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libuavcan documentation

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This commit is contained in:
Pavel Kirienko
2014-07-14 22:22:18 +04:00
parent ee4c191684
commit e5ca1f7379
47 changed files with 1102 additions and 132 deletions
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libuavcan/include/uavcan/driver/can.hpp
+24 -11
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@@ -18,8 +18,8 @@ namespace uavcan
UAVCAN_PACKED_BEGIN
struct UAVCAN_EXPORT CanFrame
{
static const uint32_t MaskStdID = 0x000007FF;
static const uint32_t MaskExtID = 0x1FFFFFFF;
static const uint32_t MaskStdID = 0x000007FFU;
static const uint32_t MaskExtID = 0x1FFFFFFFU;
static const uint32_t FlagEFF = 1U << 31; ///< Extended frame format
static const uint32_t FlagRTR = 1U << 30; ///< Remote transmission request
static const uint32_t FlagERR = 1U << 29; ///< Error frame
@@ -37,13 +37,13 @@ struct UAVCAN_EXPORT CanFrame
fill(data, data + MaxDataLen, 0);
}
CanFrame(uint32_t arg_id, const uint8_t* arg_data, uint8_t data_len)
: id(arg_id)
CanFrame(uint32_t can_id, const uint8_t* can_data, uint8_t data_len)
: id(can_id)
, dlc((data_len > MaxDataLen) ? MaxDataLen : data_len)
{
UAVCAN_ASSERT(arg_data != NULL);
UAVCAN_ASSERT(can_data != NULL);
UAVCAN_ASSERT(data_len == dlc);
(void)copy(arg_data, arg_data + dlc, this->data);
(void)copy(can_data, can_data + dlc, this->data);
}
bool operator!=(const CanFrame& rhs) const { return !operator==(rhs); }
@@ -57,12 +57,16 @@ struct UAVCAN_EXPORT CanFrame
bool isErrorFrame() const { return id & FlagERR; }
#if UAVCAN_TOSTRING
enum StringRepresentation { StrTight, StrAligned };
enum StringRepresentation
{
StrTight, ///< Minimum string length (default)
StrAligned ///< Fixed formatting for any frame
};
std::string toString(StringRepresentation mode = StrTight) const;
#endif
/**
* CAN frames arbitration rules, particularly STD vs EXT:
* CAN frame arbitration rules, particularly STD vs EXT:
* Marco Di Natale - "Understanding and using the Controller Area Network"
* http://www6.in.tum.de/pub/Main/TeachingWs2013MSE/CANbus.pdf
*/
@@ -72,7 +76,9 @@ struct UAVCAN_EXPORT CanFrame
UAVCAN_PACKED_END
/**
* CAN hardware filter config struct. @ref ICanIface::configureFilters().
* CAN hardware filter config struct.
* Masks from @ref CanFrame can be applied to define frame type (EFF, EXT, etc.).
* @ref ICanIface::configureFilters().
*/
struct UAVCAN_EXPORT CanFilterConfig
{
@@ -81,7 +87,8 @@ struct UAVCAN_EXPORT CanFilterConfig
};
/**
* Events to look for during @ref ICanDriver::select() call
* Events to look for during @ref ICanDriver::select() call.
* Bit position defines iface index, e.g. read = 1 << 2 to read from the third iface.
*/
struct UAVCAN_EXPORT CanSelectMasks
{
@@ -94,6 +101,9 @@ struct UAVCAN_EXPORT CanSelectMasks
{ }
};
/**
* Special IO flags.
*/
typedef uint16_t CanIOFlags;
static const CanIOFlags CanIOFlagLoopback = 1; ///< Send the frame back to RX with true TX timestamps
@@ -153,12 +163,13 @@ public:
virtual ~ICanDriver() { }
/**
* Returns the interface by index, or null pointer if the index is out of range.
* Returns an interface by index, or null pointer if the index is out of range.
*/
virtual ICanIface* getIface(uint8_t iface_index) = 0;
/**
* Total number of available CAN interfaces.
* This value shall not change after initialization.
*/
virtual uint8_t getNumIfaces() const = 0;
@@ -166,6 +177,8 @@ public:
* Block until the deadline, or one of the specified interfaces becomes available for read or write.
* Iface masks will be modified by the driver to indicate which exactly interfaces are available for IO.
* Bit position in the masks defines interface index.
* Note that it is allowed to return from this method even if no requested events actually happened, or if
* there are events that were not requested by the lirary.
* @param [in,out] inout_masks Masks indicating which interfaces are needed/available for IO.
* @param [in] blocking_deadline Zero means non-blocking operation.
* @return Positive number of ready interfaces or negative error code.