uavcan.c File Reference

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

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 80 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 143 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 158 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 215 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(), 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
	)

Broadcast an uavcan message to a specific interface.

Definition at line 230 of file uavcan.c.

References foo, pprz_bsem_signal(), pprz_mtx_lock(), and pprz_mtx_unlock().

Referenced by actuators_uavcan_cmd_commit(), and actuators_uavcan_commit().

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uavcan_init()

void uavcan_init

(

void

)

Initialize all uavcan interfaces.

uavcan interfaces

Definition at line 202 of file uavcan.c.

References foo, and uavcanInitIface().

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uavcan_tx()

static void uavcan_tx ( void *  p )

static

Definition at line 103 of file uavcan.c.

References CAN_FRAME_EFF, pprzcan_frame::can_id, can_transmit_frame(), pprzcan_frame::data, foo, pprzcan_frame::len, p, pprz_bsem_wait(), pprz_mtx_lock(), and pprz_mtx_unlock().

Referenced by uavcanInitIface().

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uavcanInitIface()

static void uavcanInitIface ( struct uavcan_iface_t *  iface )

static

Initialize uavcan interface.

Definition at line 180 of file uavcan.c.

References can_frame_cb(), can_register_callback(), foo, onTransferReceived(), pprz_bsem_init(), pprz_mtx_init(), pprz_thread_create(), shouldAcceptTransfer(), and uavcan_tx().

Referenced by uavcan_init().

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Variable Documentation

uavcan_event_hd

uavcan_event* uavcan_event_hd = NULL

static

Definition at line 39 of file uavcan.c.

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