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Acceptance filter update for new transport layer

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This commit is contained in:
ilia-sheremet
2015-07-24 21:04:56 +01:00
parent ad12760d7f
commit 5fa5a4f365
3 changed files with 90 additions and 60 deletions
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libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp
+27 -19
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@@ -16,6 +16,10 @@
namespace uavcan
{
/**
* These arguments defines whether acceptance filter configuration has anonymous massages or not
*/
enum AnonMassagePresence {WithAnonMsg,NoAnonMsg};
/**
* This class configures hardware acceptance filters (if this feature is present on the particular CAN driver) to
@@ -35,22 +39,25 @@ namespace uavcan
class CanAcceptanceFilterConfigurator
{
/**
* Below constants based on UAVCAN transport layer specification. Masks and ID's depends on message Priority,
* TypeID, TransferID (RequestNotResponse - for service types, BroadcastNotUnicast - for message types).
* Below constants based on UAVCAN transport layer specification. Masks and ID's depends on message
* TypeID, TransferID (RequestNotResponse - for service types, ServiceNotMessage - for all types of messages).
* For more details refer to uavcan.org/CAN_bus_transport_layer_specification.
* For clarity let's represent "i" as Data Type ID
* DefaultFilterMsgMask = 00111111111110000000000000000
* DefaultFilterMsgID = 00iiiiiiiiiii0000000000000000, no need to explicitly define, since MsgID initialized as 0.
* DefaultFilterServiceRequestMask = 11111111111100000000000000000
* DefaultFilterServiceRequestID = 101iiiiiiiii00000000000000000
* ServiceRespFrameMask = 11100000000000000000000000000
* ServiceRespFrameID = 10000000000000000000000000000, all Service Response Frames are accepted by HW filters.
* For clarity let's represent "i" as Data Type ID and "d" as Destination Node Id
* DefaultFilterMsgMask = 00000 11111111 11111111 10000000
* DefaultFilterMsgID = 00000 iiiiiiii iiiiiiii 00000000, no need to explicitly define, since MsgID initialized
* as 0.
* DefaultFilterServiceMask = 00000 00000000 01111111 10000000
* DefaultFilterServiceID = 00000 00000000 0ddddddd 10000000, all Service Response Frames are accepted by
* HW filters.
* DefaultAnonMsgMask = 00000 00000000 00000000 11111111
* DefaultAnonMsgID = 00000 00000000 00000000 00000000, by default the config is added to accept all anonymous
* frames. In case there are no anonymous massages, invoke configureFilters(NoAnonMsg).
*/
static const unsigned DefaultFilterMsgMask = 0x7FF0000;
static const unsigned DefaultFilterServiceRequestID = 0x14000000;
static const unsigned DefaultFilterServiceRequestMask = 0x1FFE0000;
static const unsigned ServiceRespFrameID = 0x10000000;
static const unsigned ServiceRespFrameMask = 0x1C000000;
static const unsigned DefaultFilterMsgMask = 0xFFFF80;
static const unsigned DefaultFilterServiceMask = 0x7F80;
static const unsigned DefaultFilterServiceID = 0x80;
static const unsigned DefaultAnonMsgMask = 0xF;
static const unsigned DefaultAnonMsgID = 0x0;
typedef uavcan::Multiset<CanFilterConfig, 1> MultisetConfigContainer;
@@ -61,7 +68,7 @@ class CanAcceptanceFilterConfigurator
/**
* Fills the multiset_configs_ to proceed it with computeConfiguration()
*/
int16_t loadInputConfiguration();
int16_t loadInputConfiguration(AnonMassagePresence load_mode);
/**
* This method merges several listeners's filter configurations by predetermined algorithm
@@ -84,11 +91,12 @@ public:
{ }
/**
* This method invokes loadInputConfiguration(), computeConfiguration() and applyConfiguration() consequently, so that
* optimal acceptance filter configuration will be computed and loaded through CanDriver::configureFilters()
* @return 0 = success, negative for error.
* This method invokes loadInputConfiguration(), computeConfiguration() and applyConfiguration() consequently, so
* that optimal acceptance filter configuration will be computed and loaded through CanDriver::configureFilters()
* @return 0 = success, negative for error. Input argument defines the presence of anonymous massages
* WithAnonMsg(default)/NoAnonMsg.
*/
int configureFilters();
int configureFilters(AnonMassagePresence mode = WithAnonMsg);
/**
* Returns the configuration computed with computeConfiguration().