uavcan.c File Reference

#include "uavcan.h"
#include "mcu_periph/can.h"
#include "modules/core/threads.h"
#include "uavcan.protocol.NodeStatus.h"
#include "uavcan_reporting.h"
#include "mcu_periph/sys_time.h"
#include "modules/uavcan/uavcan_allocator.h"

Include dependency graph for uavcan.c:

Go to the source code of this file.

Macros
#define	UAVCAN_NODE_ID   100
#define	UAVCAN_BAUDRATE   1000000

Functions
static void	can_frame_cb (struct pprzcan_frame *rx_msg, UNUSED struct pprzaddr_can *src_addr, void *user_data)
static void	uavcan_tx (void *p)
static void	onTransferReceived (CanardInstance *ins, CanardRxTransfer *transfer)
	Whenever a valid and 'accepted' transfer is received.
static bool	shouldAcceptTransfer (const CanardInstance *ins, uint64_t *out_data_type_signature, uint16_t data_type_id, CanardTransferType transfer_type, uint8_t source_node_id)
	If we should accept this transfer.
static void	uavcanInitIface (struct uavcan_iface_t *iface)
	Initialize uavcan interface.
void	uavcan_init (void)
	Initialize all 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.
static uint8_t *	get_transfer_id (struct uavcan_iface_t *iface, uint8_t destination_node_id, CanardTxTransfer *transfer)
void	uavcan_transfer (struct uavcan_iface_t *iface, CanardTxTransfer *transfer)
void	uavcan_request (struct uavcan_iface_t *iface, uint8_t destination_node_id, CanardTxTransfer *transfer)
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)
	Legacy function Broadcast an uavcan message to a specific interface.
void	uavcan_response (struct uavcan_iface_t *iface, uint8_t destination_node_id, CanardTxTransfer *transfer)

Variables
static uavcan_event *	uavcan_event_hd = NULL

Macro Definition Documentation

UAVCAN_BAUDRATE

#define UAVCAN_BAUDRATE   1000000

Definition at line 40 of file uavcan.c.

UAVCAN_NODE_ID

#define UAVCAN_NODE_ID   100

Definition at line 36 of file uavcan.c.

Function Documentation

can_frame_cb()

static void can_frame_cb ( struct pprzcan_frame *  rx_msg, UNUSED struct pprzaddr_can *  src_addr, void *  user_data  )

static

Definition at line 81 of file uavcan.c.

References CAN_EID_MASK, CAN_FRAME_EFF, CAN_SID_MASK, uavcan_iface_t::canard, and foo.

Referenced by uavcanInitIface().

Here is the caller graph for this function:

get_transfer_id()

static uint8_t * get_transfer_id ( struct uavcan_iface_t *  iface, uint8_t  destination_node_id, CanardTxTransfer *  transfer  )

static

Definition at line 252 of file uavcan.c.

References foo, kv_get(), kv_set(), uavcan_iface_t::node_id, transfer(), and uavcan_iface_t::transfer_ids_store.

Referenced by uavcan_request(), and uavcan_transfer().

Here is the call graph for this function:

Here is the caller graph for this function:

onTransferReceived()

static void onTransferReceived ( CanardInstance *  ins, CanardRxTransfer *  transfer  )

static

Whenever a valid and 'accepted' transfer is received.

Definition at line 141 of file uavcan.c.

References abi_struct::cb, ev, foo, abi_struct::next, transfer(), and uavcan_event_hd.

Referenced by uavcanInitIface().

Here is the call graph for this function:

Here is the caller graph for this function:

shouldAcceptTransfer()

static bool shouldAcceptTransfer ( const CanardInstance *  ins, uint64_t *  out_data_type_signature, uint16_t  data_type_id, CanardTransferType  transfer_type, uint8_t  source_node_id  )

static

If we should accept this transfer.

Definition at line 155 of file uavcan.c.

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

Referenced by uavcanInitIface().

Here is the caller graph for this function:

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 240 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(), range_sensor_uavcan_init(), rc_uavcan_init(), tunnel_uavcan_init_periph(), uavcan_allocator_init(), and uavcan_init_reporting().

Here is the caller graph for this function:

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
	)

Legacy function Broadcast an uavcan message to a specific interface.

Definition at line 313 of file uavcan.c.

References foo, transfer(), and uavcan_transfer().

Referenced by actuators_uavcan_cmd_commit(), actuators_uavcan_commit(), handleAllocationRequest(), id_alloc_uavcan_cb(), tunnel_uavcan_send_message(), and uavcan_reporting().

Here is the call graph for this function:

Here is the caller graph for this function:

uavcan_init()

void uavcan_init

(

void

)

Initialize all uavcan interfaces.

uavcan interfaces

Definition at line 225 of file uavcan.c.

References foo, uavcan_allocator_init(), uavcan_init_reporting(), and uavcanInitIface().

Here is the call graph for this function:

uavcan_request()

void uavcan_request	(	struct uavcan_iface_t *	iface,
		uint8_t	destination_node_id,
		CanardTxTransfer *	transfer
	)

Parameters

transfer

should be initialized with canardInitTxTransfer.

Definition at line 289 of file uavcan.c.

References uavcan_iface_t::bsem, uavcan_iface_t::canard, foo, get_transfer_id(), uavcan_iface_t::initialized, uavcan_iface_t::nb_errors, pprz_bsem_signal(), pprz_mtx_lock(), pprz_mtx_unlock(), transfer(), and uavcan_iface_t::tx_mutex.

Referenced by request_node_info().

Here is the call graph for this function:

Here is the caller graph for this function:

uavcan_response()

void uavcan_response	(	struct uavcan_iface_t *	iface,
		uint8_t	destination_node_id,
		CanardTxTransfer *	transfer
	)

Parameters

inout_transfer_id

should be set to the request transfer id before calling this function

Definition at line 332 of file uavcan.c.

References uavcan_iface_t::bsem, uavcan_iface_t::canard, foo, uavcan_iface_t::initialized, pprz_bsem_signal(), pprz_mtx_lock(), pprz_mtx_unlock(), transfer(), and uavcan_iface_t::tx_mutex.

Referenced by node_info_cb().

Here is the call graph for this function:

Here is the caller graph for this function:

uavcan_transfer()

void uavcan_transfer	(	struct uavcan_iface_t *	iface,
		CanardTxTransfer *	transfer
	)

Parameters

transfer

should be initialized with canardInitTxTransfer.

Definition at line 268 of file uavcan.c.

References uavcan_iface_t::bsem, uavcan_iface_t::canard, foo, get_transfer_id(), uavcan_iface_t::initialized, uavcan_iface_t::nb_errors, pprz_bsem_signal(), pprz_mtx_lock(), pprz_mtx_unlock(), transfer(), and uavcan_iface_t::tx_mutex.

Referenced by uavcan_broadcast().

Here is the call graph for this function:

Here is the caller graph for this function:

uavcan_tx()

static void uavcan_tx ( void *  p )

static

Definition at line 100 of file uavcan.c.

References uavcan_iface_t::bsem, CAN_FRAME_EFF, pprzcan_frame::can_id, uavcan_iface_t::can_net, can_transmit_frame(), uavcan_iface_t::canard, pprzcan_frame::data, foo, pprzcan_frame::len, p, pprz_bsem_wait(), pprz_mtx_lock(), pprz_mtx_unlock(), sys_time_msleep(), and uavcan_iface_t::tx_mutex.

Referenced by uavcanInitIface().

Here is the call graph for this function:

Here is the caller graph for this function:

uavcanInitIface()

static void uavcanInitIface ( struct uavcan_iface_t *  iface )

static

Initialize uavcan interface.

Definition at line 192 of file uavcan.c.

References uavcan_iface_t::bsem, can_frame_cb(), uavcan_iface_t::can_net, can_register_callback(), uavcan_iface_t::canard, uavcan_iface_t::canard_memory_pool, foo, uavcan_iface_t::initialized, kv_init(), uavcan_iface_t::node_id, onTransferReceived(), pprz_bsem_init(), pprz_mtx_init(), PPRZ_NORMAL_PRIO, pprz_thread_create(), shouldAcceptTransfer(), uavcan_iface_t::thread_tx, uavcan_iface_t::transfer_ids_keys, uavcan_iface_t::transfer_ids_store, uavcan_iface_t::transfer_ids_used, uavcan_iface_t::transfer_ids_values, uavcan_iface_t::tx_mutex, UAVCAN_TID_STORE_CAPACITY, and uavcan_tx().

Referenced by uavcan_init().

Here is the call graph for this function:

Here is the caller graph for this function:

Variable Documentation

uavcan_event_hd

uavcan_event* uavcan_event_hd = NULL

static

Definition at line 43 of file uavcan.c.

Referenced by onTransferReceived(), shouldAcceptTransfer(), and uavcan_bind().