uavcan_kinetis::CanIface Class Reference

Single CAN iface. More...

#include <can.hpp>

Inheritance diagram for uavcan_kinetis::CanIface:

Collaboration diagram for uavcan_kinetis::CanIface:

Classes
class	RxQueue
struct	Timings
struct	TxItem

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

Public Member Functions
	CanIface (flexcan::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::uint32_t tx_iflags, uavcan::uint64_t utc_usec)
void	handleRxInterrupt (uavcan::uint32_t rx_iflags, 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	{ NumTxMesgBuffers = 6 }
enum	{ NumFilters = 16 }

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	waitMCRChange (uavcan::uint32_t mask, bool target_state)
void	setMCR (uavcan::uint32_t mask, bool target_state)
bool	setEnable (bool enable_true)
uavcan::int16_t	doReset (Timings timings)
bool	waitFreezeAckChange (bool target_state)
void	setFreeze (bool freeze_true)

Private Attributes
const uavcan::uint32_t	FIFO_IFLAG1 = flexcan::CAN_FIFO_NE | flexcan::CAN_FIFO_WARN | flexcan::CAN_FIFO_OV
uavcan::uint8_t	MaxMB
RxQueue	rx_queue_
flexcan::CanType *const	can_
uavcan::uint64_t	error_cnt_
uavcan::uint64_t	fifo_warn_cnt_
uavcan::uint32_t	pending_aborts_
uavcan::uint32_t	served_aborts_cnt_
BusEvent &	update_event_
TxItem	pending_tx_ [NumTxMesgBuffers]
uavcan::uint8_t	peak_tx_mailbox_index_
const uavcan::uint8_t	self_index_
bool	had_activity_

Detailed Description

Single CAN iface.

The application shall not use this directly.

Definition at line 50 of file can.hpp.

Member Enumeration Documentation

anonymous enum

anonymous enum

private

Enumerator
NumTxMesgBuffers

Definition at line 123 of file can.hpp.

anonymous enum

anonymous enum

private

Enumerator
NumFilters

Definition at line 124 of file can.hpp.

anonymous enum

anonymous enum

Enumerator
MaxRxQueueCapacity

Definition at line 167 of file can.hpp.

OperatingMode

enum uavcan_kinetis::CanIface::OperatingMode

Enumerator
NormalMode
SilentMode

Definition at line 169 of file 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 174 of file can.hpp.

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

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Member Function Documentation

canAcceptNewTxFrame()

bool uavcan_kinetis::CanIface::canAcceptNewTxFrame

(

const uavcan::CanFrame &

frame

)

const

Definition at line 758 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::flexcan::ESR2_IMB, uavcan_kinetis::flexcan::ESR2_VPS, and MicroBenchHRT::lock().

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computeTimings()

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

private

Definition at line 138 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::flexcan::canclk, uavcan_kinetis::ErrInvalidBitRate, math::min(), uavcan_kinetis::CanIface::Timings::prescaler, uavcan_kinetis::CanIface::Timings::propseg, uavcan_kinetis::CanIface::Timings::pseg1, uavcan_kinetis::CanIface::Timings::pseg2, and uavcan_kinetis::CanIface::Timings::rjw.

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configureFilters()

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

privatevirtual

Definition at line 318 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::ErrFilterNumConfigs, uavcan_kinetis::ErrMcrFRZACKAckNotCleared, uavcan_kinetis::ErrMcrFRZACKAckNotSet, uavcan_kinetis::flexcan::FilterType::ext, uavcan_kinetis::flexcan::FirstFilter, uavcan_kinetis::flexcan::FilterType::ide, MicroBenchHRT::lock(), uavcan_kinetis::flexcan::FilterType::rtr, uavcan_kinetis::flexcan::FilterType::std, and uavcan_kinetis::flexcan::FilterType::w.

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discardTimedOutTxMailboxes()

void uavcan_kinetis::CanIface::discardTimedOutTxMailboxes

(

uavcan::MonotonicTime

current_time

)

Definition at line 743 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::CanIface::TxItem::deadline, MicroBenchHRT::lock(), uavcan_kinetis::flexcan::NumMBinFiFoAndFilters, uavcan_kinetis::CanIface::TxItem::pending, and uavcan_kinetis::flexcan::TxMbAbort.

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doReset()

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

private

Definition at line 441 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::flexcan::busclck, uavcan_kinetis::flexcan::canclk, uavcan_kinetis::flexcan::CTRL2_EACEN, uavcan_kinetis::flexcan::CTRL2_RRS, uavcan_kinetis::flexcan::CTRL2_TASD_MASK, uavcan_kinetis::flexcan::CTRL2_TASD_SHIFT, uavcan_kinetis::ErrMcrSOFTRSTNotCleared, uavcan_kinetis::flexcan::HWMaxMB, uavcan_kinetis::flexcan::MCR_AEN, uavcan_kinetis::flexcan::MCR_IRMQ, uavcan_kinetis::flexcan::MCR_MAXMB_MASK, uavcan_kinetis::flexcan::MCR_MAXMB_SHIFT, uavcan_kinetis::flexcan::MCR_RFEN, uavcan_kinetis::flexcan::MCR_SLFWAK, uavcan_kinetis::flexcan::MCR_SOFTRST, uavcan_kinetis::flexcan::MCR_SRXDIS, uavcan_kinetis::flexcan::MCR_SUPV, uavcan_kinetis::flexcan::MCR_WAKSRC, uavcan_kinetis::flexcan::MCR_WRNEN, uavcan_kinetis::flexcan::numberFIFOFilters, uavcan_kinetis::CanIface::Timings::prescaler, uavcan_kinetis::CanIface::Timings::propseg, uavcan_kinetis::CanIface::Timings::pseg1, uavcan_kinetis::CanIface::Timings::pseg2, and uavcan_kinetis::flexcan::useFIFO.

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.

Definition at line 793 of file uc_kinetis_flexcan.cpp.

References MicroBenchHRT::lock().

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getNumFilters()

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

inlineprivatevirtual

Definition at line 151 of file can.hpp.

References uavcan_kinetis::CanRxItem::utc_usec.

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 259 of file 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 799 of file uc_kinetis_flexcan.cpp.

References MicroBenchHRT::lock().

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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 221 of file can.hpp.

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

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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 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 805 of file uc_kinetis_flexcan.cpp.

References MicroBenchHRT::lock().

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handleRxInterrupt()

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

Definition at line 644 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::flexcan::DataType::b0, uavcan_kinetis::flexcan::DataType::b1, uavcan_kinetis::flexcan::DataType::b2, uavcan_kinetis::flexcan::DataType::b3, uavcan_kinetis::flexcan::DataType::b4, uavcan_kinetis::flexcan::DataType::b5, uavcan_kinetis::flexcan::DataType::b6, uavcan_kinetis::flexcan::DataType::b7, uavcan_kinetis::flexcan::CAN_FIFO_NE, uavcan_kinetis::flexcan::CAN_FIFO_OV, uavcan_kinetis::flexcan::CAN_FIFO_WARN, uavcan_kinetis::flexcan::RxFiFoType::CS, uavcan_kinetis::flexcan::RxFiFoType::data, uavcan_kinetis::flexcan::FIFOcsType::dlc, uavcan_kinetis::flexcan::IDType::ext, uavcan_kinetis::flexcan::FiFo, uavcan_kinetis::flexcan::RxFiFoType::ID, uavcan_kinetis::flexcan::FIFOcsType::ide, uavcan_kinetis::flexcan::FIFOcsType::rtr, uavcan_kinetis::flexcan::IDType::std, and UNUSED.

handleTxInterrupt()

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

Definition at line 596 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::flexcan::NumMBinFiFoAndFilters, and uavcan_kinetis::flexcan::TxMbAbort.

handleTxMailboxInterrupt()

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

private

Definition at line 581 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::CanIface::TxItem::frame, uavcan_kinetis::CanIface::TxItem::loopback, and uavcan_kinetis::CanIface::TxItem::pending.

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 484 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::flexcan::CLOCKSEL, uavcan_kinetis::flexcan::CTRL1_CLKSRC, uavcan_kinetis::flexcan::CTRL1_ERRMSK, uavcan_kinetis::flexcan::CTRL1_LOM, uavcan_kinetis::flexcan::CTRL1_PRESDIV_SHIFT, uavcan_kinetis::flexcan::CTRL1_PSEG1_SHIFT, uavcan_kinetis::flexcan::CTRL1_PSEG2_SHIFT, uavcan_kinetis::flexcan::CTRL1_RJW_SHIFT, uavcan_kinetis::flexcan::CTRL1_ROPSEG_SHIFT, uavcan_kinetis::flexcan::CTRL1_RWRNMSK, uavcan_kinetis::flexcan::CTRL1_TWRNMSK, uavcan_kinetis::ErrMcrFRZACKAckNotCleared, uavcan_kinetis::ErrMcrLPMAckNotCleared, uavcan_kinetis::ErrMcrLPMAckNotSet, uavcan_kinetis::flexcan::FirstFilter, uavcan_kinetis::flexcan::HWMaxMB, uavcan_kinetis::flexcan::NumHWFilters, uavcan_kinetis::CanIface::Timings::prescaler, uavcan_kinetis::CanIface::Timings::propseg, uavcan_kinetis::CanIface::Timings::pseg1, uavcan_kinetis::CanIface::Timings::pseg2, uavcan_kinetis::CanIface::Timings::rjw, uavcan_kinetis::flexcan::TXMBMask, UAVCAN_KINETIS_LOG, and uavcan_kinetis::flexcan::FilterType::w.

isRxBufferEmpty()

bool uavcan_kinetis::CanIface::isRxBufferEmpty

(

)

const

Definition at line 787 of file uc_kinetis_flexcan.cpp.

References MicroBenchHRT::lock().

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

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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 712 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::CanIface::TxItem::abort_on_error, uavcan_kinetis::flexcan::ESR1_ACKERR, uavcan_kinetis::flexcan::ESR1_BIT0ERR, uavcan_kinetis::flexcan::ESR1_BIT1ERR, uavcan_kinetis::flexcan::ESR1_CRCERR, uavcan_kinetis::flexcan::ESR1_FRMERR, uavcan_kinetis::flexcan::ESR1_STFERR, uavcan_kinetis::flexcan::NumMBinFiFoAndFilters, uavcan_kinetis::CanIface::TxItem::pending, and uavcan_kinetis::flexcan::TxMbAbort.

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 300 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::clock::getMonotonic(), and MicroBenchHRT::lock().

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send()

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

privatevirtual

Definition at line 207 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::CanIface::TxItem::abort_on_error, uavcan_kinetis::flexcan::DataType::b0, uavcan_kinetis::flexcan::DataType::b1, uavcan_kinetis::flexcan::DataType::b2, uavcan_kinetis::flexcan::DataType::b3, uavcan_kinetis::flexcan::DataType::b4, uavcan_kinetis::flexcan::DataType::b5, uavcan_kinetis::flexcan::DataType::b6, uavcan_kinetis::flexcan::DataType::b7, uavcan_kinetis::flexcan::MBcsType::code, uavcan_kinetis::flexcan::MessageBufferType::CS, uavcan_kinetis::flexcan::MessageBufferType::data, uavcan_kinetis::CanIface::TxItem::deadline, uavcan_kinetis::flexcan::MBcsType::dlc, uavcan_kinetis::ErrUnsupportedFrame, uavcan_kinetis::flexcan::ESR2_IMB, uavcan_kinetis::flexcan::ESR2_LPTM_MASK, uavcan_kinetis::flexcan::ESR2_LPTM_SHIFT, uavcan_kinetis::flexcan::ESR2_VPS, uavcan_kinetis::flexcan::IDType::ext, uavcan_kinetis::CanIface::TxItem::frame, uavcan_kinetis::flexcan::MessageBufferType::ID, uavcan_kinetis::flexcan::MBcsType::ide, MicroBenchHRT::lock(), uavcan_kinetis::CanIface::TxItem::loopback, math::max(), uavcan_kinetis::flexcan::NumMBinFiFoAndFilters, uavcan_kinetis::CanIface::TxItem::pending, uavcan_kinetis::flexcan::MBcsType::rtr, uavcan_kinetis::flexcan::IDType::std, uavcan_kinetis::flexcan::TxMbDataOrRemote, and uavcan_kinetis::flexcan::TxMbInactive.

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setEnable()

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

private

Definition at line 436 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::flexcan::MCR_LPMACK, and uavcan_kinetis::flexcan::MCR_MDIS.

setFreeze()

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

private

Definition at line 418 of file uc_kinetis_flexcan.cpp.

References MicroBenchHRT::lock(), uavcan_kinetis::flexcan::MCR_FRZ, and uavcan_kinetis::flexcan::MCR_HALT.

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setMCR()

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

private

Definition at line 402 of file uc_kinetis_flexcan.cpp.

waitFreezeAckChange()

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

private

Definition at line 413 of file uc_kinetis_flexcan.cpp.

References uavcan_kinetis::flexcan::MCR_FRZACK.

waitMCRChange()

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

private

Definition at line 385 of file uc_kinetis_flexcan.cpp.

References state.

Member Data Documentation

can_

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

private

Definition at line 129 of file can.hpp.

error_cnt_

uavcan::uint64_t uavcan_kinetis::CanIface::error_cnt_

private

Definition at line 130 of file 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 53 of file can.hpp.

fifo_warn_cnt_

uavcan::uint64_t uavcan_kinetis::CanIface::fifo_warn_cnt_

private

Definition at line 131 of file can.hpp.

had_activity_

bool uavcan_kinetis::CanIface::had_activity_

private

Definition at line 138 of file can.hpp.

MaxMB

uavcan::uint8_t uavcan_kinetis::CanIface::MaxMB

private

Definition at line 126 of file can.hpp.

peak_tx_mailbox_index_

uavcan::uint8_t uavcan_kinetis::CanIface::peak_tx_mailbox_index_

private

Definition at line 136 of file can.hpp.

pending_aborts_

uavcan::uint32_t uavcan_kinetis::CanIface::pending_aborts_

private

Definition at line 132 of file can.hpp.

pending_tx_

TxItem uavcan_kinetis::CanIface::pending_tx_[NumTxMesgBuffers]

private

Definition at line 135 of file can.hpp.

rx_queue_

RxQueue uavcan_kinetis::CanIface::rx_queue_

private

Definition at line 128 of file can.hpp.

self_index_

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

private

Definition at line 137 of file can.hpp.

served_aborts_cnt_

uavcan::uint32_t uavcan_kinetis::CanIface::served_aborts_cnt_

private

Definition at line 133 of file can.hpp.

update_event_

BusEvent& uavcan_kinetis::CanIface::update_event_

private

Definition at line 134 of file can.hpp.

---

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

• src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis/can.hpp
• src/drivers/uavcan/uavcan_drivers/kinetis/driver/src/uc_kinetis_flexcan.cpp