69 lines
1.8 KiB
C++
69 lines
1.8 KiB
C++
#ifndef __ODRIVE_CAN_HPP
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#define __ODRIVE_CAN_HPP
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#include <cmsis_os.h>
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#include "canbus.hpp"
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#include "can_simple.hpp"
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#include <autogen/interfaces.hpp>
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#define CAN_CLK_HZ (42000000)
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#define CAN_CLK_MHZ (42)
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// Anonymous enum for defining the most common CAN baud rates
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enum {
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CAN_BAUD_125K = 125000,
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CAN_BAUD_250K = 250000,
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CAN_BAUD_500K = 500000,
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CAN_BAUD_1000K = 1000000,
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CAN_BAUD_1M = 1000000
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};
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class ODriveCAN : public CanBusBase, public ODriveIntf::CanIntf {
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public:
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struct Config_t {
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uint32_t baud_rate = CAN_BAUD_250K;
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Protocol protocol = PROTOCOL_SIMPLE;
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ODriveCAN* parent = nullptr; // set in apply_config()
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void set_baud_rate(uint32_t value) { parent->set_baud_rate(value); }
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};
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ODriveCAN() {}
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bool apply_config();
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bool start_server(CAN_HandleTypeDef* handle);
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Error error_ = ERROR_NONE;
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Config_t config_;
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CANSimple can_simple_{this};
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osThreadId thread_id_;
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const uint32_t stack_size_ = 1024; // Bytes
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private:
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static const uint8_t kCanFifoNone = 0xff;
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struct ODriveCanSubscription : CanSubscription {
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uint8_t fifo = kCanFifoNone;
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on_can_message_cb_t callback;
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void* ctx;
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};
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bool reinit();
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void can_server_thread();
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bool set_baud_rate(uint32_t baud_rate);
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void process_rx_fifo(uint32_t fifo);
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bool send_message(const can_Message_t& message) final;
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bool subscribe(const MsgIdFilterSpecs& filter, on_can_message_cb_t callback, void* ctx, CanSubscription** handle) final;
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bool unsubscribe(CanSubscription* handle) final;
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// Hardware supports at most 28 filters unless we do optimizations. For now
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// we don't need that many.
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std::array<ODriveCanSubscription, 8> subscriptions_;
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CAN_HandleTypeDef *handle_ = nullptr;
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};
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#endif // __ODRIVE_CAN_HPP
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