Last change
on this file since 3 was 2, checked in by DHERBOMEZ Gérald, 11 years ago |
correction of minor bugs (include and link). Build on Windows OK.
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File size:
1.4 KB
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[1] | 1 | /********************************************************************
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| 2 | // created: 2006/08/07 - 14:12
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| 3 | // filename: CanDriverBase.h
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| 4 | //
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| 5 | // author: Gerald Dherbomez
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| 6 | //
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| 7 | // version: $Id: CanDriverBase.h 1069 2012-03-07 15:57:30Z kurdejma $
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| 8 | //
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| 9 | // purpose: This is an abstract class that manages the CAN card.
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| 10 | // Use UPF frames to communicate with it.
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| 11 | // Contains basic decoding functions for CAN data.
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| 12 | //
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| 13 | *********************************************************************/
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| 14 |
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| 15 |
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| 16 | #ifndef _CANDRIVERBASE_H_
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| 17 | #define _CANDRIVERBASE_H_
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| 18 |
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[2] | 19 | #include "Pacpus/kernel/road_time.h"
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| 20 | #include "Pacpus/PacpusTools/BinaryDecoder.h"
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[1] | 21 |
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[2] | 22 |
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[1] | 23 | /*
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| 24 |
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| 25 | #define MAX_CAN_MSG_LENGTH 8
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| 26 |
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| 27 |
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| 28 | // Basic structure of a CAN frame
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| 29 | struct CanFrame {
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| 30 | unsigned long id;
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| 31 | unsigned char dlc;
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| 32 | unsigned char data [MAX_CAN_MSG_LENGTH];
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| 33 | };
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| 34 |
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| 35 | // Can structure with timestamping
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| 36 | struct TimestampedCanFrame {
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| 37 | CanFrame frame;
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| 38 | road_time_t time;
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| 39 | road_timerange_t timerange;
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| 40 | };
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| 41 |
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| 42 | */
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| 43 |
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| 44 | class CanDriverBase
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| 45 | {
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| 46 | public:
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| 47 | CanDriverBase(){}
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| 48 | ~CanDriverBase(){}
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| 49 |
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| 50 | virtual short initPort (void) = 0;
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| 51 | virtual short cleanUpPort (void) = 0;
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| 52 | virtual short sendFrame (struct CanFrame frame) = 0 ;
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| 53 | virtual short receiveFrame (struct CanFrame &frame) = 0;
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| 54 | virtual void waitReceivingFrame (void) = 0;
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| 55 |
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| 56 | protected:
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| 57 |
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| 58 | private:
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| 59 | };
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 | #endif
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