slcan.c File Reference

#include "modules/core/slcan.h"
#include "generated/airframe.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/can.h"
#include "mcu_periph/usb_serial.h"
#include "pprzlink/pprzlink_device.h"
#include "stdio.h"
#include "string.h"

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Functions
static void	slcan_handle_cmd (slcan_t *slcan)
static void	slcan_rsp_ok (slcan_t *slcan)
static void	slcan_rsp_error (slcan_t *slcan)
static int	slcan_handle_frame (slcan_t *slcan)
static uint8_t	hex2nibble (char a)
	hex2nibble('B') = 0x0B
static uint8_t	nibble2hex (uint8_t x)
	nibble2hex(2) == '2'
void	slcan_can_rx_cb (struct pprzcan_frame *rxframe, struct pprzaddr_can *src_addr, void *user_data)
void	slcan_init (void)
void	slcan_event (void)
static uint8_t	slcan_cmd_from_id (uint32_t can_id, uint8_t flags)

Variables
slcan_t	slcan

Detailed Description

Author

Fabien-B fabie.nosp@m.n-b@.nosp@m.githu.nosp@m.b.co.nosp@m.m SLCAN interface. CAN over serial link. See https://www.canusb.com/files/can232_v3.pdf Useful for using DroneCAN GUI over serial USB.

Definition in file slcan.c.

Function Documentation

hex2nibble()

static uint8_t hex2nibble ( char  a )

static

hex2nibble('B') = 0x0B

Definition at line 298 of file slcan.c.

Referenced by slcan_handle_frame().

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nibble2hex()

static uint8_t nibble2hex ( uint8_t  x )

static

nibble2hex(2) == '2'

Definition at line 288 of file slcan.c.

References foo.

Referenced by slcan_can_rx_cb().

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slcan_can_rx_cb()

void slcan_can_rx_cb	(	struct pprzcan_frame *	rxframe,
		struct pprzaddr_can *	src_addr,
		void *	user_data
	)

Definition at line 233 of file slcan.c.

References CAN_FRAME_EFF, pprzcan_frame::can_id, can_len_to_dlc(), pprzcan_frame::data, slcan_t::dev, pprzcan_frame::flags, foo, idx, pprzcan_frame::len, slcan_t::mtx, nibble2hex(), pprz_mtx_lock(), pprz_mtx_unlock(), slcan, slcan_cmd_from_id(), pprzcan_frame::timestamp, slcan_t::timestamp, and slcan_t::tx_buf.

Referenced by slcan_init().

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slcan_cmd_from_id()

static uint8_t slcan_cmd_from_id ( uint32_t  can_id, uint8_t  flags  )

static

Definition at line 209 of file slcan.c.

References CAN_FRAME_EFF, CAN_FRAME_RTR, pprzcan_frame::can_id, CANFD_FDF, and pprzcan_frame::flags.

Referenced by slcan_can_rx_cb().

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slcan_event()

void slcan_event

(

void

)

Definition at line 63 of file slcan.c.

References b, slcan_t::cmd_buf, slcan_t::cmd_buf_idx, slcan_t::dev, slcan, SLCAN_CMD_BUF_LEN, and slcan_handle_cmd().

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slcan_handle_cmd()

static void slcan_handle_cmd ( slcan_t *  slcan )

static

Definition at line 76 of file slcan.c.

References slcan_t::cmd_buf, slcan_t::cmd_buf_idx, slcan_t::dev, foo, slcan, slcan_handle_frame(), slcan_rsp_error(), slcan_rsp_ok(), status, and slcan_t::timestamp.

Referenced by slcan_event().

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slcan_handle_frame()

static int slcan_handle_frame ( slcan_t *  slcan )

static

Definition at line 159 of file slcan.c.

References can_dlc_to_len(), CAN_FRAME_EFF, CAN_FRAME_RTR, pprzcan_frame::can_id, slcan_t::can_if, can_transmit_frame(), slcan_t::cmd_buf, slcan_t::cmd_buf_idx, pprzcan_frame::data, foo, hex2nibble(), and slcan.

Referenced by slcan_handle_cmd().

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slcan_init()

void slcan_init

(

void

)

Definition at line 53 of file slcan.c.

References slcan_t::can_if, pprzaddr_can::can_ifindex, can_register_callback(), slcan_t::cmd_buf_idx, slcan_t::dev, foo, slcan_t::mtx, pprz_mtx_init(), slcan, slcan_can_rx_cb(), and slcan_t::timestamp.

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slcan_rsp_error()

static void slcan_rsp_error ( slcan_t *  slcan )

static

Definition at line 280 of file slcan.c.

References slcan_t::dev, and slcan.

Referenced by slcan_handle_cmd().

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slcan_rsp_ok()

static void slcan_rsp_ok ( slcan_t *  slcan )

static

Definition at line 275 of file slcan.c.

References slcan_t::dev, and slcan.

Referenced by slcan_handle_cmd().

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Variable Documentation

slcan

slcan_t slcan

Definition at line 38 of file slcan.c.

Referenced by slcan_can_rx_cb(), slcan_event(), slcan_handle_cmd(), slcan_handle_frame(), slcan_init(), slcan_rsp_error(), and slcan_rsp_ok().