CAN 通信抽象类，定义经典 CAN 帧与订阅接口。 Abstract class for CAN communication with classic CAN frames and subscription API. More...

#include <can.hpp>

Inheritance diagram for LibXR::CAN:

Collaboration diagram for LibXR::CAN:

Data Structures
struct	BitTiming
	CAN 位时序配置。Bit timing configuration for CAN. More...

struct	ClassicPack
	经典 CAN 帧数据结构。Classic CAN frame structure. More...

struct	Configuration
	CAN 配置参数。CAN configuration parameters. More...

struct	ErrorState
	CAN 当前错误状态快照（来自硬件计数器/状态机）。 Snapshot of current CAN controller error state (from HW counters/state). More...

struct	Filter
	经典 CAN 订阅过滤器。Classic CAN subscription filter. More...

struct	Mode
	CAN 工作模式。CAN operating mode. More...

Public Types
enum class	Type : uint8_t { STANDARD = 0 , EXTENDED = 1 , REMOTE_STANDARD = 2 , REMOTE_EXTENDED = 3 , ERROR = 4 , TYPE_NUM = 5 }
	CAN 消息类型。CAN frame type. More...

enum class	ErrorID : uint32_t { CAN_ERROR_ID_GENERIC = CAN_ERROR_ID_PREFIX , CAN_ERROR_ID_BUS_OFF = CAN_ERROR_ID_PREFIX + 1 , CAN_ERROR_ID_ERROR_PASSIVE = CAN_ERROR_ID_PREFIX + 2 , CAN_ERROR_ID_ERROR_WARNING = CAN_ERROR_ID_PREFIX + 3 , CAN_ERROR_ID_PROTOCOL = CAN_ERROR_ID_PREFIX + 4 , CAN_ERROR_ID_ACK = CAN_ERROR_ID_PREFIX + 5 , CAN_ERROR_ID_STUFF = CAN_ERROR_ID_PREFIX + 6 , CAN_ERROR_ID_FORM = CAN_ERROR_ID_PREFIX + 7 , CAN_ERROR_ID_BIT0 = CAN_ERROR_ID_PREFIX + 8 , CAN_ERROR_ID_BIT1 = CAN_ERROR_ID_PREFIX + 9 , CAN_ERROR_ID_CRC = CAN_ERROR_ID_PREFIX + 10 , CAN_ERROR_ID_OTHER = CAN_ERROR_ID_PREFIX + 11 }
	ClassicPack::type == Type::ERROR 时使用的虚拟 ID。 Virtual IDs used when ClassicPack::type == Type::ERROR. More...

enum class	FilterMode : uint8_t { ID_MASK = 0 , ID_RANGE = 1 }
	CAN 过滤器模式。CAN filter mode. More...

using	Callback = LibXR::Callback<const ClassicPack &>
	回调类型。Callback type.

Public Member Functions
virtual ErrorCode	SetConfig (const CAN::Configuration &cfg)=0
	设置 CAN 配置。Set CAN configuration.

virtual uint32_t	GetClockFreq () const =0
	获取 CAN 外设时钟频率（Hz）。 Get CAN peripheral clock frequency in Hz.

virtual ErrorCode	GetErrorState (ErrorState &state) const
	查询当前错误状态（快照）。 Query current CAN controller error state (snapshot).

	CAN ()=default
	构造函数。Constructor.

virtual	~CAN ()=default
	虚析构函数。Virtual destructor.

void	Register (Callback cb, Type type, FilterMode mode=FilterMode::ID_RANGE, uint32_t start_id_mask=0, uint32_t end_id_mask=UINT32_MAX)
	注册经典 CAN 消息回调。 Register classic CAN message callback.

virtual ErrorCode	AddMessage (const ClassicPack &pack)=0
	添加经典 CAN 消息。Add classic CAN message.

Static Public Member Functions
static constexpr uint32_t	FromErrorID (ErrorID e) noexcept
	将 ErrorID 转为 id。Convert ErrorID to ClassicPack::id.

static constexpr bool	IsErrorId (uint32_t id) noexcept
	判断 id 是否处于错误 ID 空间。Check if id is in error ID space.

static constexpr ErrorID	ToErrorID (uint32_t id) noexcept
	将 id 解释为 ErrorID。Interpret id as ErrorID.

Static Public Attributes
static constexpr uint32_t	CAN_ERROR_ID_PREFIX = 0xFFFF0000u
	错误 ID 前缀 Error ID prefix.

Protected Member Functions
void	OnMessage (const ClassicPack &pack, bool in_isr)
	分发接收到的经典 CAN 帧。 Dispatch a received classic CAN frame.

Private Attributes
LockFreeList	subscriber_list_ [static_cast< uint8_t >(Type::TYPE_NUM)]
	按帧类型划分的订阅者链表数组。Subscriber lists per frame type.

Detailed Description

CAN 通信抽象类，定义经典 CAN 帧与订阅接口。 Abstract class for CAN communication with classic CAN frames and subscription API.

Definition at line 15 of file can.hpp.

Member Typedef Documentation

◆ Callback

using LibXR::CAN::Callback = LibXR::Callback<const ClassicPack &>

回调类型。Callback type.

Definition at line 180 of file can.hpp.

Member Enumeration Documentation

◆ ErrorID

enum class LibXR::CAN::ErrorID : uint32_t

strong

ClassicPack::type == Type::ERROR 时使用的虚拟 ID。 Virtual IDs used when ClassicPack::type == Type::ERROR.

Definition at line 145 of file can.hpp.

  {
    CAN_ERROR_ID_GENERIC = CAN_ERROR_ID_PREFIX,
    CAN_ERROR_ID_BUS_OFF = CAN_ERROR_ID_PREFIX + 1,
    CAN_ERROR_ID_ERROR_PASSIVE = CAN_ERROR_ID_PREFIX + 2,
    CAN_ERROR_ID_ERROR_WARNING = CAN_ERROR_ID_PREFIX + 3,
    CAN_ERROR_ID_PROTOCOL = CAN_ERROR_ID_PREFIX + 4,
    CAN_ERROR_ID_ACK = CAN_ERROR_ID_PREFIX + 5,
    CAN_ERROR_ID_STUFF = CAN_ERROR_ID_PREFIX + 6,
    CAN_ERROR_ID_FORM = CAN_ERROR_ID_PREFIX + 7,
    CAN_ERROR_ID_BIT0 = CAN_ERROR_ID_PREFIX + 8,
    CAN_ERROR_ID_BIT1 = CAN_ERROR_ID_PREFIX + 9,
    CAN_ERROR_ID_CRC = CAN_ERROR_ID_PREFIX + 10,
    CAN_ERROR_ID_OTHER = CAN_ERROR_ID_PREFIX + 11
  };

◆ FilterMode

enum class LibXR::CAN::FilterMode : uint8_t

strong

CAN 过滤器模式。CAN filter mode.

Enumerator
ID_MASK	掩码匹配：(id & start_id_mask) == end_id_mask。 Mask match: (id & start_id_mask) == end_id_mask.
ID_RANGE	区间匹配：start_id_mask <= id <= end_id_mask。 Range match: start_id_mask <= id <= end_id_mask.

Definition at line 186 of file can.hpp.

  {
    ID_MASK = 0,  
    ID_RANGE = 1  
  };

◆ Type

enum class LibXR::CAN::Type : uint8_t

strong

CAN 消息类型。CAN frame type.

Enumerator
STANDARD	标准数据帧（11-bit ID）。Standard data frame (11-bit ID).
EXTENDED	扩展数据帧（29-bit ID）。Extended data frame (29-bit ID).
REMOTE_STANDARD	标准远程帧。Standard remote frame.
REMOTE_EXTENDED	扩展远程帧。Extended remote frame.
ERROR	错误帧（虚拟事件）。Error frame (virtual event).
TYPE_NUM	类型数量上界。Number of frame types.

Definition at line 22 of file can.hpp.

  {
    STANDARD = 0,  
    EXTENDED = 1,  
    REMOTE_STANDARD = 2,  
    REMOTE_EXTENDED = 3,  
    ERROR = 4,            
    TYPE_NUM = 5          
  };

Member Function Documentation

◆ AddMessage()

virtual ErrorCode LibXR::CAN::AddMessage ( const ClassicPack & pack )

pure virtual

添加经典 CAN 消息。Add classic CAN message.

Parameters

pack	经典 CAN 帧。Classic CAN frame.

Returns: ErrorCode 操作结果。Error code.

Implemented in LibXR::FDCAN, LibXR::STM32CAN, and LibXR::STM32CANFD.

◆ FromErrorID()

static constexpr uint32_t LibXR::CAN::FromErrorID ( ErrorID e )

inlinestaticconstexprnoexcept

将 ErrorID 转为 id。Convert ErrorID to ClassicPack::id.

Definition at line 162 of file can.hpp.

  {
    return static_cast<uint32_t>(e);
  }

◆ GetClockFreq()

virtual uint32_t LibXR::CAN::GetClockFreq ( ) const

pure virtual

获取 CAN 外设时钟频率（Hz）。 Get CAN peripheral clock frequency in Hz.

Implemented in LibXR::STM32CAN, and LibXR::STM32CANFD.

◆ GetErrorState()

virtual ErrorCode LibXR::CAN::GetErrorState ( ErrorState & state ) const

inlinevirtual

查询当前错误状态（快照）。 Query current CAN controller error state (snapshot).

默认实现返回 ErrorCode::NOT_SUPPORT；具体实现（如 bxCAN/FDCAN）可重载，从硬件寄存器读取 TEC/REC 及状态位，并填充 ErrorState。

Parameters

state 输出参数，用于返回当前错误状态。

Returns: ErrorCode 操作结果；若未实现则返回 ErrorCode::NOT_SUPPORT。

Reimplemented in LibXR::STM32CAN, and LibXR::STM32CANFD.

Definition at line 107 of file can.hpp.

  {
    (void)state;
    return ErrorCode::NOT_SUPPORT;
  }

◆ IsErrorId()

static constexpr bool LibXR::CAN::IsErrorId ( uint32_t id )

inlinestaticconstexprnoexcept

判断 id 是否处于错误 ID 空间。Check if id is in error ID space.

Definition at line 168 of file can.hpp.

  {
    return (id & 0xFFFF0000u) == CAN_ERROR_ID_PREFIX;
  }

◆ OnMessage()

void CAN::OnMessage	(	const ClassicPack &	pack,
		bool	in_isr )

protected

分发接收到的经典 CAN 帧。 Dispatch a received classic CAN frame.

Parameters

pack	接收到的帧。Received frame.
in_isr	是否在中断上下文中。True if called in ISR context.

Definition at line 18 of file can.cpp.

{
  ASSERT(pack.type < Type::TYPE_NUM);
  subscriber_list_[static_cast<uint8_t>(pack.type)].Foreach<Filter>(
      [&](Filter &node)
      {
        switch (node.mode)
        {
          case FilterMode::ID_MASK:
            if ((pack.id & node.start_id_mask) == node.end_id_mask)
            {
              node.cb.Run(in_isr, pack);
            }
            break;
          case FilterMode::ID_RANGE:
            if (pack.id >= node.start_id_mask && pack.id <= node.end_id_mask)
            {
              node.cb.Run(in_isr, pack);
            }
            break;
        }
 
        return ErrorCode::OK;
      });
}

◆ Register()

void CAN::Register	(	Callback	cb,
		Type	type,
		FilterMode	mode = FilterMode::ID_RANGE,
		uint32_t	start_id_mask = 0,
		uint32_t	end_id_mask = UINT32_MAX )

注册经典 CAN 消息回调。 Register classic CAN message callback.

Parameters

cb	回调函数。Callback function.
type	帧类型。Frame type.
mode	过滤器模式。Filter mode.
start_id_mask	起始 ID 或掩码。Start ID or mask.
end_id_mask	结束 ID 或匹配值。End ID or match value.

Definition at line 8 of file can.cpp.

{
  ASSERT(type < Type::TYPE_NUM);
 
  auto node = new (std::align_val_t(LIBXR_CACHE_LINE_SIZE))
      LockFreeList::Node<Filter>(Filter{mode, start_id_mask, end_id_mask, type, cb});
  subscriber_list_[static_cast<uint8_t>(type)].Add(*node);
}

◆ SetConfig()

virtual ErrorCode LibXR::CAN::SetConfig ( const CAN::Configuration & cfg )

pure virtual

设置 CAN 配置。Set CAN configuration.

Parameters

cfg	配置参数。Configuration parameters.

Returns: ErrorCode 操作结果。Error code.

Implemented in LibXR::FDCAN, LibXR::STM32CAN, and LibXR::STM32CANFD.

◆ ToErrorID()

static constexpr ErrorID LibXR::CAN::ToErrorID ( uint32_t id )

inlinestaticconstexprnoexcept

将 id 解释为 ErrorID。Interpret id as ErrorID.

Definition at line 174 of file can.hpp.

  {
    return static_cast<ErrorID>(id);
  }

Field Documentation

◆ CAN_ERROR_ID_PREFIX

uint32_t LibXR::CAN::CAN_ERROR_ID_PREFIX = 0xFFFF0000u

staticconstexpr

错误 ID 前缀 Error ID prefix.

Definition at line 138 of file can.hpp.

◆ subscriber_list_

LockFreeList LibXR::CAN::subscriber_list_[static_cast< uint8_t >(Type::TYPE_NUM)]

private

按帧类型划分的订阅者链表数组。Subscriber lists per frame type.

Definition at line 238 of file can.hpp.

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

src/driver/can.hpp
src/driver/can.cpp

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Callback

Member Enumeration Documentation

◆ ErrorID

◆ FilterMode

◆ Type

Member Function Documentation

◆ AddMessage()

◆ FromErrorID()

◆ GetClockFreq()

◆ GetErrorState()

◆ IsErrorId()

◆ OnMessage()

◆ Register()

◆ SetConfig()

◆ ToErrorID()

Field Documentation

◆ CAN_ERROR_ID_PREFIX

◆ subscriber_list_