102 lines
3.4 KiB
C++
102 lines
3.4 KiB
C++
/****************************************************************************
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* canutils/uavcan/uavcan_platform.cpp
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*
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* Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
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* Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <cunistd>
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#include <uavcan_stm32/uavcan_stm32.hpp>
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/****************************************************************************
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* Private Data
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****************************************************************************/
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#if CONFIG_UAVCAN_RX_QUEUE_CAPACITY > 0
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static uavcan_stm32::CanInitHelper<CONFIG_UAVCAN_RX_QUEUE_CAPACITY> can;
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#else
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static uavcan_stm32::CanInitHelper<> can;
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#endif
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static void delay_callable()
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{
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std::usleep(can.getRecommendedListeningDelay().toUSec());
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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uavcan::ICanDriver& getCanDriver()
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{
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static bool initialized = false;
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if (!initialized)
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{
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uavcan::uint32_t bitrate = CONFIG_UAVCAN_BIT_RATE;
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#if CONFIG_UAVCAN_INIT_RETRIES > 0
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int retries = 0;
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#endif
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while (can.init(delay_callable, bitrate) < 0)
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{
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#if CONFIG_UAVCAN_INIT_RETRIES > 0
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retries++;
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if (retries >= CONFIG_UAVCAN_INIT_RETRIES)
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{
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PANIC();
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}
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#endif
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}
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initialized = true;
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}
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return can.driver;
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}
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uavcan::ISystemClock& getSystemClock()
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{
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return uavcan_stm32::SystemClock::instance();
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}
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