CAN IO flags

libuavcan/include/uavcan/driver/can.hpp

@@ -94,6 +94,12 @@ struct CanSelectMasks
     { }
 };
 
+enum
+{
+    CanIOFlagLoopback = 1  ///< Send the frame back to RX with true TX timestamps
+};
+typedef uint16_t CanIOFlags;
+
 /**
  * Single non-blocking CAN interface.
  */
@@ -107,7 +113,7 @@ public:
      * If the frame wasn't transmitted upon TX deadline, the driver should discard it.
      * @return 1 = one frame transmitted, 0 = TX buffer full, negative for error.
      */
-    virtual int send(const CanFrame& frame, MonotonicTime tx_deadline) = 0;
+    virtual int send(const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags) = 0;
 
     /**
      * Non-blocking reception.
@@ -121,7 +127,8 @@ public:
      * @param [out] out_ts_utc       UTC timestamp, optional, zero if unknown.
      * @return 1 = one frame received, 0 = RX buffer empty, negative for error.
      */
-    virtual int receive(CanFrame& out_frame, MonotonicTime& out_ts_monotonic, UtcTime& out_ts_utc) = 0;
+    virtual int receive(CanFrame& out_frame, MonotonicTime& out_ts_monotonic, UtcTime& out_ts_utc,
+                        CanIOFlags& out_flags) = 0;
 
     /**
      * Configure the hardware CAN filters. @ref CanFilterConfig.

libuavcan/include/uavcan/transport/can_io.hpp

@@ -42,11 +42,13 @@ public:
         MonotonicTime deadline;
         CanFrame frame;
         uint8_t qos;
+        CanIOFlags flags;
 
-        Entry(const CanFrame& frame, MonotonicTime deadline, Qos qos)
+        Entry(const CanFrame& frame, MonotonicTime deadline, Qos qos, CanIOFlags flags)
         : deadline(deadline)
         , frame(frame)
         , qos(uint8_t(qos))
+        , flags(flags)
         {
             assert(qos == Volatile || qos == Persistent);
             IsDynamicallyAllocatable<Entry>::check();
@@ -99,7 +101,7 @@ public:
 
     ~CanTxQueue();
 
-    void push(const CanFrame& frame, MonotonicTime tx_deadline, Qos qos);
+    void push(const CanFrame& frame, MonotonicTime tx_deadline, Qos qos, CanIOFlags flags);
 
     Entry* peek();               // Modifier
     void remove(Entry*& entry);
@@ -127,7 +129,7 @@ private:
     CanIOManager(CanIOManager&);
     CanIOManager& operator=(CanIOManager&);
 
-    int sendToIface(int iface_index, const CanFrame& frame, MonotonicTime tx_deadline);
+    int sendToIface(int iface_index, const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags);
     int sendFromTxQueue(int iface_index);
     int makePendingTxMask() const;
 
@@ -156,8 +158,8 @@ public:
      *  negative - failure
      */
     int send(const CanFrame& frame, MonotonicTime tx_deadline, MonotonicTime blocking_deadline,
-             int iface_mask, CanTxQueue::Qos qos);
-    int receive(CanRxFrame& frame, MonotonicTime blocking_deadline);
+             int iface_mask, CanTxQueue::Qos qos, CanIOFlags flags);
+    int receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline, CanIOFlags& out_flags);
 };
 
 }

libuavcan/include/uavcan/transport/dispatcher.hpp

@@ -68,7 +68,8 @@ public:
     /**
      * Refer to CanIOManager::send() for the parameter description
      */
-    int send(const Frame& frame, MonotonicTime tx_deadline, MonotonicTime blocking_deadline, CanTxQueue::Qos qos);
+    int send(const Frame& frame, MonotonicTime tx_deadline, MonotonicTime blocking_deadline, CanTxQueue::Qos qos,
+             CanIOFlags flags);
 
     void cleanup(MonotonicTime ts);
 

libuavcan/include/uavcan/transport/transfer_sender.hpp

@@ -20,6 +20,7 @@ class TransferSender
     const DataTypeDescriptor& data_type_;
     const CanTxQueue::Qos qos_;
     const TransferCRC crc_base_;
+    CanIOFlags flags_;
 
     Dispatcher& dispatcher_;
 
@@ -35,9 +36,13 @@ public:
     , data_type_(data_type)
     , qos_(qos)
     , crc_base_(data_type.getSignature().toTransferCRC())
+    , flags_(CanIOFlags(0))
     , dispatcher_(dispatcher)
     { }
 
+    CanIOFlags getCanIOFlags() const { return flags_; }
+    void setCanIOFlags(CanIOFlags flags) { flags_ = flags; }
+
     /**
      * Send with explicit Transfer ID.
      * Should be used only for service responses, where response TID should match request TID.