FDCAN 通信接口，扩展 CAN 功能，支持灵活数据速率（FD）CAN 消息 (FDCAN communication interface that extends CAN functionality by supporting Flexible Data-Rate (FD) CAN messages). More...

#include <can.hpp>

Inheritance diagram for LibXR::FDCAN:

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Collaboration diagram for LibXR::FDCAN:

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Data Structures
struct	Filter

Public Types
using	CallbackFD = LibXR::Callback<const FDPack &>

enum class	FilterMode

Public Types inherited from LibXR::CAN
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
	FDCAN ()
	构造 FDCAN 对象，可指定主题名称和通信域 (Constructs an FDCAN object with optional topic names and domain).

struct	__attribute__ ((packed))
	FD CAN 消息结构 (Structure representing an FD CAN message).

void	Register (CallbackFD cb, Type type, FilterMode mode=FilterMode::ID_RANGE, uint32_t start_id_mask=0, uint32_t end_id_mask=UINT32_MAX)
	注册回调函数 Registers a callback function

virtual ErrorCode	AddMessage (const FDPack &pack)=0
	添加 FD CAN 消息到系统 (Adds an FD CAN message to the system).

virtual ErrorCode	AddMessage (const ClassicPack &pack)=0
	添加 CAN 消息到系统 (Adds a CAN message to the system).

void	OnMessage (const ClassicPack &pack, bool in_isr)

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

Public Member Functions inherited from LibXR::CAN
	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

Data Fields
	FDPack

Data Fields inherited from LibXR::CAN
	ClassicPack

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

Protected Member Functions inherited from LibXR::CAN
void	OnMessage (const ClassicPack &pack, bool in_isr)

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

Detailed Description

FDCAN 通信接口，扩展 CAN 功能，支持灵活数据速率（FD）CAN 消息 (FDCAN communication interface that extends CAN functionality by supporting Flexible Data-Rate (FD) CAN messages).

Definition at line 94 of file can.hpp.

Member Typedef Documentation

◆ CallbackFD

using LibXR::FDCAN::CallbackFD = LibXR::Callback<const FDPack &>

Definition at line 122 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
  };

Constructor & Destructor Documentation

◆ FDCAN()

LibXR::FDCAN::FDCAN ( )

inline

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

Parameters

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

Definition at line 104 of file can.hpp.

104{}

Member Function Documentation

◆ attribute()

struct LibXR::FDCAN::__attribute__ ( (packed) )

inline

FD CAN 消息结构 (Structure representing an FD CAN message).

< 消息 ID (Message ID).

< 消息类型 (Message type).

< 数据长度，最大 64 字节 (Data length, up to 64 bytes).

< 数据载荷 (Data payload).

Definition at line 104 of file can.hpp.

  {
    uint32_t id;       
    Type type;         
    uint8_t len;       
    uint8_t data[64];  
  } FDPack;

◆ AddMessage() [1/2]

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

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).

Implements LibXR::CAN.

Reimplemented in LibXR::STM32CANFD.

◆ AddMessage() [2/2]

virtual ErrorCode LibXR::FDCAN::AddMessage ( const FDPack & pack )

pure virtual

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

Parameters

pack	FD CAN 消息包 (The FD CAN message packet).

Returns: 操作结果 (ErrorCode indicating success or failure).

Implemented in LibXR::STM32CANFD.

◆ OnMessage() [1/2]

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

Definition at line 83 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;
      });
}

◆ OnMessage() [2/2]

void FDCAN::OnMessage	(	const FDPack &	pack,
		bool	in_isr )

protected

Definition at line 54 of file can.cpp.

{
  ASSERT(pack.type < Type::TYPE_NUM);
  subscriber_list_fd_[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() [1/2]

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 72 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);
}

◆ Register() [2/2]

void FDCAN::Register	(	CallbackFD	cb,
		Type	type,
		FilterMode	mode = FilterMode::ID_RANGE,
		uint32_t	start_id_mask = 0,
		uint32_t	end_id_mask = 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 44 of file can.cpp.

{
  ASSERT(type < Type::REMOTE_STANDARD);
 
  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_fd_[static_cast<uint8_t>(type)].Add(*node);
}

Field Documentation

◆ FDPack

LibXR::FDCAN::FDPack

Definition at line 115 of file can.hpp.

◆ subscriber_list_fd_

LockFreeList LibXR::FDCAN::subscriber_list_fd_[static_cast< uint8_t >(Type::TYPE_NUM)]

private

Definition at line 156 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

Data Fields

Protected Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ CallbackFD

Member Enumeration Documentation

◆ FilterMode

Constructor & Destructor Documentation

◆ FDCAN()

Member Function Documentation

◆ __attribute__()

◆ AddMessage() [1/2]

◆ AddMessage() [2/2]

◆ OnMessage() [1/2]

◆ OnMessage() [2/2]

◆ Register() [1/2]

◆ Register() [2/2]

Field Documentation

◆ FDPack

◆ subscriber_list_fd_

◆ attribute()