Line data    Source code

       1             : /*
       2             :  * This file is free software: you can redistribute it and/or modify it
       3             :  * under the terms of the GNU General Public License as published by the
       4             :  * Free Software Foundation, either version 3 of the License, or
       5             :  * (at your option) any later version.
       6             :  *
       7             :  * This file is distributed in the hope that it will be useful, but
       8             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      10             :  * See the GNU General Public License for more details.
      11             :  *
      12             :  * You should have received a copy of the GNU General Public License along
      13             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  *
      15             :  * Code by Siddharth Bharat Purohit
      16             :  */
      17             : 
      18             : #pragma once
      19             : 
      20             : #include <AP_Common/AP_Common.h>
      21             : #include <AP_HAL/AP_HAL.h>
      22             : 
      23             : class AP_CANManager;
      24             : class CANSensor;
      25             : 
      26             : class AP_CANDriver
      27             : {
      28             : public:
      29             : 
      30             :     friend class AP_CANManager;
      31             : 
      32             :     // init method for protocol drivers, specify driver index
      33             :     virtual void init(uint8_t driver_index) = 0;
      34             : 
      35             :     // link protocol drivers with interfaces by adding reference to CANIface
      36             :     virtual bool add_interface(AP_HAL::CANIface* can_iface) = 0;
      37             : 
      38             :     // add an 11 bit auxillary driver
      39           0 :     virtual bool add_11bit_driver(CANSensor *sensor) { return false; }
      40             : 
      41             :     // handler for outgoing frames for auxillary drivers
      42           0 :     virtual bool write_aux_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us) { return false; }
      43             : };