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Commitbecd6b5

Browse files
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Merge pull request#185 from arduino/can-api
Add HardwareCAN - a abstract base class for implementing CAN interfaces across Arduino cores.
2 parents844e4bf +032a0fc commitbecd6b5

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4 files changed

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4 files changed

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‎api/CanMsg.h

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/*
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* This file is free software; you can redistribute it and/or modify
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* it under the terms of either the GNU General Public License version 2
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* or the GNU Lesser General Public License version 2.1, both as
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* published by the Free Software Foundation.
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*/
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#ifndef ARDUINOCORE_API_CAN_MSG_H_
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#defineARDUINOCORE_API_CAN_MSG_H_
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include<cstdlib>
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#include<cstdint>
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#include<cstring>
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#include<Arduino.h>
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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namespacearduino
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{
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/**************************************************************************************
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* CLASS DECLARATION
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**************************************************************************************/
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classCanMsg :publicPrintable
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{
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public:
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staticsize_tconstexpr MAX_DATA_LENGTH =8;
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CanMsg(uint32_tconst can_id,uint8_tconst can_data_len,uint8_tconst * can_data_ptr)
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: id{can_id}
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, data_length{can_data_len}
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, data{0}
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{
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memcpy(data, can_data_ptr,min(can_data_len, MAX_DATA_LENGTH));
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}
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CanMsg() : CanMsg(0,0,nullptr) { }
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CanMsg(CanMsgconst & other)
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{
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this->id = other.id;
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this->data_length = other.data_length;
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memcpy(this->data, other.data,this->data_length);
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}
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virtual~CanMsg() { }
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voidoperator = (CanMsgconst & other)
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{
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if (this == &other)
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return;
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this->id = other.id;
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this->data_length = other.data_length;
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memcpy(this->data, other.data,this->data_length);
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}
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virtualsize_tprintTo(Print & p)constoverride
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{
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char buf[20] = {0};
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size_t len =0;
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/* Print the header.*/
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len =snprintf(buf,sizeof(buf),"[%08X] (%d) :", id, data_length);
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size_t n = p.write(buf, len);
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/* Print the data.*/
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for (size_t d =0; d < data_length; d++)
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{
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len =snprintf(buf,sizeof(buf),"%02X", data[d]);
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n += p.write(buf, len);
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}
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/* Wrap up.*/
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return n;
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}
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uint32_t id;
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uint8_t data_length;
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uint8_t data[MAX_DATA_LENGTH];
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};
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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}/* arduino*/
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#endif/* ARDUINOCORE_API_CAN_MSG_H_*/

‎api/CanMsgRingbuffer.cpp

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/*
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* This file is free software; you can redistribute it and/or modify
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* it under the terms of either the GNU General Public License version 2
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* or the GNU Lesser General Public License version 2.1, both as
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* published by the Free Software Foundation.
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*/
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include"CanMsgRingbuffer.h"
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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namespacearduino
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{
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/**************************************************************************************
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* CTOR/DTOR
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**************************************************************************************/
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CanMsgRingbuffer::CanMsgRingbuffer()
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: _head{0}
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, _tail{0}
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, _num_elems{0}
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{
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}
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/**************************************************************************************
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* PUBLIC MEMBER FUNCTIONS
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**************************************************************************************/
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voidCanMsgRingbuffer::enqueue(CanMsgconst & msg)
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{
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if (isFull())
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return;
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_buf[_head] = msg;
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_head =next(_head);
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_num_elems++;
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}
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CanMsgCanMsgRingbuffer::dequeue()
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{
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if (isEmpty())
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returnCanMsg();
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CanMsgconst msg = _buf[_tail];
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_tail =next(_tail);
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_num_elems--;
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return msg;
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}
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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}/* arduino*/

‎api/CanMsgRingbuffer.h

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/*
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* This file is free software; you can redistribute it and/or modify
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* it under the terms of either the GNU General Public License version 2
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* or the GNU Lesser General Public License version 2.1, both as
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* published by the Free Software Foundation.
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*/
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#ifndef ARDUINOCORE_API_CAN_MSG_RING_BUFFER_H_
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#defineARDUINOCORE_API_CAN_MSG_RING_BUFFER_H_
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include<cstdint>
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#include"CanMsg.h"
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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namespacearduino
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{
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/**************************************************************************************
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* CLASS DECLARATION
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**************************************************************************************/
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classCanMsgRingbuffer
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{
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public:
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staticsize_tconstexpr RING_BUFFER_SIZE =32U;
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CanMsgRingbuffer();
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inlineboolisFull()const {return (_num_elems == RING_BUFFER_SIZE); }
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voidenqueue(CanMsgconst & msg);
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inlineboolisEmpty()const {return (_num_elems ==0); }
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CanMsgdequeue();
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inlinesize_tavailable()const {return _num_elems; }
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private:
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CanMsg _buf[RING_BUFFER_SIZE];
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volatilesize_t _head;
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volatilesize_t _tail;
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volatilesize_t _num_elems;
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inlinesize_tnext(size_tconst idx)const {return ((idx +1) % RING_BUFFER_SIZE); }
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};
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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}/* arduino*/
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#endif/* ARDUINOCORE_API_CAN_MSG_RING_BUFFER_H_*/

‎api/HardwareCAN.h

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/*
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* This file is free software; you can redistribute it and/or modify
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* it under the terms of either the GNU General Public License version 2
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* or the GNU Lesser General Public License version 2.1, both as
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* published by the Free Software Foundation.
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*/
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#ifndef ARDUINOCORE_API_HARDWARECAN_H
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#defineARDUINOCORE_API_HARDWARECAN_H
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include"CanMsg.h"
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#include"CanMsgRingbuffer.h"
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/**************************************************************************************
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* TYPEDEF
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**************************************************************************************/
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enumclassCanBitRate :int
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{
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BR_125k =125000,
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BR_250k =250000,
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BR_500k =500000,
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BR_1000k =1000000,
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};
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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namespacearduino
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{
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/**************************************************************************************
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* CLASS DECLARATION
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**************************************************************************************/
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classHardwareCAN
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{
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public:
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virtual~HardwareCAN() {}
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virtualboolbegin(CanBitRateconst can_bitrate) = 0;
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virtualvoidend() = 0;
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virtualintwrite(CanMsgconst &msg) = 0;
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virtualsize_tavailable() = 0;
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virtual CanMsgread() = 0;
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};
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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}/* arduino*/
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#endif/* ARDUINOCORE_API_HARDWARECAN_H*/

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