uavcan.h File Reference

#include <canard.h>
#include <string.h>
#include "mcu_periph/can.h"
#include "modules/core/threads.h"
#include "utils/framed_ring_buffer.h"
#include "utils/kv_store.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_TID_STORE_CAPACITY   30

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_reporting (void)
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_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)

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Data Structure Documentation

uavcan_iface_t

struct uavcan_iface_t

uavcan interface structure

Definition at line 44 of file uavcan.h.

Collaboration diagram for uavcan_iface_t:

Data Fields
pprz_bsem_t	bsem
uint32_t	can_baudrate
struct pprzaddr_can	can_net
CanardInstance	canard
uint8_t	canard_memory_pool[1024 *2]
bool	initialized
uint16_t	nb_errors
uint8_t	node_id
pprz_mutex_t	rx_mutex
pprz_thread_t	thread_tx
uint32_t	transfer_ids_keys[UAVCAN_TID_STORE_CAPACITY]
kv_store_t	transfer_ids_store
uint8_t	transfer_ids_used[UAVCAN_TID_STORE_CAPACITY]
uint8_t	transfer_ids_values[UAVCAN_TID_STORE_CAPACITY]
pprz_mutex_t	tx_mutex

uavcan_event_t

struct uavcan_event_t

Main uavcan event structure for registering/calling callbacks.

Definition at line 74 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_TID_STORE_CAPACITY

#define UAVCAN_TID_STORE_CAPACITY   30

Definition at line 41 of file uavcan.h.

UAVCAN_TX_FIFO_SIZE

#define UAVCAN_TX_FIFO_SIZE   1024

Definition at line 38 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 71 of file uavcan.h.

uavcan_event

typedef struct uavcan_event_t uavcan_event

Definition at line 80 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 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().

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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
	)

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().

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uavcan_init()

void uavcan_init

(

void

)

uavcan interfaces

uavcan external functions

uavcan interfaces

Definition at line 225 of file uavcan.c.

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

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uavcan_reporting()

void uavcan_reporting

(

void

)

Definition at line 47 of file uavcan_reporting.c.

References foo, get_uavcan_status(), and uavcan_broadcast().

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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().

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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().

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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().

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