#include <CAN.h>

Inheritance diagram for VRBRAIN::VRBRAINCAN:

Collaboration diagram for VRBRAIN::VRBRAINCAN:

Classes
struct	Timings

struct	TxItem

Public Types
enum	{ MaxRxQueueCapacity = 254 }

enum	OperatingMode { NormalMode, SilentMode }

Public Member Functions
	VRBRAINCAN (bxcan::CanType can, BusEvent update_event, uint8_t self_index, uint8_t rx_queue_capacity)

int	init (const uint32_t bitrate, const OperatingMode mode)

void	set_update_event (BusEvent *update_event)

void	handleTxInterrupt (uint64_t utc_usec)

void	handleRxInterrupt (uint8_t fifo_index, uint64_t utc_usec)

void	pollErrorFlagsFromISR ()

void	discardTimedOutTxMailboxes (uavcan::MonotonicTime current_time)

bool	canAcceptNewTxFrame (const uavcan::CanFrame &frame) const

bool	isRxBufferEmpty () const

virtual uint64_t	getErrorCount () const override

uint32_t	getVoluntaryTxAbortCount () const

unsigned	getRxQueueLength () const

bool	hadActivity ()

uint8_t	getPeakNumTxMailboxesUsed () const

bool	begin (uint32_t bitrate) override

void	end () override

void	reset () override

int32_t	tx_pending () override

int32_t	available () override

bool	is_initialized () override

Private Types
enum	{ NumTxMailboxes = 3 }

enum	{ NumFilters = 14 }

Private Member Functions
int	computeTimings (uint32_t target_bitrate, Timings &out_timings)

virtual int16_t	send (const uavcan::CanFrame &frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags) override

virtual int16_t	receive (uavcan::CanFrame &out_frame, uavcan::MonotonicTime &out_ts_monotonic, uavcan::UtcTime &out_ts_utc, uavcan::CanIOFlags &out_flags) override

virtual int16_t	configureFilters (const uavcan::CanFilterConfig *filter_configs, uint16_t num_configs) override

virtual uint16_t	getNumFilters () const override

void	handleTxMailboxInterrupt (uint8_t mailbox_index, bool txok, uint64_t utc_usec)

bool	waitMsrINakBitStateChange (bool target_state)

Private Attributes
ObjectBuffer< CanRxItem >	rx_queue_

bxcan::CanType *const	can_

uint64_t	error_cnt_

uint32_t	served_aborts_cnt_

BusEvent *	update_event_

TxItem	pending_tx_ [NumTxMailboxes]

uint8_t	peak_tx_mailbox_index_

const uint8_t	self_index_

bool	had_activity_

uint32_t	bitrate_

bool	initialized_

Static Private Attributes
static const uint32_t	TSR_ABRQx [NumTxMailboxes]

Detailed Description

Definition at line 88 of file CAN.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
NumTxMailboxes

Definition at line 117 of file CAN.h.

◆ anonymous enum

anonymous enum

private

Enumerator
NumFilters

Definition at line 120 of file CAN.h.

◆ anonymous enum

anonymous enum

Enumerator
MaxRxQueueCapacity

Definition at line 160 of file CAN.h.

◆ OperatingMode

enum VRBRAIN::VRBRAINCAN::OperatingMode

Enumerator
NormalMode
SilentMode

Definition at line 164 of file CAN.h.

Constructor & Destructor Documentation

◆ VRBRAINCAN()

VRBRAIN::VRBRAINCAN::VRBRAINCAN	(	bxcan::CanType *	can,
		BusEvent *	update_event,
		uint8_t	self_index,
		uint8_t	rx_queue_capacity
	)

inline

Definition at line 168 of file CAN.h.

Here is the call graph for this function:

Member Function Documentation

◆ available()

int32_t VRBRAIN::VRBRAINCAN::available ( )

override

◆ begin()

bool VRBRAIN::VRBRAINCAN::begin ( uint32_t bitrate )

override

◆ canAcceptNewTxFrame()

bool VRBRAIN::VRBRAINCAN::canAcceptNewTxFrame ( const uavcan::CanFrame & frame ) const

◆ computeTimings()

int VRBRAIN::VRBRAINCAN::computeTimings	(	uint32_t	target_bitrate,
		Timings &	out_timings
	)

private

◆ configureFilters()

virtual int16_t VRBRAIN::VRBRAINCAN::configureFilters	(	const uavcan::CanFilterConfig *	filter_configs,
		uint16_t	num_configs
	)

overrideprivatevirtual

◆ discardTimedOutTxMailboxes()

void VRBRAIN::VRBRAINCAN::discardTimedOutTxMailboxes ( uavcan::MonotonicTime current_time )

◆ end()

void VRBRAIN::VRBRAINCAN::end ( )

inlineoverride

Definition at line 246 of file CAN.h.

Here is the call graph for this function:

◆ getErrorCount()

virtual uint64_t VRBRAIN::VRBRAINCAN::getErrorCount ( ) const

overridevirtual

Total number of hardware failures and other kinds of errors (e.g. queue overruns). May increase continuously if the interface is not connected to the bus.

◆ getNumFilters()

virtual uint16_t VRBRAIN::VRBRAINCAN::getNumFilters ( ) const

inlineoverrideprivatevirtual

Definition at line 149 of file CAN.h.

◆ getPeakNumTxMailboxesUsed()

uint8_t VRBRAIN::VRBRAINCAN::getPeakNumTxMailboxesUsed ( ) const

inline

Peak number of TX mailboxes used concurrently since initialization. Range is [1, 3]. Value of 3 suggests that priority inversion could be taking place.

Definition at line 240 of file CAN.h.

◆ getRxQueueLength()

unsigned VRBRAIN::VRBRAINCAN::getRxQueueLength ( ) const

Returns the number of frames pending in the RX queue. This is intended for debug use only.

◆ getVoluntaryTxAbortCount()

uint32_t VRBRAIN::VRBRAINCAN::getVoluntaryTxAbortCount ( ) const

inline

Number of times the driver exercised library's requirement to abort transmission on first error. This is an atomic read, it doesn't require a critical section. See uavcan::CanIOFlagAbortOnError.

Definition at line 218 of file CAN.h.

◆ hadActivity()

bool VRBRAIN::VRBRAINCAN::hadActivity ( )

Whether this iface had at least one successful IO since the previous call of this method. This is designed for use with iface activity LEDs.

◆ handleRxInterrupt()

void VRBRAIN::VRBRAINCAN::handleRxInterrupt	(	uint8_t	fifo_index,
		uint64_t	utc_usec
	)

◆ handleTxInterrupt()

void VRBRAIN::VRBRAINCAN::handleTxInterrupt ( uint64_t utc_usec )

◆ handleTxMailboxInterrupt()

void VRBRAIN::VRBRAINCAN::handleTxMailboxInterrupt	(	uint8_t	mailbox_index,
		bool	txok,
		uint64_t	utc_usec
	)

private

◆ init()

int VRBRAIN::VRBRAINCAN::init	(	const uint32_t	bitrate,
		const OperatingMode	mode
	)

Initializes the hardware CAN controller. Assumes:

Iface clock is enabled
Iface has been resetted via RCC
Caller will configure NVIC by itself

◆ is_initialized()

bool VRBRAIN::VRBRAINCAN::is_initialized ( )

override

◆ isRxBufferEmpty()

bool VRBRAIN::VRBRAINCAN::isRxBufferEmpty ( ) const

◆ pollErrorFlagsFromISR()

void VRBRAIN::VRBRAINCAN::pollErrorFlagsFromISR ( )

This method is used to count errors and abort transmission on error if necessary. This functionality used to be implemented in the SCE interrupt handler, but that approach was generating too much processing overhead, especially on disconnected interfaces.

Should be called from RX ISR, TX ISR, and select(); interrupts must be enabled.

◆ receive()

virtual int16_t VRBRAIN::VRBRAINCAN::receive	(	uavcan::CanFrame &	out_frame,
		uavcan::MonotonicTime &	out_ts_monotonic,
		uavcan::UtcTime &	out_ts_utc,
		uavcan::CanIOFlags &	out_flags
	)

overrideprivatevirtual

◆ reset()

void VRBRAIN::VRBRAINCAN::reset ( )

override

◆ send()

virtual int16_t VRBRAIN::VRBRAINCAN::send	(	const uavcan::CanFrame &	frame,
		uavcan::MonotonicTime	tx_deadline,
		uavcan::CanIOFlags	flags
	)

overrideprivatevirtual

◆ set_update_event()

void VRBRAIN::VRBRAINCAN::set_update_event ( BusEvent * update_event )

inline

Definition at line 185 of file CAN.h.

◆ tx_pending()

int32_t VRBRAIN::VRBRAINCAN::tx_pending ( )

override

◆ waitMsrINakBitStateChange()

bool VRBRAIN::VRBRAINCAN::waitMsrINakBitStateChange ( bool target_state )

private

Member Data Documentation

◆ bitrate_

uint32_t VRBRAIN::VRBRAINCAN::bitrate_

private

Definition at line 137 of file CAN.h.

◆ can_

bxcan::CanType* const VRBRAIN::VRBRAINCAN::can_

private

Definition at line 127 of file CAN.h.

◆ error_cnt_

uint64_t VRBRAIN::VRBRAINCAN::error_cnt_

private

Definition at line 128 of file CAN.h.

◆ had_activity_

bool VRBRAIN::VRBRAINCAN::had_activity_

private

Definition at line 135 of file CAN.h.

◆ initialized_

bool VRBRAIN::VRBRAINCAN::initialized_

private

Definition at line 158 of file CAN.h.

◆ peak_tx_mailbox_index_

uint8_t VRBRAIN::VRBRAINCAN::peak_tx_mailbox_index_

private

Definition at line 132 of file CAN.h.

◆ pending_tx_

TxItem VRBRAIN::VRBRAINCAN::pending_tx_[NumTxMailboxes]

private

Definition at line 131 of file CAN.h.

◆ rx_queue_

ObjectBuffer<CanRxItem> VRBRAIN::VRBRAINCAN::rx_queue_

private

Definition at line 126 of file CAN.h.

◆ self_index_

const uint8_t VRBRAIN::VRBRAINCAN::self_index_

private

Definition at line 133 of file CAN.h.

◆ served_aborts_cnt_

uint32_t VRBRAIN::VRBRAINCAN::served_aborts_cnt_

private

Definition at line 129 of file CAN.h.

◆ TSR_ABRQx

const uint32_t VRBRAIN::VRBRAINCAN::TSR_ABRQx[NumTxMailboxes]

staticprivate

Definition at line 124 of file CAN.h.

◆ update_event_

BusEvent* VRBRAIN::VRBRAINCAN::update_event_

private

Definition at line 130 of file CAN.h.

The documentation for this class was generated from the following file:

libraries/AP_HAL_VRBRAIN/CAN.h

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ OperatingMode

Constructor & Destructor Documentation

◆ VRBRAINCAN()

Member Function Documentation

◆ available()

◆ begin()

◆ canAcceptNewTxFrame()

◆ computeTimings()

◆ configureFilters()

◆ discardTimedOutTxMailboxes()

◆ end()

◆ getErrorCount()

◆ getNumFilters()

◆ getPeakNumTxMailboxesUsed()

◆ getRxQueueLength()

◆ getVoluntaryTxAbortCount()

◆ hadActivity()

◆ handleRxInterrupt()

◆ handleTxInterrupt()

◆ handleTxMailboxInterrupt()

◆ init()

◆ is_initialized()

◆ isRxBufferEmpty()

◆ pollErrorFlagsFromISR()

◆ receive()

◆ reset()

◆ send()

◆ set_update_event()

◆ tx_pending()

◆ waitMsrINakBitStateChange()

Member Data Documentation

◆ bitrate_

◆ can_

◆ error_cnt_

◆ had_activity_

◆ initialized_

◆ peak_tx_mailbox_index_

◆ pending_tx_

◆ rx_queue_

◆ self_index_

◆ served_aborts_cnt_

◆ TSR_ABRQx

◆ update_event_