fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-29 15:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

First step in changing the CAN frame format - introduced various transfer lengths per transfer type

Browse Source
This commit is contained in:
Pavel Kirienko
2015-04-28 11:27:01 +03:00
parent 1b75c48783
commit c159f9f7df
7 changed files with 44 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/include/uavcan/transport/transfer.hpp
+29 -2
View File
@@ -11,10 +11,16 @@
namespace uavcan
{
/**
* Refer to the UAVCAN specification for more info about transfers.
*/
static const unsigned MaxMessageBroadcastTransferPayloadLen = 126; ///< 16 frames, 8 bytes per frame, 2 byte CRC
static const unsigned MaxMessageUnicastTransferPayloadLen = 110; ///< 16 frames, 7 bytes per frame, 2 byte CRC
static const unsigned MaxServiceTransferPayloadLen = 439; ///< 63 frames, 7 bytes per frame, 2 byte CRC
static const unsigned MaxTransferPayloadLen = 439; ///< According to the specification.
static const unsigned GuaranteedPayloadLenPerFrame = 7; ///< Guaranteed for all transfers, all CAN standards
static const unsigned MaxSingleFrameTransferPayloadLen = 7;
static const unsigned MaxPossibleTransferPayloadLen = MaxServiceTransferPayloadLen;
enum TransferType
{
@@ -26,6 +32,27 @@ enum TransferType
};
static inline unsigned getMaxPayloadLenForTransferType(const TransferType type)
{
static const unsigned lens[NumTransferTypes] =
{
MaxServiceTransferPayloadLen,
MaxServiceTransferPayloadLen,
MaxMessageBroadcastTransferPayloadLen,
MaxMessageUnicastTransferPayloadLen
};
if (static_cast<int>(type) < NumTransferTypes)
{
return lens[static_cast<int>(type)];
}
else
{
UAVCAN_ASSERT(0);
return 0;
}
}
class UAVCAN_EXPORT TransferID
{
uint8_t value_;