can.hpp

00001 /*
00002  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
00003  */
00004 
00005 #pragma once
00006 
00007 #include <uavcan/driver/can.hpp>
00008 
00009 namespace uavcan_lpc11c24
00010 {
00011 /**
00012  * This class implements CAN driver interface for libuavcan.
00013  * No configuration needed other than CAN baudrate.
00014  * This class is a singleton.
00015  */
00016 class CanDriver
00017     : public uavcan::ICanDriver
00018     , public uavcan::ICanIface
00019     , uavcan::Noncopyable
00020 {
00021     static CanDriver self;
00022 
00023     CanDriver() { }
00024 
00025 public:
00026     /**
00027      * Returns the singleton reference.
00028      * No other copies can be created.
00029      */
00030     static CanDriver& instance() { return self; }
00031 
00032     /**
00033      * Attempts to detect bit rate of the CAN bus.
00034      * This function may block for up to X seconds, where X is the number of bit rates to try.
00035      * This function is NOT guaranteed to reset the CAN controller upon return.
00036      * @return On success: detected bit rate, in bits per second.
00037      *         On failure: zero.
00038      */
00039     static uavcan::uint32_t detectBitRate(void (*idle_callback)() = nullptr);
00040 
00041     /**
00042      * Returns negative value if the requested baudrate can't be used.
00043      * Returns zero if OK.
00044      */
00045     int init(uavcan::uint32_t bitrate);
00046 
00047     bool hasReadyRx() const;
00048     bool hasEmptyTx() const;
00049 
00050     /**
00051      * This method will return true only if there was any CAN bus activity since previous call of this method.
00052      * This is intended to be used for LED iface activity indicators.
00053      */
00054     bool hadActivity();
00055 
00056     /**
00057      * Returns the number of times the RX queue was overrun.
00058      */
00059     uavcan::uint32_t getRxQueueOverflowCount() const;
00060 
00061     /**
00062      * Whether the controller is currently in bus off state.
00063      * Note that the driver recovers the CAN controller from the bus off state automatically!
00064      * Therefore, this method serves only monitoring purposes and is not necessary to use.
00065      */
00066     bool isInBusOffState() const;
00067 
00068     uavcan::int16_t send(const uavcan::CanFrame& frame,
00069                          uavcan::MonotonicTime tx_deadline,
00070                          uavcan::CanIOFlags flags) override;
00071 
00072     uavcan::int16_t receive(uavcan::CanFrame& out_frame,
00073                             uavcan::MonotonicTime& out_ts_monotonic,
00074                             uavcan::UtcTime& out_ts_utc,
00075                             uavcan::CanIOFlags& out_flags) override;
00076 
00077     uavcan::int16_t select(uavcan::CanSelectMasks& inout_masks,
00078                            const uavcan::CanFrame* (&)[uavcan::MaxCanIfaces],
00079                            uavcan::MonotonicTime blocking_deadline) override;
00080 
00081     uavcan::int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs,
00082                                      uavcan::uint16_t num_configs) override;
00083 
00084     uavcan::uint64_t getErrorCount() const override;
00085 
00086     uavcan::uint16_t getNumFilters() const override;
00087 
00088     uavcan::ICanIface* getIface(uavcan::uint8_t iface_index) override;
00089 
00090     uavcan::uint8_t getNumIfaces() const override;
00091 };
00092 
00093 }