FDCAN 通信抽象类，扩展支持 CAN FD 帧。 Abstract class for FDCAN communication with CAN FD frame support. More...

#include <can.hpp>

Inheritance diagram for LibXR::FDCAN:

Collaboration diagram for LibXR::FDCAN:

Data Structures
struct	Configuration
	FDCAN 配置参数，扩展 CAN::Configuration。 FDCAN configuration, extending CAN::Configuration. More...

struct	DataBitTiming
	数据相位位时序配置。Data phase bit timing configuration. More...

struct	FDMode
	FDCAN FD 模式配置。FDCAN FD mode configuration. More...

struct	FDPack
	CAN FD 帧数据结构。CAN FD frame structure. More...

struct	Filter
	FDCAN 订阅过滤器。FDCAN subscription filter. More...

Public Types
using	CallbackFD = LibXR::Callback<const FDPack &>
	FD 帧回调类型。Callback type for FD frames.

enum class	FilterMode
	CAN 过滤器模式。CAN filter mode. More...

Public Types inherited from LibXR::CAN
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
	FDCAN ()=default
	构造函数。Constructor.

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

virtual ErrorCode	SetConfig (const CAN::Configuration &cfg) override=0
	设置经典 CAN 配置。 Set classic CAN configuration.

virtual ErrorCode	SetConfig (const FDCAN::Configuration &cfg)=0
	设置 FDCAN 配置。 Set FDCAN configuration.

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 FDCAN FD 帧回调。 Register FDCAN FD frame callback.

virtual ErrorCode	AddMessage (const FDPack &pack)=0
	添加 FD CAN 消息。Add FD CAN message.

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

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.

Public Member Functions inherited from LibXR::CAN
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.

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

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

Protected Member Functions inherited from LibXR::CAN
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_fd_ [static_cast< uint8_t >(Type::REMOTE_STANDARD)]
	按帧类型划分的 FD 订阅者链表数组。FD subscriber lists per frame type.

Additional Inherited Members
Static Public Member Functions inherited from LibXR::CAN
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 inherited from LibXR::CAN
static constexpr uint32_t	CAN_ERROR_ID_PREFIX = 0xFFFF0000u
	错误 ID 前缀 Error ID prefix.

Detailed Description

FDCAN 通信抽象类，扩展支持 CAN FD 帧。 Abstract class for FDCAN communication with CAN FD frame support.

Definition at line 246 of file can.hpp.

Member Typedef Documentation

◆ CallbackFD

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

FD 帧回调类型。Callback type for FD frames.

Definition at line 278 of file can.hpp.

Member Enumeration Documentation

◆ FilterMode

enum class LibXR::CAN::FilterMode : uint8_t

strong

CAN 过滤器模式。CAN filter mode.

Definition at line 186 of file can.hpp.

  {
    ID_MASK = 0,  
    ID_RANGE = 1  
  };

Member Function Documentation

◆ AddMessage() [1/2]

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

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.

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。Add FD CAN message.

Parameters

pack	FD CAN 帧。FD CAN frame.

Returns: ErrorCode 操作结果。Error code.

Implemented in LibXR::STM32CANFD.

◆ OnMessage() [1/2]

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 234 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;
      });
}

◆ OnMessage() [2/2]

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

protected

分发接收到的 FD CAN 帧。 Dispatch a received FD CAN frame.

Parameters

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

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_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 217 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);
}

◆ 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 FDCAN FD 帧回调。 Register FDCAN FD frame 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 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);
}

◆ SetConfig() [1/2]

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

overridepure virtual

设置经典 CAN 配置。 Set classic CAN configuration.

作为 FDCAN 的兼容接口，具体实现可仅使用仲裁相位配置。

Parameters

cfg	CAN 配置。CAN configuration.

Returns: ErrorCode 操作结果。Error code.

Implements LibXR::CAN.

Implemented in LibXR::STM32CANFD.

◆ SetConfig() [2/2]

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

pure virtual

设置 FDCAN 配置。 Set FDCAN configuration.

Parameters

cfg	FDCAN 配置。FDCAN configuration.

Returns: ErrorCode 操作结果。Error code.

Implemented in LibXR::STM32CANFD.

Field Documentation

◆ subscriber_list_fd_

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

private

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

Definition at line 381 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

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ CallbackFD

Member Enumeration Documentation

◆ FilterMode

Member Function Documentation

◆ AddMessage() [1/2]

◆ AddMessage() [2/2]

◆ OnMessage() [1/2]

◆ OnMessage() [2/2]

◆ Register() [1/2]

◆ Register() [2/2]

◆ SetConfig() [1/2]

◆ SetConfig() [2/2]

Field Documentation

◆ subscriber_list_fd_