path: root/src/modules/uavcan/uavcan_main.hpp

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#pragma once

#include <uavcan_stm32/uavcan_stm32.hpp>

/**
 * @file uavcan_main.hpp
 *
 * Defines basic functinality of UAVCAN node.
 *
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

/**
 * A UAVCAN node.
 */
class UavcanNode
{
	static constexpr unsigned MemPoolSize        = 10752;
	static constexpr unsigned RxQueueLenPerIface = 64;
	static constexpr unsigned StackSize          = 3000;

public:
	typedef uavcan::Node<MemPoolSize> Node;
	typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;

	UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock)
		: _node(can_driver, system_clock)
	{ }

	static int start(uavcan::NodeID node_id, uint32_t bitrate);

	Node &getNode() { return _node; }

private:
	int init(uavcan::NodeID node_id);
	int run();

	static UavcanNode *_instance;		///< pointer to the library instance
	Node _node;
};