Interface from actuators to ChibiOS CAN driver using UAVCan. More...

#include "uavcan.h"
#include "mcu_periph/can.h"
#include "modules/core/threads.h"

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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.

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.

Variables
static uavcan_event *	uavcan_event_hd = NULL

uint8_t	msg_payload [UAVCAN_MSG_MAX_SIZE]

Detailed Description

Interface from actuators to ChibiOS CAN driver using UAVCan.

Definition in file uavcan.c.

Macro Definition Documentation

◆ UAVCAN_BAUDRATE

#define UAVCAN_BAUDRATE 1000000

Definition at line 36 of file uavcan.c.

◆ UAVCAN_NODE_ID

#define UAVCAN_NODE_ID 100

Definition at line 32 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 88 of file uavcan.c.

References CAN_EID_MASK, CAN_FRAME_EFF, CAN_SID_MASK, foo, pprz_mtx_lock(), and pprz_mtx_unlock().

Referenced by uavcanInitIface().

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◆ onTransferReceived()

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

static

Whenever a valid and 'accepted' transfer is received.

Definition at line 174 of file uavcan.c.

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

Referenced by uavcanInitIface().

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◆ 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 189 of file uavcan.c.

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

Referenced by uavcanInitIface().

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◆ 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
	)