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

#include <canard.h>
#include <string.h>
#include "mcu_periph/can.h"
#include "modules/core/threads.h"
#include "utils/circular_buffer.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...

Macros
#define	UAVCAN_TX_FIFO_SIZE 1024

#define	UAVCAN_MSG_MAX_SIZE 256

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

typedef struct uavcan_event_t	uavcan_event

Functions
void	uavcan_init (void)
	uavcan interfaces

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.

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.

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.

Data Structure Documentation

◆ uavcan_iface_t

struct uavcan_iface_t

uavcan interface structure

Definition at line 46 of file uavcan.h.

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Data Fields
struct circular_buffer	_tx_fifo
uint8_t	_tx_fifo_buffer[UAVCAN_TX_FIFO_SIZE]
pprz_bsem_t	bsem
uint32_t	can_baudrate
struct pprzaddr_can	can_net
CanardInstance	canard
uint8_t	canard_memory_pool[1024 *2]
bool	initialized
pprz_mutex_t	mutex
uint8_t	node_id
pprz_thread_t	thread_tx
uint8_t	transfer_id
pprz_mutex_t	tx_fifo_mutex
event_source_t	tx_request

◆ uavcan_event_t

struct uavcan_event_t

Main uavcan event structure for registering/calling callbacks.

Definition at line 76 of file uavcan.h.

Collaboration diagram for uavcan_event_t:

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

Macro Definition Documentation

◆ UAVCAN_MSG_MAX_SIZE

#define UAVCAN_MSG_MAX_SIZE 256

Definition at line 41 of file uavcan.h.

◆ UAVCAN_TX_FIFO_SIZE

#define UAVCAN_TX_FIFO_SIZE 1024

Definition at line 37 of file uavcan.h.

Typedef Documentation

◆ uavcan_callback

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

Generic uavcan callback definition.

Definition at line 73 of file uavcan.h.

◆ uavcan_event

typedef struct uavcan_event_t uavcan_event

Definition at line 82 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 250 of file uavcan.c.

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

Referenced by actuators_uavcan_init(), airspeed_uavcan_init(), can_fuelcell_init(), gps_uavcan_init(), mag_uavcan_init(), power_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 265 of file uavcan.c.

References circular_buffer_drop(), circular_buffer_put(), foo, pprz_bsem_signal(), pprz_mtx_lock(), and pprz_mtx_unlock().

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