uavcan.c File Reference

#include "uavcan.h"

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Macros
#define	UAVCAN_NODE_ID   100
#define	UAVCAN_BAUDRATE   1000000

Functions
static	THD_FUNCTION (uavcan_rx, p)
static	THD_FUNCTION (uavcan_tx, p)
static void	onTransferReceived (CanardInstance *ins, CanardRxTransfer *transfer)
	Whenever a valid and 'accepted' transfer is received. More...
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. More...
static bool	uavcanConfigureIface (struct uavcan_iface_t *iface)
	Try to compute the timing registers for the can interface and set the configuration. More...
static void	uavcanInitIface (struct uavcan_iface_t *iface)
	Initialize uavcan interface. More...
void	uavcan_init (void)
	Initialize all uavcan interfaces. More...
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. More...
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. More...

Variables
static uavcan_event *	uavcan_event_hd = NULL

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 34 of file uavcan.c.

UAVCAN_NODE_ID

#define UAVCAN_NODE_ID   100

Definition at line 30 of file uavcan.c.

Function Documentation

onTransferReceived()

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

static

Whenever a valid and 'accepted' transfer is received.

Definition at line 204 of file uavcan.c.

References abi_struct::cb, ev, 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 219 of file uavcan.c.

References ev, abi_struct::next, and uavcan_event_hd.

Referenced by uavcanInitIface().

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THD_FUNCTION() [1/2]

static THD_FUNCTION ( uavcan_rx  , p    )

static

Definition at line 94 of file uavcan.c.

References uavcan_iface_t::can_driver, uavcan_iface_t::canard, uavcan_iface_t::mutex, and p.

THD_FUNCTION() [2/2]

static THD_FUNCTION ( uavcan_tx  , p    )

static

Definition at line 140 of file uavcan.c.

References uavcan_iface_t::can_driver, uavcan_iface_t::canard, uavcan_iface_t::mutex, p, and uavcan_iface_t::tx_request.

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 412 of file uavcan.c.

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

Referenced by actuators_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 427 of file uavcan.c.

References uavcan_iface_t::canard, uavcan_iface_t::initialized, uavcan_iface_t::mutex, uavcan_iface_t::transfer_id, and uavcan_iface_t::tx_request.

Referenced by actuators_uavcan_commit().

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uavcan_init()

void uavcan_init

(

void

)

Initialize all uavcan interfaces.

uavcan interfaces

Definition at line 383 of file uavcan.c.

References uavcan_iface_t::can_cfg, and uavcanInitIface().

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uavcanConfigureIface()

static bool uavcanConfigureIface ( struct uavcan_iface_t *  iface )

static

Try to compute the timing registers for the can interface and set the configuration.

Definition at line 240 of file uavcan.c.

References uavcan_iface_t::can_baudrate, and uavcan_iface_t::can_cfg.

Referenced by uavcanInitIface().

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uavcanInitIface()

static void uavcanInitIface ( struct uavcan_iface_t *  iface )

static

Initialize uavcan interface.

Definition at line 354 of file uavcan.c.

References uavcan_iface_t::can_cfg, uavcan_iface_t::can_driver, uavcan_iface_t::canard, uavcan_iface_t::canard_memory_pool, uavcan_iface_t::mutex, uavcan_iface_t::node_id, onTransferReceived(), shouldAcceptTransfer(), uavcan_iface_t::thread_rx_wa, uavcan_iface_t::thread_rx_wa_size, uavcan_iface_t::tx_request, and uavcanConfigureIface().

Referenced by uavcan_init().

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Variable Documentation

uavcan_event_hd

uavcan_event* uavcan_event_hd = NULL

static

Definition at line 37 of file uavcan.c.

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