#include "std.h"
#include "mcu_periph/can_arch.h"

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Data Structures
struct	pprzcan_frame

struct	pprzaddr_can

struct	can_periph

Macros
#define	CAN_FD_MODE TRUE

#define	SOCKETCAN_MAX_DLEN 64U

#define	CAN_NB_CALLBACKS_MAX 10

#define	CAN_FRAME_ERR (1<<29)

#define	CAN_FRAME_RTR (1<<30)

#define	CAN_FRAME_EFF (1<<31)

#define	CAN_EID_MASK 0x1FFFFFFF

#define	CAN_SID_MASK 0x7FF

#define	CANFD_BRS 0x01

#define	CANFD_ESI 0x02

#define	CANFD_FDF 0x04

Typedefs
typedef uint32_t	socketcan_id_t

typedef void(*	can_rx_frame_callback_t) (struct pprzcan_frame rxframe, struct pprzaddr_can src_addr, void *user_data)

Functions
void	can_init (void)

int	can_register_callback (can_rx_frame_callback_t callback, struct pprzaddr_can src_addr, void user_data)
	Add a callback on received frames from an interface.

int	can_transmit_frame (struct pprzcan_frame txframe, struct pprzaddr_can dst_addr)

uint8_t	can_dlc_to_len (uint8_t dlc)

uint8_t	can_len_to_dlc (uint8_t len)

Data Structure Documentation

◆ pprzcan_frame

struct pprzcan_frame

Definition at line 72 of file can.h.

Data Fields
socketcan_id_t	can_id
uint8_t	data[SOCKETCAN_MAX_DLEN]
uint8_t	flags
uint8_t	len
uint32_t	timestamp

◆ pprzaddr_can

struct pprzaddr_can

Definition at line 81 of file can.h.

Data Fields
int	can_ifindex

◆ can_periph

struct can_periph

Definition at line 89 of file can.h.

Collaboration diagram for can_periph:

Data Fields
void *	arch_struct
void *	callback_user_data[CAN_NB_CALLBACKS_MAX]
can_rx_frame_callback_t	callbacks[CAN_NB_CALLBACKS_MAX]
int	fd
uint32_t	nb_errors

Macro Definition Documentation

◆ CAN_EID_MASK

#define CAN_EID_MASK 0x1FFFFFFF

Definition at line 64 of file can.h.

◆ CAN_FD_MODE

#define CAN_FD_MODE TRUE

Definition at line 30 of file can.h.

◆ CAN_FRAME_EFF

#define CAN_FRAME_EFF (1<<31)

Definition at line 62 of file can.h.

◆ CAN_FRAME_ERR

#define CAN_FRAME_ERR (1<<29)

Definition at line 58 of file can.h.

◆ CAN_FRAME_RTR

#define CAN_FRAME_RTR (1<<30)

Definition at line 60 of file can.h.

◆ CAN_NB_CALLBACKS_MAX

#define CAN_NB_CALLBACKS_MAX 10

Definition at line 40 of file can.h.

◆ CAN_SID_MASK

#define CAN_SID_MASK 0x7FF

Definition at line 65 of file can.h.

◆ CANFD_BRS

#define CANFD_BRS 0x01

Definition at line 68 of file can.h.

◆ CANFD_ESI

#define CANFD_ESI 0x02

Definition at line 69 of file can.h.

◆ CANFD_FDF

#define CANFD_FDF 0x04

Definition at line 70 of file can.h.

◆ SOCKETCAN_MAX_DLEN

#define SOCKETCAN_MAX_DLEN 64U

Definition at line 34 of file can.h.

Typedef Documentation

◆ can_rx_frame_callback_t

typedef void(* can_rx_frame_callback_t) (struct pprzcan_frame *rxframe, struct pprzaddr_can *src_addr, void *user_data)

Definition at line 86 of file can.h.

◆ socketcan_id_t

typedef uint32_t socketcan_id_t

Definition at line 55 of file can.h.

Function Documentation

◆ can_dlc_to_len()

uint8_t can_dlc_to_len ( uint8_t dlc )

Definition at line 49 of file can.c.

References dlc_to_len, and foo.

Referenced by __unsupported_isr(), can_thd_rx(), and slcan_handle_frame().

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◆ can_init()

void can_init ( void )

Definition at line 69 of file can.c.

References can_hw_init().

Referenced by can_hw_init(), and mcu_init().

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◆ can_len_to_dlc()

uint8_t can_len_to_dlc ( uint8_t len )

Definition at line 56 of file can.c.

References dlc_to_len.

Referenced by can_transmit_frame(), and slcan_can_rx_cb().

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◆ can_register_callback()

int can_register_callback	(	can_rx_frame_callback_t	callback,
		struct pprzaddr_can *	src_addr,
		void *	user_data
	)

Add a callback on received frames from an interface.

Parameters

callback	The callback called on received frames
src_addr	Interface from which frames are received. 0 means all interfaces.
user_data	Pointer that will be passed in callback parameters