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

#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(), and airspeed_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
	)