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62 lines
2.1 KiB
62 lines
2.1 KiB
/* 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 "AP_HAL_SITL.h" |
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#if HAL_WITH_UAVCAN |
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#include <AP_HAL/CAN.h> |
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class HALSITL::HALSITLCAN : public AP_HAL::CAN { |
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public: |
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HALSITLCAN() { } |
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~HALSITLCAN() { } |
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int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags) override; |
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int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic, uavcan::UtcTime& out_ts_utc, |
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uavcan::CanIOFlags& out_flags) override; |
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int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs, uint16_t num_configs) override; |
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uint16_t getNumFilters() const override; |
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uint64_t getErrorCount() const override; |
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bool begin(uint32_t bitrate) override; |
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void end() override; |
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void reset() override; |
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bool is_initialized() override; |
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int32_t tx_pending() override; |
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int32_t available() override; |
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private: |
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uint32_t _baudrate; |
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volatile bool _initialised; |
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volatile bool _in_timer; |
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}; |
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class HALSITL::HALSITLCANDriver : public AP_HAL::CANManager |
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{ |
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public: |
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HALSITLCANDriver() { } |
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~HALSITLCANDriver() { } |
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uavcan::ICanIface* getIface(uint8_t iface_index) override; |
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const uavcan::ICanIface* getIface(uint8_t iface_index) const override; |
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uint8_t getNumIfaces() const override; |
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int16_t select(uavcan::CanSelectMasks& inout_masks, |
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const uavcan::CanFrame* (& pending_tx)[uavcan::MaxCanIfaces], |
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uavcan::MonotonicTime blocking_deadline) override; |
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}; |
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#endif
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