uavcan.h File Reference

Interface with uavcan using the Chibios can interfaces. More...

#include <hal.h>
#include <canard.h>
#include <string.h>

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Data Structures
struct	uavcan_iface_t
	uavcan interface structure More...
struct	uavcan_event_t
	Main uavcan event structure for registering/calling callbacks. More...

Typedefs
typedef void(*	uavcan_callback) (struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
	Generic uavcan callback definition. More...
typedef struct uavcan_event_t	uavcan_event

Functions
void	uavcan_init (void)
	uavcan interfaces More...
void	uavcan_bind (uint16_t data_type_id, uint64_t data_type_signature, uavcan_event *ev, uavcan_callback cb)
	Bind to a receiving message from uavcan. More...
void	uavcan_broadcast (struct uavcan_iface_t *iface, uint64_t data_type_signature, uint16_t data_type_id, uint8_t priority, const void *payload, uint16_t payload_len)
	Broadcast an uavcan message to a specific interface. More...

Detailed Description

Interface with uavcan using the Chibios can interfaces.

Stub needed for compiling modules requiring uavcan.

This uses multithreading and starts a transmit and receive thread per interface.

Definition in file uavcan.h.

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Data Structure Documentation

uavcan_iface_t

struct uavcan_iface_t

uavcan interface structure

Definition at line 34 of file uavcan.h.

Data Fields
uint32_t	can_baudrate
CANConfig	can_cfg
CANDriver *	can_driver
CanardInstance	canard
uint8_t	canard_memory_pool[1024 *2]
bool	initialized
mutex_t	mutex
uint8_t	node_id
void *	thread_rx_wa
size_t	thread_rx_wa_size
void *	thread_tx_wa
size_t	thread_tx_wa_size
void *	thread_uavcan_wa
size_t	thread_uavcan_wa_size
uint8_t	transfer_id
event_source_t	tx_request

uavcan_event_t

struct uavcan_event_t

Main uavcan event structure for registering/calling callbacks.

Definition at line 60 of file uavcan.h.

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Data Fields
uavcan_callback	cb
uint16_t	data_type_id
uint64_t	data_type_signature
struct uavcan_event_t *	next

Typedef Documentation

uavcan_callback

typedef void(* uavcan_callback) (struct uavcan_iface_t *iface, CanardRxTransfer *transfer)

Generic uavcan callback definition.

Definition at line 57 of file uavcan.h.

uavcan_event

typedef struct uavcan_event_t uavcan_event

Definition at line 57 of file uavcan.h.

Function Documentation

uavcan_bind()

void uavcan_bind	(	uint16_t	data_type_id,
		uint64_t	data_type_signature,
		uavcan_event *	ev,
		uavcan_callback	cb
	)

Bind to a receiving message from uavcan.

Definition at line 412 of file uavcan.c.

References abi_struct::cb, ev, abi_struct::next, and uavcan_event_hd.

Referenced by actuators_uavcan_init(), airspeed_uavcan_init(), and range_sensor_uavcan_init().

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uavcan_broadcast()

void uavcan_broadcast	(	struct uavcan_iface_t *	iface,
		uint64_t	data_type_signature,
		uint16_t	data_type_id,
		uint8_t	priority,
		const void *	payload,
		uint16_t	payload_len
	)

Broadcast an uavcan message to a specific interface.

Definition at line 427 of file uavcan.c.

References uavcan_iface_t::canard, uavcan_iface_t::initialized, uavcan_iface_t::mutex, uavcan_iface_t::transfer_id, and uavcan_iface_t::tx_request.

Referenced by actuators_uavcan_cmd_commit(), and actuators_uavcan_commit().

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uavcan_init()

void uavcan_init

(

void

)

uavcan interfaces

uavcan external functions

uavcan interfaces

Definition at line 383 of file uavcan.c.

References uavcan_iface_t::can_cfg, and uavcanInitIface().

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