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CAN IO flags

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This commit is contained in:
Pavel Kirienko
2014-03-21 16:02:05 +04:00
parent 6246f24297
commit 9d35c616ef
13 changed files with 258 additions and 88 deletions
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libuavcan/include/uavcan/driver/can.hpp
+9 -2
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@@ -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.