#include <can.hpp>

Inheritance diagram for uavcan_kinetis::CanIface:

Classes
class	RxQueue

struct	Timings

struct	TxItem

Public Types
enum	{ MaxRxQueueCapacity = 254 }

enum	OperatingMode { NormalMode, SilentMode }

Public Member Functions
bool	canAcceptNewTxFrame (const uavcan::CanFrame &frame) const

	CanIface (flexcan::CanType can, BusEvent &update_event, uavcan::uint8_t self_index, CanRxItem rx_queue_buffer, uavcan::uint8_t rx_queue_capacity)

void	discardTimedOutTxMailboxes (uavcan::MonotonicTime current_time)

virtual uavcan::uint64_t	getErrorCount () const

uavcan::uint8_t	getPeakNumTxMailboxesUsed () const

unsigned	getRxQueueLength () const

uavcan::uint32_t	getRxQueueOverflowCount () const

uavcan::uint32_t	getVoluntaryTxAbortCount () const

bool	hadActivity ()

void	handleRxInterrupt (uavcan::uint32_t rx_iflags, uavcan::uint64_t utc_usec)

void	handleTxInterrupt (uavcan::uint32_t tx_iflags, uavcan::uint64_t utc_usec)

int	init (const uavcan::uint32_t bitrate, const OperatingMode mode)

bool	isRxBufferEmpty () const

void	pollErrorFlagsFromISR ()

Public Member Functions inherited from uavcan::ICanIface
virtual int16_t	receive (CanFrame &out_frame, MonotonicTime &out_ts_monotonic, UtcTime &out_ts_utc, CanIOFlags &out_flags)=0

virtual int16_t	send (const CanFrame &frame, MonotonicTime tx_deadline, CanIOFlags flags)=0

virtual	~ICanIface ()

Private Types
enum	{ NumTxMesgBuffers = 6 }

enum	{ NumFilters = 16 }

Private Member Functions
int	computeTimings (uavcan::uint32_t target_bitrate, Timings &out_timings)

virtual uavcan::int16_t	configureFilters (const uavcan::CanFilterConfig *filter_configs, uavcan::uint16_t num_configs)

uavcan::int16_t	doReset (Timings timings)

virtual uavcan::uint16_t	getNumFilters () const

void	handleTxMailboxInterrupt (uavcan::uint8_t mailbox_index, bool txok, uavcan::uint64_t utc_usec)

virtual uavcan::int16_t	receive (uavcan::CanFrame &out_frame, uavcan::MonotonicTime &out_ts_monotonic, uavcan::UtcTime &out_ts_utc, uavcan::CanIOFlags &out_flags)

virtual uavcan::int16_t	send (const uavcan::CanFrame &frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags)

bool	setEnable (bool enable_true)

void	setFreeze (bool freeze_true)

void	setMCR (uavcan::uint32_t mask, bool target_state)

bool	waitFreezeAckChange (bool target_state)

bool	waitMCRChange (uavcan::uint32_t mask, bool target_state)

Private Member Functions inherited from uavcan::Noncopyable
	Noncopyable ()

	~Noncopyable ()

Detailed Description

Single CAN iface. The application shall not use this directly.

Definition at line 51 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
NumTxMesgBuffers

Definition at line 124 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ anonymous enum

anonymous enum

private

Enumerator
NumFilters

Definition at line 125 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ anonymous enum

anonymous enum

Enumerator
MaxRxQueueCapacity

Definition at line 167 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ OperatingMode

enum uavcan_kinetis::CanIface::OperatingMode

Enumerator
NormalMode
SilentMode

Definition at line 169 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

Constructor & Destructor Documentation

◆ CanIface()

uavcan_kinetis::CanIface::CanIface	(	flexcan::CanType *	can,
		BusEvent &	update_event,
		uavcan::uint8_t	self_index,
		CanRxItem *	rx_queue_buffer,
		uavcan::uint8_t	rx_queue_capacity
	)

inline

Definition at line 175 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

Member Function Documentation

◆ canAcceptNewTxFrame()

bool uavcan_kinetis::CanIface::canAcceptNewTxFrame ( const uavcan::CanFrame & frame ) const

Definition at line 782 of file uc_kinetis_flexcan.cpp.

◆ computeTimings()

int uavcan_kinetis::CanIface::computeTimings	(	uavcan::uint32_t	target_bitrate,
		Timings &	out_timings
	)

private

Definition at line 139 of file uc_kinetis_flexcan.cpp.

◆ configureFilters()

uavcan::int16_t uavcan_kinetis::CanIface::configureFilters	(	const uavcan::CanFilterConfig *	filter_configs,
		uavcan::uint16_t	num_configs
	)

privatevirtual

Configure the hardware CAN filters. CanFilterConfig.

Returns: 0 = success, negative for error.

Implements uavcan::ICanIface.

Definition at line 325 of file uc_kinetis_flexcan.cpp.

◆ discardTimedOutTxMailboxes()

void uavcan_kinetis::CanIface::discardTimedOutTxMailboxes ( uavcan::MonotonicTime current_time )

Definition at line 767 of file uc_kinetis_flexcan.cpp.

◆ doReset()

uavcan::int16_t uavcan_kinetis::CanIface::doReset ( Timings timings )

private

Definition at line 456 of file uc_kinetis_flexcan.cpp.

◆ getErrorCount()

uavcan::uint64_t uavcan_kinetis::CanIface::getErrorCount ( ) const

virtual

Total number of hardware failures and other kinds of errors (e.g. queue overruns). May increase continuously if the interface is not connected to the bus.

Implements uavcan::ICanIface.

Definition at line 820 of file uc_kinetis_flexcan.cpp.

◆ getNumFilters()

virtual uavcan::uint16_t uavcan_kinetis::CanIface::getNumFilters ( ) const

inlineprivatevirtual

Number of available hardware filters.

Implements uavcan::ICanIface.

Definition at line 152 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ getPeakNumTxMailboxesUsed()

uavcan::uint8_t uavcan_kinetis::CanIface::getPeakNumTxMailboxesUsed ( ) const

inline

Peak number of TX mailboxes used concurrently since initialization. Range is [1, 3]. Value of 3 suggests that priority inversion could be taking place.

Definition at line 258 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ getRxQueueLength()

unsigned uavcan_kinetis::CanIface::getRxQueueLength ( ) const

Returns the number of frames pending in the RX queue. This is intended for debug use only.

Definition at line 826 of file uc_kinetis_flexcan.cpp.

◆ getRxQueueOverflowCount()

uavcan::uint32_t uavcan_kinetis::CanIface::getRxQueueOverflowCount ( ) const

inline

Number of RX frames lost due to queue overflow. This is an atomic read, it doesn't require a critical section.

Definition at line 222 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ getVoluntaryTxAbortCount()

uavcan::uint32_t uavcan_kinetis::CanIface::getVoluntaryTxAbortCount ( ) const

inline

Number of times the driver exercised library's requirement to abort transmission on first error. This is an atomic read, it doesn't require a critical section. See uavcan::CanIOFlagAbortOnError.

Definition at line 237 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ hadActivity()

bool uavcan_kinetis::CanIface::hadActivity ( )

Whether this iface had at least one successful IO since the previous call of this method. This is designed for use with iface activity LEDs.

Definition at line 832 of file uc_kinetis_flexcan.cpp.

◆ handleRxInterrupt()

void uavcan_kinetis::CanIface::handleRxInterrupt	(	uavcan::uint32_t	rx_iflags,
		uavcan::uint64_t	utc_usec
	)

Definition at line 661 of file uc_kinetis_flexcan.cpp.

◆ handleTxInterrupt()

void uavcan_kinetis::CanIface::handleTxInterrupt	(	uavcan::uint32_t	tx_iflags,
		uavcan::uint64_t	utc_usec
	)

Definition at line 614 of file uc_kinetis_flexcan.cpp.

◆ handleTxMailboxInterrupt()

void uavcan_kinetis::CanIface::handleTxMailboxInterrupt	(	uavcan::uint8_t	mailbox_index,
		bool	txok,
		uavcan::uint64_t	utc_usec
	)

private

Definition at line 598 of file uc_kinetis_flexcan.cpp.

◆ init()

int uavcan_kinetis::CanIface::init	(	const uavcan::uint32_t	bitrate,
		const OperatingMode	mode
	)

Initializes the hardware CAN controller. Assumes:

Iface clock is enabled
Iface has been resetted via RCC
Caller will configure NVIC by itself

Definition at line 500 of file uc_kinetis_flexcan.cpp.

◆ isRxBufferEmpty()

bool uavcan_kinetis::CanIface::isRxBufferEmpty ( ) const

Definition at line 814 of file uc_kinetis_flexcan.cpp.

◆ pollErrorFlagsFromISR()

void uavcan_kinetis::CanIface::pollErrorFlagsFromISR ( )

This method is used to count errors and abort transmission on error if necessary. This functionality used to be implemented in the SCE interrupt handler, but that approach was generating too much processing overhead, especially on disconnected interfaces.

Should be called from RX ISR, TX ISR, and select(); interrupts must be enabled.

Definition at line 736 of file uc_kinetis_flexcan.cpp.

◆ receive()

uavcan::int16_t uavcan_kinetis::CanIface::receive	(	uavcan::CanFrame &	out_frame,
		uavcan::MonotonicTime &	out_ts_monotonic,
		uavcan::UtcTime &	out_ts_utc,
		uavcan::CanIOFlags &	out_flags
	)

privatevirtual

Definition at line 308 of file uc_kinetis_flexcan.cpp.

◆ send()

uavcan::int16_t uavcan_kinetis::CanIface::send	(	const uavcan::CanFrame &	frame,
		uavcan::MonotonicTime	tx_deadline,
		uavcan::CanIOFlags	flags
	)

privatevirtual

Definition at line 211 of file uc_kinetis_flexcan.cpp.

◆ setEnable()

bool uavcan_kinetis::CanIface::setEnable ( bool enable_true )

private

Definition at line 451 of file uc_kinetis_flexcan.cpp.

◆ setFreeze()

void uavcan_kinetis::CanIface::setFreeze ( bool freeze_true )

private

Definition at line 432 of file uc_kinetis_flexcan.cpp.

◆ setMCR()

void uavcan_kinetis::CanIface::setMCR	(	uavcan::uint32_t	mask,
		bool	target_state
	)

private

Definition at line 414 of file uc_kinetis_flexcan.cpp.

◆ waitFreezeAckChange()

bool uavcan_kinetis::CanIface::waitFreezeAckChange ( bool target_state )

private

Definition at line 427 of file uc_kinetis_flexcan.cpp.

◆ waitMCRChange()

bool uavcan_kinetis::CanIface::waitMCRChange	(	uavcan::uint32_t	mask,
		bool	target_state
	)

private

Definition at line 399 of file uc_kinetis_flexcan.cpp.

Member Data Documentation

◆ can_

flexcan::CanType* const uavcan_kinetis::CanIface::can_

private

Definition at line 130 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ error_cnt_

uavcan::uint64_t uavcan_kinetis::CanIface::error_cnt_

private

Definition at line 131 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ FIFO_IFLAG1

const uavcan::uint32_t uavcan_kinetis::CanIface::FIFO_IFLAG1 = flexcan::CAN_FIFO_NE | flexcan::CAN_FIFO_WARN | flexcan::CAN_FIFO_OV

private

Definition at line 54 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ fifo_warn_cnt_

uavcan::uint64_t uavcan_kinetis::CanIface::fifo_warn_cnt_

private

Definition at line 132 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ had_activity_

bool uavcan_kinetis::CanIface::had_activity_

private

Definition at line 139 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ MaxMB

uavcan::uint8_t uavcan_kinetis::CanIface::MaxMB

private

Definition at line 127 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ peak_tx_mailbox_index_

uavcan::uint8_t uavcan_kinetis::CanIface::peak_tx_mailbox_index_

private

Definition at line 137 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ pending_aborts_

uavcan::uint32_t uavcan_kinetis::CanIface::pending_aborts_

private

Definition at line 133 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ pending_tx_

TxItem uavcan_kinetis::CanIface::pending_tx_[NumTxMesgBuffers]

private

Definition at line 136 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ rx_queue_

RxQueue uavcan_kinetis::CanIface::rx_queue_

private

Definition at line 129 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ self_index_

const uavcan::uint8_t uavcan_kinetis::CanIface::self_index_

private

Definition at line 138 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ served_aborts_cnt_

uavcan::uint32_t uavcan_kinetis::CanIface::served_aborts_cnt_

private

Definition at line 134 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

◆ update_event_

BusEvent& uavcan_kinetis::CanIface::update_event_

private

Definition at line 135 of file platform_specific_components/kinetis/libuavcan/driver/include/uavcan_kinetis/can.hpp.

The documentation for this class was generated from the following files:

Private Attributes
flexcan::CanType *const	can_

uavcan::uint64_t	error_cnt_

const uavcan::uint32_t	FIFO_IFLAG1 = flexcan::CAN_FIFO_NE \| flexcan::CAN_FIFO_WARN \| flexcan::CAN_FIFO_OV

uavcan::uint64_t	fifo_warn_cnt_

bool	had_activity_

uavcan::uint8_t	MaxMB

uavcan::uint8_t	peak_tx_mailbox_index_

uavcan::uint32_t	pending_aborts_

TxItem	pending_tx_ [NumTxMesgBuffers]

RxQueue	rx_queue_

const uavcan::uint8_t	self_index_

uavcan::uint32_t	served_aborts_cnt_

BusEvent &	update_event_

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ OperatingMode

Constructor & Destructor Documentation

◆ CanIface()

Member Function Documentation

◆ canAcceptNewTxFrame()

◆ computeTimings()

◆ configureFilters()

◆ discardTimedOutTxMailboxes()

◆ doReset()

◆ getErrorCount()

◆ getNumFilters()

◆ getPeakNumTxMailboxesUsed()

◆ getRxQueueLength()

◆ getRxQueueOverflowCount()

◆ getVoluntaryTxAbortCount()

◆ hadActivity()

◆ handleRxInterrupt()

◆ handleTxInterrupt()

◆ handleTxMailboxInterrupt()

◆ init()

◆ isRxBufferEmpty()

◆ pollErrorFlagsFromISR()

◆ receive()

◆ send()

◆ setEnable()

◆ setFreeze()

◆ setMCR()

◆ waitFreezeAckChange()

◆ waitMCRChange()

Member Data Documentation

◆ can_

◆ error_cnt_

◆ FIFO_IFLAG1

◆ fifo_warn_cnt_

◆ had_activity_

◆ MaxMB

◆ peak_tx_mailbox_index_

◆ pending_aborts_

◆ pending_tx_

◆ rx_queue_

◆ self_index_

◆ served_aborts_cnt_

◆ update_event_