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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_CANManager/AP_CANDriver.h
Views: 1798
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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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 * Code by Siddharth Bharat Purohit

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 */

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#pragma once

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#include <AP_Common/AP_Common.h>

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#include <AP_HAL/AP_HAL.h>

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class AP_CANManager;

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class CANSensor;

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class AP_CANDriver

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{

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public:

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    friend class AP_CANManager;

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    // init method for protocol drivers, specify driver index and if filters

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    // are to be enabled

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    virtual void init(uint8_t driver_index, bool enable_filters) = 0;

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    // link protocol drivers with interfaces by adding reference to CANIface

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    virtual bool add_interface(AP_HAL::CANIface* can_iface) = 0;

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    // add an 11 bit auxillary driver

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    virtual bool add_11bit_driver(CANSensor *sensor) { return false; }

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    // handler for outgoing frames for auxillary drivers

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    virtual bool write_aux_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us) { return false; }

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};

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