LibXR::CAN Class Reference

CAN通信接口，定义标准CAN通信结构，支持不同类型的消息 (CAN communication interface that defines a standard CAN structure supporting different message types). More...

#include <can.hpp>

Inheritance diagram for LibXR::CAN:

Collaboration diagram for LibXR::CAN:

Data Structures
struct	Filter

Public Types
enum class	Type : uint8_t {   STANDARD = 0 , EXTENDED = 1 , REMOTE_STANDARD = 2 , REMOTE_EXTENDED = 3 ,   TYPE_NUM }
	CAN 消息类型 (Enumeration of CAN message types). More...
enum class	FilterMode : uint8_t { ID_MASK = 0 , ID_RANGE = 1 }
using	Callback = LibXR::Callback<const ClassicPack &>

Public Member Functions
	CAN ()
	构造 CAN 对象，可指定主题名称和通信域 (Constructs a CAN object with an optional topic name and domain).
struct	__attribute__ ((packed))
	经典 CAN 消息结构 (Structure representing a classic CAN message).
void	Register (Callback cb, Type type, FilterMode mode=FilterMode::ID_RANGE, uint32_t start_id_mask=0, uint32_t end_id_match=UINT32_MAX)
	注册回调函数 Registers a callback function
virtual ErrorCode	AddMessage (const ClassicPack &pack)=0
	添加 CAN 消息到系统 (Adds a CAN message to the system).

Data Fields
	ClassicPack

Protected Member Functions
void	OnMessage (const ClassicPack &pack, bool in_isr)

Private Attributes
LockFreeList	subscriber_list_ [static_cast< uint8_t >(Type::TYPE_NUM)]

Detailed Description

CAN通信接口，定义标准CAN通信结构，支持不同类型的消息 (CAN communication interface that defines a standard CAN structure supporting different message types).

Definition at line 13 of file can.hpp.

Member Typedef Documentation

Callback

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

Definition at line 46 of file can.hpp.

Member Enumeration Documentation

FilterMode

enum class LibXR::CAN::FilterMode : uint8_t

strong

Definition at line 48 of file can.hpp.

  {
    ID_MASK = 0,
    ID_RANGE = 1
  };

Type

enum class LibXR::CAN::Type : uint8_t

strong

CAN 消息类型 (Enumeration of CAN message types).

Enumerator
STANDARD	标准 CAN 消息 (Standard CAN message).
EXTENDED	扩展 CAN 消息 (Extended CAN message).
REMOTE_STANDARD	远程标准 CAN 消息 (Remote standard CAN message).
REMOTE_EXTENDED	远程扩展 CAN 消息 (Remote extended CAN message).

Definition at line 19 of file can.hpp.

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

Constructor & Destructor Documentation

CAN()

LibXR::CAN::CAN ( )

inline

构造 CAN 对象，可指定主题名称和通信域 (Constructs a CAN object with an optional topic name and domain).

Parameters

name_tp	CAN 消息的主题名称 (Topic name for CAN messages).
domain	可选的通信域 (Optional domain for message communication).

Definition at line 34 of file can.hpp.

{}

Member Function Documentation

__attribute__()

struct LibXR::CAN::__attribute__ ( (packed) )

inline

经典 CAN 消息结构 (Structure representing a classic CAN message).

< 消息 ID (Message ID).

< 消息类型 (Message type).

< 数据载荷，最大 8 字节 (Data payload, max 8 bytes).

Definition at line 34 of file can.hpp.

  {
    uint32_t id;      
    Type type;        
    uint8_t data[8];  
  } ClassicPack;

AddMessage()

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

pure virtual

添加 CAN 消息到系统 (Adds a CAN message to the system).

Parameters

pack	经典 CAN 消息包 (The classic CAN message packet).

Returns

操作结果 (ErrorCode indicating success or failure).

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

OnMessage()

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

protected

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_match)
            {
              node.cb.Run(in_isr, pack);
            }
            break;
          case FilterMode::ID_RANGE:
            if (pack.id >= node.start_id_mask && pack.id <= node.end_id_match)
            {
              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_match = UINT32_MAX )

注册回调函数 Registers a callback function

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/掩码 Starting ID/mask
end_id_match	结束ID/匹配 Ending ID/match

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_match, type, cb});
  subscriber_list_[static_cast<uint8_t>(type)].Add(*node);
}

Field Documentation

ClassicPack

LibXR::CAN::ClassicPack

Definition at line 44 of file can.hpp.

subscriber_list_

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

private

Definition at line 86 of file can.hpp.

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

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