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Driver API moved to <uavcan/driver/*>
This commit is contained in:
Pavel Kirienko
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/*
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* CAN bus driver interface.
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <cassert>
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#include <algorithm>
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#include <string>
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#include <uavcan/stdint.hpp>
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#include <uavcan/impl_constants.hpp>
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#include <uavcan/driver/system_clock.hpp>
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namespace uavcan
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{
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/**
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* Raw CAN frame, as passed to/from the CAN driver.
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*/
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UAVCAN_PACKED_BEGIN
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struct CanFrame
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{
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static const uint32_t MaskStdID = 0x000007FF;
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static const uint32_t MaskExtID = 0x1FFFFFFF;
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static const uint32_t FlagEFF = 1 << 31; ///< Extended frame format
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static const uint32_t FlagRTR = 1 << 30; ///< Remote transmission request
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uint32_t id; ///< CAN ID with flags (above)
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uint8_t data[8];
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uint8_t dlc; ///< Data Length Code
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CanFrame()
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: id(0)
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, dlc(0)
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{
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std::fill(data, data + sizeof(data), 0);
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}
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CanFrame(uint32_t id, const uint8_t* data, unsigned int dlc)
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: id(id)
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, dlc(dlc)
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{
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assert(data && dlc <= 8);
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std::copy(data, data + dlc, this->data);
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}
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bool operator!=(const CanFrame& rhs) const { return !operator==(rhs); }
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bool operator==(const CanFrame& rhs) const
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{
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return (id == rhs.id) && (dlc == rhs.dlc) && std::equal(data, data + dlc, rhs.data);
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}
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bool isExtended() const { return id & FlagEFF; }
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bool isRemoteTransmissionRequest() const { return id & FlagRTR; }
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enum StringRepresentation { StrTight, StrAligned };
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std::string toString(StringRepresentation mode = StrTight) const;
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// TODO: priority comparison for EXT vs STD frames
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bool priorityHigherThan(const CanFrame& rhs) const
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{
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return (id & CanFrame::MaskExtID) < (rhs.id & CanFrame::MaskExtID);
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}
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bool priorityLowerThan(const CanFrame& rhs) const
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{
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return (id & CanFrame::MaskExtID) > (rhs.id & CanFrame::MaskExtID);
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}
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};
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UAVCAN_PACKED_END
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/**
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* CAN hardware filter config struct. @ref ICanDriver::filter().
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*/
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struct CanFilterConfig
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{
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uint32_t id;
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uint32_t mask;
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};
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/**
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* Single non-blocking CAN interface.
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*/
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class ICanIface
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{
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public:
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virtual ~ICanIface() { }
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/**
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* Non-blocking transmission.
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* If the frame wasn't transmitted upon TX deadline, the driver should discard it.
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* @return 1 = one frame transmitted, 0 = TX buffer full, negative for error.
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*/
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virtual int send(const CanFrame& frame, MonotonicTime tx_deadline) = 0;
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/**
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* Non-blocking reception.
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* Timestamps should be provided by the CAN driver, ideally by the hardware CAN controller.
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* Monotonic timestamp is required and can be not precise since it is needed only for
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* protocol timing validation (transfer timeouts and inter-transfer intervals).
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* UTC timestamp is optional, if available it will be used for precise time synchronization;
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* must be set to zero if not available.
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* Refer to @ref ISystemClock to learn more about timestamps.
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* @param [out] out_ts_monotonic Monotonic timestamp, mandatory.
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* @param [out] out_ts_utc UTC timestamp, optional, zero if unknown.
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* @return 1 = one frame received, 0 = RX buffer empty, negative for error.
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*/
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virtual int receive(CanFrame& out_frame, MonotonicTime& out_ts_monotonic, UtcTime& out_ts_utc) = 0;
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/**
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* Configure the hardware CAN filters. @ref CanFilterConfig.
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* @return 0 = success, negative for error.
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*/
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virtual int configureFilters(const CanFilterConfig* filter_configs, int num_configs) = 0;
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/**
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* Number of available hardware filters.
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*/
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virtual int getNumFilters() const = 0;
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/**
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* Continuously incrementing counter of detected hardware errors.
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*/
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virtual uint64_t getNumErrors() const = 0;
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};
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/**
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* Generic CAN driver.
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*/
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class ICanDriver
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{
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public:
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virtual ~ICanDriver() { }
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/**
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* Returns the interface by index, or null pointer if the index is out of range.
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*/
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virtual ICanIface* getIface(int iface_index) = 0;
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/**
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* Total number of available CAN interfaces.
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*/
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virtual int getNumIfaces() const = 0;
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/**
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* Block until the deadline, or one of the specified interfaces becomes available for read or write.
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* Iface masks will be modified by the driver to indicate which exactly interfaces are available for IO.
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* Bit position in the masks defines interface index.
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* @param [in,out] inout_write_iface_mask Mask indicating which interfaces are needed/available to write.
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* @param [in,out] inout_read_iface_mask Same as above for reading.
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* @param [in] blocking_deadline Zero means non-blocking operation.
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* @return Positive number of ready interfaces or negative error code.
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*/
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virtual int select(int& inout_write_iface_mask, int& inout_read_iface_mask, MonotonicTime blocking_deadline) = 0;
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};
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}
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@@ -0,0 +1,46 @@
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/*
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* System clock driver interface.
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <uavcan/stdint.hpp>
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#include <uavcan/impl_constants.hpp>
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#include <uavcan/time.hpp>
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namespace uavcan
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{
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/**
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* System clock interface - monotonic and UTC.
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*/
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class ISystemClock
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{
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public:
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virtual ~ISystemClock() { }
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/**
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* Monototic system clock.
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* This shall never jump during UTC timestamp adjustments; the base time is irrelevant.
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* On POSIX systems use clock_gettime() with CLOCK_MONOTONIC.
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*/
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virtual MonotonicTime getMonotonic() const = 0;
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/**
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* UTC clock.
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* This can jump when the UTC timestamp is being adjusted.
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* Return 0 if the UTC time is not available yet (e.g. the device just started up with no battery clock).
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* On POSIX systems use gettimeofday().
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*/
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virtual UtcTime getUtc() const = 0;
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/**
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* Set the UTC system clock.
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* @param [in] adjustment Amount of time to add to the clock value.
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* For POSIX refer to adjtime(), settimeofday().
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*/
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virtual void adjustUtc(UtcDuration adjustment) = 0;
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};
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}
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