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STM32: RX

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This commit is contained in:
Pavel Kirienko
2014-04-05 01:39:51 +04:00
parent 38f57f343d
commit e04a32662e
3 changed files with 130 additions and 16 deletions
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libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp
+9 -4
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@@ -111,6 +111,7 @@ class CanIface : public uavcan::ICanIface, uavcan::Noncopyable
Event& update_event_;
TxItem pending_tx_[NumTxMailboxes];
uavcan::uint8_t last_hw_error_code_;
const uavcan::uint8_t self_index_;
int computeTimings(uavcan::uint32_t target_bitrate, Timings& out_timings);
@@ -130,13 +131,17 @@ class CanIface : public uavcan::ICanIface, uavcan::Noncopyable
public:
enum { MaxRxQueueCapacity = 254 };
CanIface(CAN_TypeDef* can, Event& update_event, CanRxItem* rx_queue_buffer, uavcan::uint8_t rx_queue_capacity)
CanIface(CAN_TypeDef* can, Event& update_event, uavcan::uint8_t self_index,
CanRxItem* rx_queue_buffer, uavcan::uint8_t rx_queue_capacity)
: rx_queue_(rx_queue_buffer, rx_queue_capacity)
, can_(can)
, error_cnt_(0)
, update_event_(update_event)
, last_hw_error_code_(0)
{ }
, self_index_(self_index)
{
assert(self_index_ < UAVCAN_STM32_NUM_IFACES);
}
/**
* Assumes:
@@ -176,9 +181,9 @@ class CanDriver : public uavcan::ICanDriver, uavcan::Noncopyable
public:
template <unsigned RxQueueCapacity>
CanDriver(CanRxItem (&rx_queue_storage)[UAVCAN_STM32_NUM_IFACES][RxQueueCapacity])
: if0_(CAN1, update_event_, rx_queue_storage[0], RxQueueCapacity)
: if0_(CAN1, update_event_, 0, rx_queue_storage[0], RxQueueCapacity)
#if UAVCAN_STM32_NUM_IFACES > 1
, if1_(CAN2, update_event_, rx_queue_storage[1], RxQueueCapacity)
, if1_(CAN2, update_event_, 1, rx_queue_storage[1], RxQueueCapacity)
#endif
{
uavcan::StaticAssert<(RxQueueCapacity <= CanIface::MaxRxQueueCapacity)>::check();