source: pacpussensors/trunk/CanGateway/driver/CanDriverBase.h@ 81

Last change on this file since 81 was 4, checked in by guyardro, 11 years ago

add igep can driver for CanGateway and add support for igep compilation

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