uavcan_stm32::CanInitHelper< RxQueueCapacity > Class Template Reference

#include <can.hpp>

Public Types
enum	{ BitRateAutoDetect = 0 }

Public Member Functions
	CanInitHelper ()
template<typename DelayCallable >
int	init (DelayCallable delay_callable, uavcan::uint32_t &inout_bitrate=BitRateAutoDetect)
int	init (uavcan::uint32_t bitrate)

Static Public Member Functions
static uavcan::MonotonicDuration	getRecommendedListeningDelay ()

Public Attributes
CanDriver	driver

Private Attributes
CanRxItem	queue_storage_ [UAVCAN_STM32_NUM_IFACES][RxQueueCapacity]

Detailed Description

template<unsigned RxQueueCapacity = 128>
class uavcan_stm32::CanInitHelper< RxQueueCapacity >

Helper class. Normally only this class should be used by the application. 145 usec per Extended CAN frame @ 1 Mbps, e.g. 32 RX slots * 145 usec --> 4.6 msec before RX queue overruns.

Definition at line 293 of file platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp.

Member Enumeration Documentation

anonymous enum

template<unsigned RxQueueCapacity = 128>

anonymous enum

Enumerator
BitRateAutoDetect

Definition at line 298 of file platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp.

Constructor & Destructor Documentation

CanInitHelper()

template<unsigned RxQueueCapacity = 128>

uavcan_stm32::CanInitHelper< RxQueueCapacity >::CanInitHelper ( )

inline

Definition at line 302 of file platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp.

Member Function Documentation

getRecommendedListeningDelay()

template<unsigned RxQueueCapacity = 128>

static uavcan::MonotonicDuration uavcan_stm32::CanInitHelper< RxQueueCapacity >::getRecommendedListeningDelay ( )

inlinestatic

Use this value for listening delay during automatic bit rate detection.

Definition at line 376 of file platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp.

init() [1/2]

template<unsigned RxQueueCapacity = 128>

template<typename DelayCallable >

int uavcan_stm32::CanInitHelper< RxQueueCapacity >::init ( DelayCallable  delay_callable, uavcan::uint32_t &  inout_bitrate = BitRateAutoDetect  )

inline

This function can either initialize the driver at a fixed bit rate, or it can perform automatic bit rate detection. For theory please refer to the CiA application note #801.

Parameters

delay_callable	A callable entity that suspends execution for strictly more than one second. The callable entity will be invoked without arguments. getRecommendedListeningDelay().
inout_bitrate	Fixed bit rate or zero. Zero invokes the bit rate detection process. If auto detection was used, the function will update the argument with established bit rate. In case of an error the value will be undefined.

Returns

Negative value on error; non-negative on success. Refer to constants Err*.

Definition at line 332 of file platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp.

init() [2/2]

template<unsigned RxQueueCapacity = 128>

int uavcan_stm32::CanInitHelper< RxQueueCapacity >::init ( uavcan::uint32_t  bitrate )

inline

This overload simply configures the provided bitrate. Auto bit rate detection will not be performed. Bitrate value must be positive.

Returns

Negative value on error; non-negative on success. Refer to constants Err*.

Definition at line 312 of file platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp.

Member Data Documentation

driver

template<unsigned RxQueueCapacity = 128>

CanDriver uavcan_stm32::CanInitHelper< RxQueueCapacity >::driver

Definition at line 300 of file platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp.

queue_storage_

template<unsigned RxQueueCapacity = 128>

CanRxItem uavcan_stm32::CanInitHelper< RxQueueCapacity >::queue_storage_[UAVCAN_STM32_NUM_IFACES][RxQueueCapacity]

private

Definition at line 295 of file platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp.

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

• platform_specific_components/stm32/libuavcan/driver/include/uavcan_stm32/can.hpp