#include <can.hpp>

Inheritance diagram for uavcan_stm32::CanDriver:

Public Member Functions
template<unsigned RxQueueCapacity>
	CanDriver (CanRxItem(&rx_queue_storage)[UAVCAN_STM32_NUM_IFACES][RxQueueCapacity])

virtual CanIface *	getIface (uavcan::uint8_t iface_index)

virtual uavcan::uint8_t	getNumIfaces () const

bool	hadActivity ()

bool	hasReadableInterfaces () const

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

uavcan::CanSelectMasks	makeSelectMasks (const uavcan::CanFrame *(&pending_tx)[uavcan::MaxCanIfaces]) const

Public Member Functions inherited from uavcan::ICanDriver
virtual const ICanIface *	getIface (uint8_t iface_index) const

virtual int16_t	select (CanSelectMasks &inout_masks, const CanFrame *(&pending_tx)[MaxCanIfaces], MonotonicTime blocking_deadline)=0

virtual	~ICanDriver ()

Private Member Functions
virtual uavcan::int16_t	select (uavcan::CanSelectMasks &inout_masks, const uavcan::CanFrame *(&pending_tx)[uavcan::MaxCanIfaces], uavcan::MonotonicTime blocking_deadline)

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

	~Noncopyable ()

Static Private Member Functions
static void	initOnce ()

Private Attributes
CanIface	if0_

BusEvent	update_event_

Detailed Description

CAN driver, incorporates all available CAN ifaces. Please avoid direct use, prefer CanInitHelper instead.

Definition at line 234 of file platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp.

Constructor & Destructor Documentation

◆ CanDriver()

template<unsigned RxQueueCapacity>

uavcan_stm32::CanDriver::CanDriver ( CanRxItem(&) rx_queue_storage[UAVCAN_STM32_NUM_IFACES][RxQueueCapacity] )

inline

Definition at line 250 of file platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp.

Member Function Documentation

◆ getIface()

CanIface * uavcan_stm32::CanDriver::getIface ( uavcan::uint8_t iface_index )

virtual

Returns an interface by index, or null pointer if the index is out of range.

Implements uavcan::ICanDriver.

Definition at line 1116 of file uc_stm32_can.cpp.

◆ getNumIfaces()

virtual uavcan::uint8_t uavcan_stm32::CanDriver::getNumIfaces ( ) const

inlinevirtual

Total number of available CAN interfaces. This value shall not change after initialization.

Implements uavcan::ICanDriver.

Definition at line 278 of file platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp.

◆ hadActivity()

bool uavcan_stm32::CanDriver::hadActivity ( )

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

Definition at line 1125 of file uc_stm32_can.cpp.

◆ hasReadableInterfaces()

bool uavcan_stm32::CanDriver::hasReadableInterfaces ( ) const

Whether there's at least one interface where receive() would return a frame.

Definition at line 915 of file uc_stm32_can.cpp.

◆ init()

int uavcan_stm32::CanDriver::init	(	const uavcan::uint32_t	bitrate,
		const CanIface::OperatingMode	mode
	)

Returns zero if OK. Returns negative value if failed (e.g. invalid bitrate).

Definition at line 1064 of file uc_stm32_can.cpp.

◆ initOnce()

void uavcan_stm32::CanDriver::initOnce ( )

staticprivate

Definition at line 979 of file uc_stm32_can.cpp.

◆ makeSelectMasks()

uavcan::CanSelectMasks uavcan_stm32::CanDriver::makeSelectMasks ( const uavcan::CanFrame *(&) pending_tx[uavcan::MaxCanIfaces] ) const

This function returns select masks indicating which interfaces are available for read/write.

Definition at line 885 of file uc_stm32_can.cpp.

◆ select()

uavcan::int16_t uavcan_stm32::CanDriver::select	(	uavcan::CanSelectMasks &	inout_masks,
		const uavcan::CanFrame *(&)	pending_tx[uavcan::MaxCanIfaces],
		uavcan::MonotonicTime	blocking_deadline
	)

privatevirtual

Definition at line 926 of file uc_stm32_can.cpp.

Member Data Documentation

◆ if0_

CanIface uavcan_stm32::CanDriver::if0_

private

Definition at line 237 of file platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp.

◆ update_event_

BusEvent uavcan_stm32::CanDriver::update_event_