(); |
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private: |
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AP_UAVCAN *p_uavcan; |
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bool initialized_; |
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uint32_t bitrate_; |
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uavcan_stm32::CanInitHelper<CAN_STM32_RX_QUEUE_SIZE> can_helper; |
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}; |
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} |
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#endif
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