uavcan_stm32::CanIface Class Reference

Single CAN iface. More...

#include <can.hpp>

Inheritance diagram for uavcan_stm32::CanIface:

Collaboration diagram for uavcan_stm32::CanIface:

Classes
class	RxQueue
struct	Timings
struct	TxItem

Public Types
enum	{ MaxRxQueueCapacity = 254 }
enum	OperatingMode { NormalMode, SilentMode }

Public Member Functions
	CanIface (bxcan::CanType *can, BusEvent &update_event, uavcan::uint8_t self_index, CanRxItem *rx_queue_buffer, uavcan::uint8_t rx_queue_capacity)
int	init (const uavcan::uint32_t bitrate, const OperatingMode mode)
	Initializes the hardware CAN controller. More...
void	handleTxInterrupt (uavcan::uint64_t utc_usec)
void	handleRxInterrupt (uavcan::uint8_t fifo_index, uavcan::uint64_t utc_usec)
void	pollErrorFlagsFromISR ()
	This method is used to count errors and abort transmission on error if necessary. More...
void	discardTimedOutTxMailboxes (uavcan::MonotonicTime current_time)
bool	canAcceptNewTxFrame (const uavcan::CanFrame &frame) const
bool	isRxBufferEmpty () const
uavcan::uint32_t	getRxQueueOverflowCount () const
	Number of RX frames lost due to queue overflow. More...
virtual uavcan::uint64_t	getErrorCount () const
	Total number of hardware failures and other kinds of errors (e.g. More...
uavcan::uint32_t	getVoluntaryTxAbortCount () const
	Number of times the driver exercised library's requirement to abort transmission on first error. More...
unsigned	getRxQueueLength () const
	Returns the number of frames pending in the RX queue. More...
bool	hadActivity ()
	Whether this iface had at least one successful IO since the previous call of this method. More...
uavcan::uint8_t	getPeakNumTxMailboxesUsed () const
	Peak number of TX mailboxes used concurrently since initialization. More...

Private Types
enum	{ NumTxMailboxes = 3 }
enum	{ NumFilters = 14 }

Private Member Functions
int	computeTimings (uavcan::uint32_t target_bitrate, Timings &out_timings)
virtual uavcan::int16_t	send (const uavcan::CanFrame &frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags)
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	configureFilters (const uavcan::CanFilterConfig *filter_configs, uavcan::uint16_t num_configs)
virtual uavcan::uint16_t	getNumFilters () const
void	handleTxMailboxInterrupt (uavcan::uint8_t mailbox_index, bool txok, uavcan::uint64_t utc_usec)
bool	waitMsrINakBitStateChange (bool target_state)

Private Attributes
RxQueue	rx_queue_
bxcan::CanType *const	can_
uavcan::uint64_t	error_cnt_
uavcan::uint32_t	served_aborts_cnt_
BusEvent &	update_event_
TxItem	pending_tx_ [NumTxMailboxes]
uavcan::uint8_t	peak_tx_mailbox_index_
const uavcan::uint8_t	self_index_
bool	had_activity_

Static Private Attributes
static const uavcan::uint32_t	TSR_ABRQx [NumTxMailboxes]

Detailed Description

Single CAN iface.

The application shall not use this directly.

Definition at line 46 of file can.hpp.

Member Enumeration Documentation

anonymous enum

anonymous enum

private

Enumerator
NumTxMailboxes

Definition at line 107 of file can.hpp.

anonymous enum

anonymous enum

private

Enumerator
NumFilters

Definition at line 108 of file can.hpp.

anonymous enum

anonymous enum

Enumerator
MaxRxQueueCapacity

Definition at line 140 of file can.hpp.

OperatingMode

enum uavcan_stm32::CanIface::OperatingMode

Enumerator
NormalMode
SilentMode

Definition at line 142 of file can.hpp.

Constructor & Destructor Documentation

CanIface()

uavcan_stm32::CanIface::CanIface ( bxcan::CanType *  can, BusEvent &  update_event, uavcan::uint8_t  self_index, CanRxItem *  rx_queue_buffer, uavcan::uint8_t  rx_queue_capacity  )

inline

Definition at line 147 of file can.hpp.

References uavcan_stm32::CanRxItem::frame, and ToneAlarmInterface::init().

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Member Function Documentation

canAcceptNewTxFrame()

bool uavcan_stm32::CanIface::canAcceptNewTxFrame

(

const uavcan::CanFrame &

frame

)

const

Definition at line 733 of file uc_stm32_can.cpp.

References can_, uavcan_stm32::CanIface::TxItem::frame, MicroBenchHRT::lock(), NumTxMailboxes, pending_tx_, uavcan_stm32::bxcan::CanType::TSR, uavcan_stm32::bxcan::TSR_TME0, uavcan_stm32::bxcan::TSR_TME1, and uavcan_stm32::bxcan::TSR_TME2.

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computeTimings()

int uavcan_stm32::CanIface::computeTimings ( uavcan::uint32_t  target_bitrate, Timings &  out_timings  )

private

Definition at line 159 of file uc_stm32_can.cpp.

References uavcan_stm32::CanIface::Timings::bs1, uavcan_stm32::CanIface::Timings::bs2, uavcan_stm32::ErrInvalidBitRate, uavcan_stm32::ErrLogic, uavcan_stm32::CanIface::Timings::prescaler, uavcan_stm32::CanIface::Timings::sjw, and UAVCAN_STM32_LOG.

Referenced by init().

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configureFilters()

uavcan::int16_t uavcan_stm32::CanIface::configureFilters ( const uavcan::CanFilterConfig *  filter_configs, uavcan::uint16_t  num_configs  )

privatevirtual

Definition at line 400 of file uc_stm32_can.cpp.

References can_, uavcan_stm32::ErrFilterNumConfigs, uavcan_stm32::bxcan::CanType::FA1R, uavcan_stm32::bxcan::CanType::FFA1R, uavcan_stm32::bxcan::CanType::FilterRegister, uavcan_stm32::bxcan::CanType::FM1R, uavcan_stm32::bxcan::CanType::FMR, uavcan_stm32::bxcan::FMR_FINIT, uavcan_stm32::bxcan::FilterRegisterType::FR1, uavcan_stm32::bxcan::FilterRegisterType::FR2, uavcan_stm32::bxcan::CanType::FS1R, MicroBenchHRT::lock(), NumFilters, uavcan_stm32::bxcan::RIR_IDE, uavcan_stm32::bxcan::RIR_RTR, and self_index_.

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discardTimedOutTxMailboxes()

void uavcan_stm32::CanIface::discardTimedOutTxMailboxes

(

uavcan::MonotonicTime

current_time

)

Definition at line 718 of file uc_stm32_can.cpp.

References can_, uavcan_stm32::CanIface::TxItem::deadline, error_cnt_, MicroBenchHRT::lock(), NumTxMailboxes, uavcan_stm32::CanIface::TxItem::pending, pending_tx_, uavcan_stm32::bxcan::CanType::TSR, and TSR_ABRQx.

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getErrorCount()

uavcan::uint64_t uavcan_stm32::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.

Definition at line 773 of file uc_stm32_can.cpp.

References error_cnt_, uavcan_stm32::CanIface::RxQueue::getOverflowCount(), MicroBenchHRT::lock(), and rx_queue_.

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getNumFilters()

virtual uavcan::uint16_t uavcan_stm32::CanIface::getNumFilters ( ) const

inlineprivatevirtual

Definition at line 133 of file can.hpp.

References uavcan_stm32::CanRxItem::utc_usec.

getPeakNumTxMailboxesUsed()

uavcan::uint8_t uavcan_stm32::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 223 of file can.hpp.

getRxQueueLength()

unsigned uavcan_stm32::CanIface::getRxQueueLength

(

)

const

Returns the number of frames pending in the RX queue.

This is intended for debug use only.

Definition at line 779 of file uc_stm32_can.cpp.

References uavcan_stm32::CanIface::RxQueue::getLength(), MicroBenchHRT::lock(), and rx_queue_.

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getRxQueueOverflowCount()

uavcan::uint32_t uavcan_stm32::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 191 of file can.hpp.

References uavcan_stm32::CanIface::RxQueue::getOverflowCount().

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getVoluntaryTxAbortCount()

uavcan::uint32_t uavcan_stm32::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 204 of file can.hpp.

hadActivity()

bool uavcan_stm32::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 785 of file uc_stm32_can.cpp.

References had_activity_, and MicroBenchHRT::lock().

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handleRxInterrupt()

void uavcan_stm32::CanIface::handleRxInterrupt	(	uavcan::uint8_t	fifo_index,
		uavcan::uint64_t	utc_usec
	)

Definition at line 637 of file uc_stm32_can.cpp.

References can_, error_cnt_, had_activity_, pollErrorFlagsFromISR(), uavcan_stm32::CanIface::RxQueue::push(), uavcan_stm32::bxcan::RxMailboxType::RDHR, uavcan_stm32::bxcan::RxMailboxType::RDLR, uavcan_stm32::bxcan::RxMailboxType::RDTR, uavcan_stm32::bxcan::CanType::RF0R, uavcan_stm32::bxcan::CanType::RF1R, uavcan_stm32::bxcan::RFR_FMP_MASK, uavcan_stm32::bxcan::RFR_FOVR, uavcan_stm32::bxcan::RFR_FULL, uavcan_stm32::bxcan::RFR_RFOM, uavcan_stm32::bxcan::RxMailboxType::RIR, uavcan_stm32::bxcan::RIR_IDE, uavcan_stm32::bxcan::RIR_RTR, rx_queue_, uavcan_stm32::bxcan::CanType::RxMailbox, and update_event_.

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handleTxInterrupt()

void uavcan_stm32::CanIface::handleTxInterrupt

(

uavcan::uint64_t

utc_usec

)

Definition at line 610 of file uc_stm32_can.cpp.

References can_, handleTxMailboxInterrupt(), pollErrorFlagsFromISR(), uavcan_stm32::bxcan::CanType::TSR, uavcan_stm32::bxcan::TSR_RQCP0, uavcan_stm32::bxcan::TSR_RQCP1, uavcan_stm32::bxcan::TSR_RQCP2, uavcan_stm32::bxcan::TSR_TXOK0, uavcan_stm32::bxcan::TSR_TXOK1, uavcan_stm32::bxcan::TSR_TXOK2, and update_event_.

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handleTxMailboxInterrupt()

void uavcan_stm32::CanIface::handleTxMailboxInterrupt ( uavcan::uint8_t  mailbox_index, bool  txok, uavcan::uint64_t  utc_usec  )

private

Definition at line 595 of file uc_stm32_can.cpp.

References uavcan_stm32::CanIface::TxItem::frame, had_activity_, uavcan_stm32::CanIface::TxItem::loopback, NumTxMailboxes, uavcan_stm32::CanIface::TxItem::pending, pending_tx_, uavcan_stm32::CanIface::RxQueue::push(), and rx_queue_.

Referenced by handleTxInterrupt().

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init()

int uavcan_stm32::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 496 of file uc_stm32_can.cpp.

References uavcan_stm32::CanIface::Timings::bs1, uavcan_stm32::CanIface::Timings::bs2, uavcan_stm32::bxcan::CanType::BTR, uavcan_stm32::bxcan::BTR_SILM, can_, computeTimings(), uavcan_stm32::ErrMsrInakNotCleared, uavcan_stm32::ErrMsrInakNotSet, error_cnt_, uavcan_stm32::bxcan::CanType::FA1R, uavcan_stm32::bxcan::CanType::FFA1R, uavcan_stm32::bxcan::CanType::FilterRegister, uavcan_stm32::bxcan::CanType::FM1R, uavcan_stm32::bxcan::CanType::FMR, uavcan_stm32::bxcan::FMR_FINIT, uavcan_stm32::bxcan::FilterRegisterType::FR1, uavcan_stm32::bxcan::FilterRegisterType::FR2, uavcan_stm32::bxcan::CanType::FS1R, had_activity_, uavcan_stm32::bxcan::CanType::IER, uavcan_stm32::bxcan::IER_FMPIE0, uavcan_stm32::bxcan::IER_FMPIE1, uavcan_stm32::bxcan::IER_TMEIE, MicroBenchHRT::lock(), uavcan_stm32::bxcan::CanType::MCR, uavcan_stm32::bxcan::MCR_ABOM, uavcan_stm32::bxcan::MCR_AWUM, uavcan_stm32::bxcan::MCR_INRQ, uavcan_stm32::bxcan::MCR_RESET, uavcan_stm32::bxcan::MCR_SLEEP, NumFilters, NumTxMailboxes, peak_tx_mailbox_index_, pending_tx_, uavcan_stm32::CanIface::Timings::prescaler, uavcan_stm32::CanIface::RxQueue::reset(), rx_queue_, self_index_, served_aborts_cnt_, SilentMode, uavcan_stm32::CanIface::Timings::sjw, UAVCAN_STM32_LOG, and waitMsrINakBitStateChange().

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isRxBufferEmpty()

bool uavcan_stm32::CanIface::isRxBufferEmpty

(

)

const

Definition at line 767 of file uc_stm32_can.cpp.

References uavcan_stm32::CanIface::RxQueue::getLength(), MicroBenchHRT::lock(), and rx_queue_.

Referenced by uavcan_stm32::CanInitHelper< RxQueueCapacity >::init().

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pollErrorFlagsFromISR()

void uavcan_stm32::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 697 of file uc_stm32_can.cpp.

References uavcan_stm32::CanIface::TxItem::abort_on_error, can_, error_cnt_, uavcan_stm32::bxcan::CanType::ESR, uavcan_stm32::bxcan::ESR_LEC_MASK, uavcan_stm32::bxcan::ESR_LEC_SHIFT, NumTxMailboxes, uavcan_stm32::CanIface::TxItem::pending, pending_tx_, served_aborts_cnt_, uavcan_stm32::bxcan::CanType::TSR, and TSR_ABRQx.

Referenced by handleRxInterrupt(), and handleTxInterrupt().

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receive()

uavcan::int16_t uavcan_stm32::CanIface::receive ( uavcan::CanFrame &  out_frame, uavcan::MonotonicTime &  out_ts_monotonic, uavcan::UtcTime &  out_ts_utc, uavcan::CanIOFlags &  out_flags  )

privatevirtual

Definition at line 382 of file uc_stm32_can.cpp.

References uavcan_stm32::CanIface::RxQueue::getLength(), uavcan_stm32::clock::getMonotonic(), MicroBenchHRT::lock(), uavcan_stm32::CanIface::RxQueue::pop(), and rx_queue_.

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send()

uavcan::int16_t uavcan_stm32::CanIface::send ( const uavcan::CanFrame &  frame, uavcan::MonotonicTime  tx_deadline, uavcan::CanIOFlags  flags  )

privatevirtual

Definition at line 297 of file uc_stm32_can.cpp.

References uavcan_stm32::CanIface::TxItem::abort_on_error, can_, uavcan_stm32::CanIface::TxItem::deadline, uavcan_stm32::ErrUnsupportedFrame, uavcan_stm32::CanIface::TxItem::frame, MicroBenchHRT::lock(), uavcan_stm32::CanIface::TxItem::loopback, math::max(), peak_tx_mailbox_index_, uavcan_stm32::CanIface::TxItem::pending, pending_tx_, uavcan_stm32::bxcan::TxMailboxType::TDHR, uavcan_stm32::bxcan::TxMailboxType::TDLR, uavcan_stm32::bxcan::TxMailboxType::TDTR, uavcan_stm32::bxcan::TxMailboxType::TIR, uavcan_stm32::bxcan::TIR_IDE, uavcan_stm32::bxcan::TIR_RTR, uavcan_stm32::bxcan::TIR_TXRQ, uavcan_stm32::bxcan::CanType::TSR, uavcan_stm32::bxcan::TSR_TME0, uavcan_stm32::bxcan::TSR_TME1, uavcan_stm32::bxcan::TSR_TME2, and uavcan_stm32::bxcan::CanType::TxMailbox.

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waitMsrINakBitStateChange()

bool uavcan_stm32::CanIface::waitMsrINakBitStateChange ( bool  target_state )

private

Definition at line 473 of file uc_stm32_can.cpp.

References can_, uavcan_stm32::bxcan::CanType::MSR, uavcan_stm32::bxcan::MSR_INAK, and state.

Referenced by init().

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Member Data Documentation

can_

bxcan::CanType* const uavcan_stm32::CanIface::can_

private

Definition at line 113 of file can.hpp.

Referenced by canAcceptNewTxFrame(), configureFilters(), discardTimedOutTxMailboxes(), handleRxInterrupt(), handleTxInterrupt(), init(), pollErrorFlagsFromISR(), send(), and waitMsrINakBitStateChange().

error_cnt_

uavcan::uint64_t uavcan_stm32::CanIface::error_cnt_

private

Definition at line 114 of file can.hpp.

Referenced by discardTimedOutTxMailboxes(), getErrorCount(), handleRxInterrupt(), init(), and pollErrorFlagsFromISR().

had_activity_

bool uavcan_stm32::CanIface::had_activity_

private

Definition at line 120 of file can.hpp.

Referenced by hadActivity(), handleRxInterrupt(), handleTxMailboxInterrupt(), and init().

peak_tx_mailbox_index_

uavcan::uint8_t uavcan_stm32::CanIface::peak_tx_mailbox_index_

private

Definition at line 118 of file can.hpp.

Referenced by init(), and send().

pending_tx_

TxItem uavcan_stm32::CanIface::pending_tx_[NumTxMailboxes]

private

Definition at line 117 of file can.hpp.

Referenced by canAcceptNewTxFrame(), discardTimedOutTxMailboxes(), handleTxMailboxInterrupt(), init(), pollErrorFlagsFromISR(), and send().

rx_queue_

RxQueue uavcan_stm32::CanIface::rx_queue_

private

Definition at line 112 of file can.hpp.

Referenced by getErrorCount(), getRxQueueLength(), handleRxInterrupt(), handleTxMailboxInterrupt(), init(), isRxBufferEmpty(), and receive().

self_index_

const uavcan::uint8_t uavcan_stm32::CanIface::self_index_

private

Definition at line 119 of file can.hpp.

Referenced by configureFilters(), and init().

served_aborts_cnt_

uavcan::uint32_t uavcan_stm32::CanIface::served_aborts_cnt_

private

Definition at line 115 of file can.hpp.

Referenced by init(), and pollErrorFlagsFromISR().

TSR_ABRQx

const uavcan::uint32_t uavcan_stm32::CanIface::TSR_ABRQx

staticprivate

Initial value:

= {
    bxcan::TSR_ABRQ0,
    bxcan::TSR_ABRQ1,
    bxcan::TSR_ABRQ2
}

Definition at line 110 of file can.hpp.

Referenced by discardTimedOutTxMailboxes(), pollErrorFlagsFromISR(), and uavcan_stm32::CanIface::RxQueue::reset().

update_event_

BusEvent& uavcan_stm32::CanIface::update_event_

private

Definition at line 116 of file can.hpp.

Referenced by handleRxInterrupt(), handleTxInterrupt(), and uavcan_stm32::CanDriver::select().

---

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

• src/drivers/uavcan/uavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp
• src/drivers/uavcan/uavcan_drivers/stm32/driver/src/uc_stm32_can.cpp