flex_can_t4_plugin.hpp

Go to the documentation of this file.

//================================================================================================
//================================================================================================
#ifndef FLEX_CAN_T4_PLUGIN_HPP
#define FLEX_CAN_T4_PLUGIN_HPP
 
#include "FlexCAN_T4.hpp"
#include "isobus/hardware_integration/can_hardware_plugin.hpp"
#include "isobus/isobus/can_hardware_abstraction.hpp"
#include "isobus/isobus/can_message_frame.hpp"
 
namespace isobus
{
    class FlexCANT4Plugin : public CANHardwarePlugin
    {
    public:
        explicit FlexCANT4Plugin(std::uint8_t channel);
 
        virtual ~FlexCANT4Plugin() = default;
 
        bool get_is_valid() const override;
 
        void close() override;
 
        void open() override;
 
        bool read_frame(isobus::CANMessageFrame &canFrame) override;
 
        bool write_frame(const isobus::CANMessageFrame &canFrame) override;
 
    private:
#if defined(__IMXRT1062__)
        static FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_512> can0;
        static FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_512> can1;
        static FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_512> can2;
#elif defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)
        static FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_512> can0;
        static FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_512> can1;
#endif
        std::uint8_t selectedChannel; 
        bool isOpen = false; 
    };
}
#endif // FLEX_CAN_T4_PLUGIN_HPP