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:

Classes
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.

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 LIBXR_PACKED_END 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 247 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 279 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 187 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 235 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.

{
  // FD 帧没有远程帧，订阅表只有 STANDARD 和 EXTENDED 两项。
  // FD frames have no remote form; the subscriber table holds only STANDARD and EXTENDED.
  ASSERT(pack.type < Type::REMOTE_STANDARD);
  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 218 of file can.cpp.

{
  ASSERT(type < Type::TYPE_NUM);
 
  auto node = new (std::align_val_t(LibXR::CONCURRENCY_ALIGNMENT))
      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::CONCURRENCY_ALIGNMENT))
      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.

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

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

Classes

Public Types

Public Member Functions

Protected Member Functions

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]