can.h File Reference

#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)

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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.

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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

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 39 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 94 of file uavcan.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 46 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

Returns

0 if the callback was successfully added.

Definition at line 78 of file can.c.

References add_can_callback(), and foo.

Referenced by slcan_init().

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can_transmit_frame()

int can_transmit_frame	(	struct pprzcan_frame *	txframe,
		struct pprzaddr_can *	dst_addr
	)

Definition at line 137 of file can_arch.c.

References can1_arch_s, CAN_EID_MASK, CAN_FRAME_EFF, CAN_FRAME_RTR, pprzaddr_can::can_ifindex, can_arch_periph::can_initialized, can_len_to_dlc(), CAN_SID_MASK, can_arch_periph::canport, foo, and frame.

Referenced by slcan_handle_frame().

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