Руслан Урядинский
libuav original
Dependents: UAVCAN UAVCAN_Subscriber
CanDriver Class Reference
This class implements CAN driver interface for libuavcan. More...
#include <can.hpp>
Inherits uavcan::ICanDriver, uavcan::ICanIface, and uavcan::Noncopyable.
Public Member Functions | |
| int | init (uavcan::uint32_t bitrate) |
| Returns negative value if the requested baudrate can't be used. | |
| bool | hadActivity () |
| This method will return true only if there was any CAN bus activity since previous call of this method. | |
| uavcan::uint32_t | getRxQueueOverflowCount () const |
| Returns the number of times the RX queue was overrun. | |
| bool | isInBusOffState () const |
| Whether the controller is currently in bus off state. | |
| uavcan::int16_t | send (const uavcan::CanFrame &frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags) override |
| Non-blocking transmission. | |
| uavcan::int16_t | receive (uavcan::CanFrame &out_frame, uavcan::MonotonicTime &out_ts_monotonic, uavcan::UtcTime &out_ts_utc, uavcan::CanIOFlags &out_flags) override |
| Non-blocking reception. | |
| uavcan::int16_t | configureFilters (const uavcan::CanFilterConfig *filter_configs, uavcan::uint16_t num_configs) override |
| Configure the hardware CAN filters. | |
| uavcan::uint64_t | getErrorCount () const override |
| Continuously incrementing counter of hardware errors. | |
| uavcan::uint16_t | getNumFilters () const override |
| Number of available hardware filters. | |
| uavcan::ICanIface * | getIface (uavcan::uint8_t iface_index) override |
| Returns an interface by index, or null pointer if the index is out of range. | |
| uavcan::uint8_t | getNumIfaces () const override |
| Total number of available CAN interfaces. | |
| virtual const ICanIface * | getIface (uint8_t iface_index) const |
| Default implementation of this method calls the non-const overload of getIface(). | |
| virtual int16_t | select (CanSelectMasks &inout_masks, const CanFrame *(&pending_tx)[MaxCanIfaces], MonotonicTime blocking_deadline)=0 |
| Block until the deadline, or one of the specified interfaces becomes available for read or write. | |
Static Public Member Functions | |
| static CanDriver & | instance () |
| Returns the singleton reference. | |
| static uavcan::uint32_t | detectBitRate (void(*idle_callback)()=nullptr) |
| Attempts to detect bit rate of the CAN bus. | |
Detailed Description
This class implements CAN driver interface for libuavcan.
No configuration needed other than CAN baudrate. This class is a singleton.
Definition at line 16 of file drivers/lpc11c24/driver/include/uavcan_lpc11c24/can.hpp.
Member Function Documentation
| uavcan::int16_t configureFilters | ( | const uavcan::CanFilterConfig * | filter_configs, |
| uavcan::uint16_t | num_configs | ||
| ) | [override, virtual] |
| uavcan::uint32_t detectBitRate | ( | void(*)() | idle_callback = nullptr ) |
[static] |
Attempts to detect bit rate of the CAN bus.
This function may block for up to X seconds, where X is the number of bit rates to try. This function is NOT guaranteed to reset the CAN controller upon return.
- Returns:
- On success: detected bit rate, in bits per second. On failure: zero.
| uavcan::uint64_t getErrorCount | ( | ) | const [override, virtual] |
| virtual const ICanIface* getIface | ( | uint8_t | iface_index ) | const [virtual, inherited] |
Default implementation of this method calls the non-const overload of getIface().
Can be overriden by the application if necessary.
Definition at line 211 of file include/uavcan/driver/can.hpp.
| uavcan::ICanIface * getIface | ( | uavcan::uint8_t | iface_index ) | [override, virtual] |
Returns an interface by index, or null pointer if the index is out of range.
Implements ICanDriver.
| uavcan::uint16_t getNumFilters | ( | ) | const [override, virtual] |
| uavcan::uint8_t getNumIfaces | ( | ) | const [override, virtual] |
Total number of available CAN interfaces.
This value shall not change after initialization.
Implements ICanDriver.
| uavcan::uint32_t getRxQueueOverflowCount | ( | ) | const |
| bool hadActivity | ( | ) |
| int init | ( | uavcan::uint32_t | bitrate ) |
| static CanDriver& instance | ( | ) | [static] |
Returns the singleton reference.
No other copies can be created.
Definition at line 30 of file drivers/lpc11c24/driver/include/uavcan_lpc11c24/can.hpp.
| bool isInBusOffState | ( | ) | const |
| uavcan::int16_t receive | ( | uavcan::CanFrame & | out_frame, |
| uavcan::MonotonicTime & | out_ts_monotonic, | ||
| uavcan::UtcTime & | out_ts_utc, | ||
| uavcan::CanIOFlags & | out_flags | ||
| ) | [override, virtual] |
Non-blocking reception.
Timestamps should be provided by the CAN driver, ideally by the hardware CAN controller.
Monotonic timestamp is required and can be not precise since it is needed only for protocol timing validation (transfer timeouts and inter-transfer intervals).
UTC timestamp is optional, if available it will be used for precise time synchronization; must be set to zero if not available.
Refer to ISystemClock to learn more about timestamps.
- Parameters:
-
[out] out_ts_monotonic Monotonic timestamp, mandatory. [out] out_ts_utc UTC timestamp, optional, zero if unknown.
- Returns:
- 1 = one frame received, 0 = RX buffer empty, negative for error.
Implements ICanIface.
| virtual int16_t select | ( | CanSelectMasks & | inout_masks, |
| const CanFrame *(&) | pending_tx[MaxCanIfaces], | ||
| MonotonicTime | blocking_deadline | ||
| ) | [pure virtual, inherited] |
Block until the deadline, or one of the specified interfaces becomes available for read or write.
Iface masks will be modified by the driver to indicate which exactly interfaces are available for IO.
Bit position in the masks defines interface index.
Note that it is allowed to return from this method even if no requested events actually happened, or if there are events that were not requested by the library.
The pending TX argument contains an array of pointers to CAN frames that the library wants to transmit next, per interface. This is intended to allow the driver to properly prioritize transmissions; many drivers will not need to use it. If a write flag for the given interface is set to one in the select mask structure, then the corresponding pointer is guaranteed to be valid (not UAVCAN_NULLPTR).
- Parameters:
-
[in,out] inout_masks Masks indicating which interfaces are needed/available for IO. [in] pending_tx Array of frames, per interface, that are likely to be transmitted next. [in] blocking_deadline Zero means non-blocking operation.
- Returns:
- Positive number of ready interfaces or negative error code.
| uavcan::int16_t send | ( | const uavcan::CanFrame & | frame, |
| uavcan::MonotonicTime | tx_deadline, | ||
| uavcan::CanIOFlags | flags | ||
| ) | [override, virtual] |
Non-blocking transmission.
If the frame wasn't transmitted upon TX deadline, the driver should discard it.
Note that it is LIKELY that the library will want to send the frames that were passed into the select() method as the next ones to transmit, but it is NOT guaranteed. The library can replace those with new frames between the calls.
- Returns:
- 1 = one frame transmitted, 0 = TX buffer full, negative for error.
Implements ICanIface.
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