mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/sta-core.git
synced 2025-12-08 06:18:02 +00:00
Fix indentation. Update doxygen comments
This commit is contained in:
Henrik Stickann
@@ -6,16 +6,11 @@
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#define STA_CORE_CAN_CONTROLLER_HPP
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/**
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* @defgroup can CAN
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* @defgroup sta_core_can CAN
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* @ingroup sta_core
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* @brief CAN controller driver interface.
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*/
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/**
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* @defgroup canAPI API
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* @ingroup can
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* @brief Public interface.
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*/
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#include <sta/can/filter.hpp>
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#include <sta/can/headers.hpp>
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@@ -24,96 +19,96 @@
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namespace sta
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{
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/**
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* @brief CAN controller driver interface.
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*
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* @ingroup canAPI
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*/
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class CanController
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{
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public:
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// RX/TX
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//
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/**
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* @brief CAN controller driver interface.
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*
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* @ingroup sta_core_can
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*/
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class CanController
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{
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public:
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// RX/TX
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//
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/**
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* @brief Send frame to CAN controller for transmission.
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*
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* @param header CAN frame TX header
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* @param payload CAN frame payload
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* @return True on success
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*/
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virtual bool sendFrame(const CanTxHeader & header, const uint8_t * payload) = 0;
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/**
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* @brief Send frame to CAN controller for transmission.
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*
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* @param header CAN frame TX header
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* @param payload CAN frame payload
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* @return True on success
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*/
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virtual bool sendFrame(const CanTxHeader & header, const uint8_t * payload) = 0;
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/**
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* @brief Get received frame from the CAN controller.
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*
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* @param[in] fifo FIFO storing frame
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* @param[out] header CAN frame RX header destination
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* @param[out] payload CAN frame payload destination
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* @return True on success
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*/
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virtual bool receiveFrame(uint8_t fifo, CanRxHeader * header, uint8_t * payload) = 0;
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/**
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* @brief Get received frame from the CAN controller.
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*
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* @param[in] fifo FIFO storing frame
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* @param[out] header CAN frame RX header destination
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* @param[out] payload CAN frame payload destination
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* @return True on success
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*/
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virtual bool receiveFrame(uint8_t fifo, CanRxHeader * header, uint8_t * payload) = 0;
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/**
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* @brief Get RX FIFO flags.
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*
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* @return FIFO flags
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*/
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virtual uint32_t getRxFifoFlags() = 0;
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/**
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* @brief Get RX FIFO flags.
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*
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* @return FIFO flags
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*/
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virtual uint32_t getRxFifoFlags() = 0;
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/**
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* @brief Get list of RX FIFO indices with pending messages.
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*/
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virtual CanPendingRxFifos getPendingRxFifos() = 0;
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/**
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* @brief Get list of RX FIFO indices with pending messages.
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*/
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virtual CanPendingRxFifos getPendingRxFifos() = 0;
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// RX filter
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//
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// RX filter
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//
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/**
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* @brief Change filter settings.
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*
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* @param idx Filter index
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* @param filter Filter configuration
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* @param active Enable filter after applying settings
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*/
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virtual void configureFilter(uint8_t idx, const CanFilter & filter, bool active = false) = 0;
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/**
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* @brief Enable filter.
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*
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* @param idx Filter index
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*/
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virtual void enableFilter(uint8_t idx) = 0;
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/**
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* @brief Disable filter.
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*
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* @param idx Filter index
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*/
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virtual void disableFilter(uint8_t idx) = 0;
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/**
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* @brief Disable and clear all filters.
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*/
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virtual void clearFilters() = 0;
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/**
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* @brief Change filter settings.
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*
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* @param idx Filter index
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* @param filter Filter configuration
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* @param active Enable filter after applying settings
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*/
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virtual void configureFilter(uint8_t idx, const CanFilter & filter, bool active = false) = 0;
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/**
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* @brief Enable filter.
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*
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* @param idx Filter index
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*/
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virtual void enableFilter(uint8_t idx) = 0;
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/**
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* @brief Disable filter.
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*
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* @param idx Filter index
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*/
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virtual void disableFilter(uint8_t idx) = 0;
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/**
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* @brief Disable and clear all filters.
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*/
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virtual void clearFilters() = 0;
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// Info
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//
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// Info
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//
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/**
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* @brief Get number of available filters.
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*/
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virtual uint8_t maxFilterCount() const = 0;
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/**
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* @brief Get number of available filters.
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*/
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virtual uint8_t maxFilterCount() const = 0;
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/**
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* @brief Get number of available FIFOs.
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*/
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virtual uint8_t maxFifoCount() const = 0;
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/**
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* @brief Get number of available FIFOs.
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*/
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virtual uint8_t maxFifoCount() const = 0;
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/**
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* @brief Get maximum supported payload size.
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*/
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virtual uint8_t maxPayloadSize() const = 0;
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};
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/**
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* @brief Get maximum supported payload size.
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*/
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virtual uint8_t maxPayloadSize() const = 0;
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};
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} // namespace sta
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@@ -12,37 +12,37 @@
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namespace sta
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{
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/**
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* @defgroup canFilter Filters
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* @ingroup canAPI
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* @brief CAN message filter types.
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*/
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/**
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* @defgroup sta_core_can_filters Filters
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* @ingroup sta_core_can
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* @brief CAN message filter types.
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* @{
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*/
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/**
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* @brief ID format matched by CAN filter.
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*
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* @ingroup canFilter
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*/
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enum class CanFilterIdFormat
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{
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ANY, /**< Match both ID formats */
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STD, /**< Match standard format IDs */
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EXT /**< Match extended format IDs */
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};
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/**
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* @brief ID format matched by CAN filter.
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*/
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enum class CanFilterIdFormat
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{
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ANY, /**< Match both ID formats */
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STD, /**< Match standard format IDs */
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EXT /**< Match extended format IDs */
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};
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/**
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* @brief CAN filter settings.
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*
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* @ingroup canFilter
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*/
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struct CanFilter
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{
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CanId obj; /**< ID object */
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CanId mask; /**< ID mask */
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CanFilterIdFormat type; /**< ID format to match */
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uint8_t fifo; /**< FIFO to store matches */
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};
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/**
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* @brief CAN filter settings.
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*/
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struct CanFilter
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{
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CanId obj; /**< ID object */
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CanId mask; /**< ID mask */
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CanFilterIdFormat type; /**< ID format to match */
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uint8_t fifo; /**< FIFO to store matches */
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};
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/** @} */
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} // namespace sta
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@@ -12,36 +12,36 @@
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namespace sta
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{
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/**
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* @defgroup canHeader Frame headers
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* @ingroup canAPI
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* @brief CAN header types for transmitted / received frames.
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*/
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/**
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* @defgroup sta_core_can_headers Frame headers
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* @ingroup sta_core_can
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* @brief CAN header types for transmitted / received frames.
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* @{
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*/
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/**
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* @brief CAN TX frame header.
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*
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* @ingroup canHeader
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*/
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struct CanTxHeader
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{
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CanFrameId id; /**< Frame ID */
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uint8_t payloadLength; /**< Size of data to send */
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};
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/**
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* @brief CAN TX frame header.
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*/
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struct CanTxHeader
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{
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CanFrameId id; /**< Frame ID */
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uint8_t payloadLength; /**< Size of data to send */
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};
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/**
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* @brief CAN RX frame header.
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*
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* @ingroup canHeader
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*/
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struct CanRxHeader
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{
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CanFrameId id; /**< Frame ID */
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uint8_t payloadLength; /**< Size of received data */
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uint32_t timestamp; /**< RX timestamp */
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uint8_t filter; /**< RX filter match */
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};
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/**
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* @brief CAN RX frame header.
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*/
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struct CanRxHeader
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{
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CanFrameId id; /**< Frame ID */
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uint8_t payloadLength; /**< Size of received data */
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uint32_t timestamp; /**< RX timestamp */
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uint8_t filter; /**< RX filter match */
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};
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/** @} */
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} // namespace sta
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@@ -10,107 +10,99 @@
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namespace sta
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{
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/**
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* @defgroup canID Frame IDs
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* @ingroup canAPI
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* @brief Types for working with CAN ID values and formats.
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*/
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/**
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* @defgroup sta_core_can_ids Frame IDs
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* @ingroup sta_core_can
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* @brief Types for working with CAN ID values and formats.
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*/
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/**
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* @brief CAN frame ID format.
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*
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* @ingroup canID
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*/
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enum class CanIdFormat : uint8_t
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{
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STD, /**< Standard format */
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EXT /**< Extended format */
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};
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/**
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* @brief CAN frame ID format.
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*
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* @ingroup sta_core_can_ids
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*/
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enum class CanIdFormat : uint8_t
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{
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STD, /**< Standard format */
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EXT /**< Extended format */
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};
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/**
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* @brief CAN frame ID.
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*
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* @ingroup canID
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*/
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struct CanId
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{
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uint32_t sid; /**< Standard ID field (11 bits) */
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uint32_t eid; /**< Extended ID field (18 bits) */
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};
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/**
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* @brief CAN frame ID.
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*
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* @ingroup sta_core_can_ids
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*/
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struct CanId
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{
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uint32_t sid; /**< Standard ID field (11 bits) */
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uint32_t eid; /**< Extended ID field (18 bits) */
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};
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/**
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* @brief CAN frame ID and format.
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*
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* @ingroup canID
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*/
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struct CanFrameId
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{
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CanIdFormat format; /**< ID format */
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uint32_t sid; /**< Standard ID field (11 bits) */
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uint32_t eid; /**< Extended ID field (18 bits) */
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};
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/**
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* @brief CAN frame ID and format.
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*
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* @ingroup sta_core_can_ids
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*/
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struct CanFrameId
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{
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CanIdFormat format; /**< ID format */
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uint32_t sid; /**< Standard ID field (11 bits) */
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uint32_t eid; /**< Extended ID field (18 bits) */
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};
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// Comparison operators
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//
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// Comparison operators
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//
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/**
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* @brief Equal to operator.
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*
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* @param lhs Left hand side CAN ID
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* @param rhs Right hand side CAN ID
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* @return True if CAN IDs are equal
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*
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* @ingroup canID
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*/
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bool operator ==(const CanId & lhs, const CanId & rhs);
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/**
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* @brief Not equal to operator.
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*
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* @param lhs Left hand side CAN ID
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* @param rhs Right hand side CAN ID
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* @return True if CAN IDs are not equal
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*
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* @ingroup canID
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*/
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bool operator !=(const CanId & lhs, const CanId & rhs);
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/**
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* @brief Equal to operator.
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*
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* @param lhs Left hand side CAN ID
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* @param rhs Right hand side CAN ID
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* @return True if CAN IDs are equal
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*/
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bool operator ==(const CanId & lhs, const CanId & rhs);
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/**
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* @brief Not equal to operator.
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*
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* @param lhs Left hand side CAN ID
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* @param rhs Right hand side CAN ID
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* @return True if CAN IDs are not equal
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*/
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bool operator !=(const CanId & lhs, const CanId & rhs);
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/**
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* @brief Equal to operator.
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*
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* @param lhs Left hand side CAN Frame ID
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* @param rhs Right hand side CAN Frame ID
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* @return True if CAN Frame IDs are equal
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*
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* @ingroup canID
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*/
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bool operator ==(const CanFrameId & lhs, const CanFrameId & rhs);
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/**
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* @brief Not equal to operator.
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*
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* @param lhs Left hand side CAN Frame ID
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* @param rhs Right hand side CAN Frame ID
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* @return True if CAN Frame IDs are not equal
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*
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* @ingroup canID
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*/
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bool operator !=(const CanFrameId & lhs, const CanFrameId & rhs);
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/**
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* @brief Equal to operator.
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*
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* @param lhs Left hand side CAN Frame ID
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* @param rhs Right hand side CAN Frame ID
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* @return True if CAN Frame IDs are equal
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*/
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bool operator ==(const CanFrameId & lhs, const CanFrameId & rhs);
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/**
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* @brief Not equal to operator.
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*
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* @param lhs Left hand side CAN Frame ID
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* @param rhs Right hand side CAN Frame ID
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* @return True if CAN Frame IDs are not equal
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*/
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bool operator !=(const CanFrameId & lhs, const CanFrameId & rhs);
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} // namespace sta
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/**
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* @brief Maximum CAN standard ID value.
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*
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* @ingroup canID
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* @ingroup sta_core_can_ids
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*/
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#define CAN_SID_MAX UINT32_C(0x7FF)
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/**
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* @brief Maximum CAN extended ID value.
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*
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* @ingroup canID
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* @ingroup sta_core_can_ids
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*/
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#define CAN_EID_MAX UINT32_C(0x3FFFF)
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@@ -10,57 +10,72 @@
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namespace sta
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{
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class CanPendingRxFifos
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{
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public:
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using value_type = uint8_t;
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using reference = value_type &;
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using const_reference = const value_type &;
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using size_type = uint8_t;
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/**
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* @brief Iterable container interface for CAN RX flags.
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*
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* @ingroup sta_core_can_ids
|
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*/
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class CanPendingRxFifos
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{
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public:
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using value_type = uint8_t;
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using reference = value_type &;
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using const_reference = const value_type &;
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using size_type = uint8_t;
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class const_iterator
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{
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public:
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using value_type = CanPendingRxFifos::value_type;
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using reference = const_reference;
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using pointer = const value_type *;
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/**
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* @brief Custom iterator for active RX queues.
|
||||
*/
|
||||
class const_iterator
|
||||
{
|
||||
public:
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using value_type = CanPendingRxFifos::value_type;
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using reference = const_reference;
|
||||
using pointer = const value_type *;
|
||||
|
||||
public:
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const_iterator(const const_iterator & iter);
|
||||
public:
|
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const_iterator(const const_iterator & iter);
|
||||
|
||||
const_iterator & operator=(const const_iterator & iter);
|
||||
const_iterator & operator=(const const_iterator & iter);
|
||||
|
||||
bool operator==(const const_iterator & iter) const;
|
||||
bool operator!=(const const_iterator & iter) const;
|
||||
bool operator==(const const_iterator & iter) const;
|
||||
bool operator!=(const const_iterator & iter) const;
|
||||
|
||||
const_iterator & operator++();
|
||||
const_iterator operator++(int);
|
||||
const_iterator & operator++();
|
||||
const_iterator operator++(int);
|
||||
|
||||
reference operator*() const;
|
||||
reference operator*() const;
|
||||
|
||||
private:
|
||||
const_iterator(uint32_t rxFlags, uint8_t idx, uint8_t endIdx);
|
||||
private:
|
||||
const_iterator(uint32_t rxFlags, uint8_t idx, uint8_t endIdx);
|
||||
|
||||
bool isRxPending() const;
|
||||
/**
|
||||
* @brief Check if current RX queue has pending data.
|
||||
*/
|
||||
bool isRxPending() const;
|
||||
|
||||
friend class CanPendingRxFifos;
|
||||
friend class CanPendingRxFifos;
|
||||
|
||||
private:
|
||||
uint32_t rxFlags_;
|
||||
uint8_t idx_;
|
||||
uint8_t endIdx_;
|
||||
};
|
||||
private:
|
||||
uint32_t rxFlags_; /**< RX flag bits */
|
||||
uint8_t idx_; /**< Current flag index */
|
||||
uint8_t endIdx_; /**< Iterator end index */
|
||||
};
|
||||
|
||||
public:
|
||||
CanPendingRxFifos(uint32_t rxFlags, uint8_t numFifos);
|
||||
public:
|
||||
/**
|
||||
* @param rxFlags RX flag bits
|
||||
* @param numFifos Number of RX FIFOs
|
||||
*/
|
||||
CanPendingRxFifos(uint32_t rxFlags, uint8_t numFifos);
|
||||
|
||||
const_iterator begin() const;
|
||||
const_iterator end() const;
|
||||
const_iterator begin() const;
|
||||
const_iterator end() const;
|
||||
|
||||
private:
|
||||
uint32_t rxFlags_;
|
||||
uint8_t numFifos_;
|
||||
};
|
||||
private:
|
||||
uint32_t rxFlags_; /**< RX flag bits */
|
||||
uint8_t numFifos_; /**< Number of RX FIFOs */
|
||||
};
|
||||
} // namespace sta
|
||||
|
||||
|
||||
|
||||
@@ -11,90 +11,88 @@
|
||||
|
||||
namespace sta
|
||||
{
|
||||
/**
|
||||
* @defgroup canSub Subscription
|
||||
* @ingroup canAPI
|
||||
* @brief Subscription interface for CAN controller drivers.
|
||||
*/
|
||||
/**
|
||||
* @defgroup sta_core_can_sub Subscription
|
||||
* @ingroup sta_core_can
|
||||
* @brief Subscription interface for CAN controller drivers.
|
||||
* @{
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* @brief Callback for handling received frames.
|
||||
*
|
||||
* @param header Frame header
|
||||
* @param buffer Frame payload buffer
|
||||
*
|
||||
* @ingroup canSub
|
||||
*/
|
||||
using CanRxCallback = void (*) (const CanRxHeader & header, const uint8_t * buffer);
|
||||
/**
|
||||
* @brief Callback for handling received frames.
|
||||
*
|
||||
* @param header Frame header
|
||||
* @param buffer Frame payload buffer
|
||||
*/
|
||||
using CanRxCallback = void (*) (const CanRxHeader & header, const uint8_t * buffer);
|
||||
|
||||
|
||||
/**
|
||||
* @brief Filter configuration and message handler.
|
||||
*
|
||||
* @ingroup canSub
|
||||
*/
|
||||
struct CanFilterConfig
|
||||
{
|
||||
CanFilter filter; /**< Filter handled by callback */
|
||||
CanRxCallback callback; /**< Callback for message handling */
|
||||
};
|
||||
/**
|
||||
* @brief Filter configuration and message handler.
|
||||
*/
|
||||
struct CanFilterConfig
|
||||
{
|
||||
CanFilter filter; /**< Filter handled by callback */
|
||||
CanRxCallback callback; /**< Callback for message handling */
|
||||
};
|
||||
|
||||
|
||||
/**
|
||||
* @brief CAN controller with subscriptions.
|
||||
*
|
||||
* @tparam T Implementation of CanController interface
|
||||
*
|
||||
* @ingroup canSub
|
||||
*/
|
||||
template <typename T>
|
||||
class SubscribableCanController : public T
|
||||
{
|
||||
public:
|
||||
using T::T;
|
||||
/**
|
||||
* @brief CAN controller with subscriptions.
|
||||
*
|
||||
* @tparam T Implementation of CanController interface
|
||||
*/
|
||||
template <typename T>
|
||||
class SubscribableCanController : public T
|
||||
{
|
||||
public:
|
||||
using T::T;
|
||||
|
||||
// Subscriptions
|
||||
//
|
||||
// Subscriptions
|
||||
//
|
||||
|
||||
/**
|
||||
* @brief Subscribe to specific message types.
|
||||
*
|
||||
* @param subscriptions Array of message filters and handlers
|
||||
* @param num Number of array entries
|
||||
*/
|
||||
bool subscribe(const CanFilterConfig * subscriptions, uint8_t num);
|
||||
/**
|
||||
* @brief Subscribe to specific message types.
|
||||
*
|
||||
* @param subscriptions Array of message filters and handlers
|
||||
* @param num Number of array entries
|
||||
*/
|
||||
bool subscribe(const CanFilterConfig * subscriptions, uint8_t num);
|
||||
|
||||
/**
|
||||
* @brief Subscribe to all messages.
|
||||
*
|
||||
* @param callback Called when message is received
|
||||
* @param fifo FIFO used for received messages
|
||||
*/
|
||||
void subscribeAll(CanRxCallback callback, uint8_t fifo);
|
||||
/**
|
||||
* @brief Subscribe to all messages.
|
||||
*
|
||||
* @param callback Called when message is received
|
||||
* @param fifo FIFO used for received messages
|
||||
*/
|
||||
void subscribeAll(CanRxCallback callback, uint8_t fifo);
|
||||
|
||||
/**
|
||||
* @brief Unsubscribe from all messages.
|
||||
*
|
||||
* No more messages will be received.
|
||||
*/
|
||||
void unsubscribeAll();
|
||||
/**
|
||||
* @brief Unsubscribe from all messages.
|
||||
*
|
||||
* No more messages will be received.
|
||||
*/
|
||||
void unsubscribeAll();
|
||||
|
||||
|
||||
/**
|
||||
* @brief Read message from RX FIFO and notify subscriber.
|
||||
*/
|
||||
void receiveAndNotify(uint8_t fifo);
|
||||
/**
|
||||
* @brief Read message from RX FIFO and notify subscriber.
|
||||
*/
|
||||
void receiveAndNotify(uint8_t fifo);
|
||||
|
||||
/**
|
||||
* @brief Process pending frames from RX FIFOs.
|
||||
*/
|
||||
void processMessages();
|
||||
/**
|
||||
* @brief Process pending frames from RX FIFOs.
|
||||
*/
|
||||
void processMessages();
|
||||
|
||||
|
||||
private:
|
||||
CanRxCallback filterCallbacks_[T::MAX_FILTER_COUNT]; /**< Callbacks for RX filters */
|
||||
};
|
||||
private:
|
||||
CanRxCallback filterCallbacks_[T::MAX_FILTER_COUNT]; /**< Callbacks for RX filters */
|
||||
};
|
||||
|
||||
|
||||
/** @} */
|
||||
} // namespace sta
|
||||
|
||||
|
||||
|
||||
@@ -15,105 +15,105 @@
|
||||
|
||||
namespace sta
|
||||
{
|
||||
template <typename T>
|
||||
bool SubscribableCanController<T>::subscribe(const CanFilterConfig * subscriptions, uint8_t num)
|
||||
{
|
||||
// Check bounds
|
||||
if (num > T::MAX_FILTER_COUNT)
|
||||
return false;
|
||||
template <typename T>
|
||||
bool SubscribableCanController<T>::subscribe(const CanFilterConfig * subscriptions, uint8_t num)
|
||||
{
|
||||
// Check bounds
|
||||
if (num > T::MAX_FILTER_COUNT)
|
||||
return false;
|
||||
|
||||
// Clear previous subscriptions
|
||||
unsubscribeAll();
|
||||
// Clear previous subscriptions
|
||||
unsubscribeAll();
|
||||
|
||||
for (uint8_t i = 0; i < num; ++i)
|
||||
{
|
||||
// Save handler callback
|
||||
filterCallbacks_[i] = subscriptions[i].callback;
|
||||
for (uint8_t i = 0; i < num; ++i)
|
||||
{
|
||||
// Save handler callback
|
||||
filterCallbacks_[i] = subscriptions[i].callback;
|
||||
|
||||
// Configure and enable filter
|
||||
T::configureFilter(i, subscriptions[i].filter, true);
|
||||
}
|
||||
// Configure and enable filter
|
||||
T::configureFilter(i, subscriptions[i].filter, true);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void SubscribableCanController<T>::subscribeAll(CanRxCallback callback, uint8_t fifo)
|
||||
{
|
||||
uint8_t filterIdx = 0;
|
||||
template <typename T>
|
||||
void SubscribableCanController<T>::subscribeAll(CanRxCallback callback, uint8_t fifo)
|
||||
{
|
||||
uint8_t filterIdx = 0;
|
||||
|
||||
// Clear previous subscriptions
|
||||
unsubscribeAll();
|
||||
// Clear previous subscriptions
|
||||
unsubscribeAll();
|
||||
|
||||
// Setup default filter
|
||||
CanFilter filter{};
|
||||
filter.type = CanFilterIdFormat::ANY;
|
||||
filter.fifo = fifo;
|
||||
// Setup default filter
|
||||
CanFilter filter{};
|
||||
filter.type = CanFilterIdFormat::ANY;
|
||||
filter.fifo = fifo;
|
||||
|
||||
// Store callback
|
||||
filterCallbacks_[filterIdx] = callback;
|
||||
// Store callback
|
||||
filterCallbacks_[filterIdx] = callback;
|
||||
|
||||
// Configure and enable default filter
|
||||
T::configureFilter(filterIdx, filter, true);
|
||||
}
|
||||
// Configure and enable default filter
|
||||
T::configureFilter(filterIdx, filter, true);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void SubscribableCanController<T>::unsubscribeAll()
|
||||
{
|
||||
// Disable all filters
|
||||
T::clearFilters();
|
||||
template <typename T>
|
||||
void SubscribableCanController<T>::unsubscribeAll()
|
||||
{
|
||||
// Disable all filters
|
||||
T::clearFilters();
|
||||
|
||||
// Clear filter callbacks
|
||||
// Clear filter callbacks
|
||||
#ifndef STA_STDLIB_DISABLE
|
||||
std::fill_n(filterCallbacks_, T::MAX_FILTER_COUNT, nullptr);
|
||||
std::fill_n(filterCallbacks_, T::MAX_FILTER_COUNT, nullptr);
|
||||
#else // STA_STDLIB_DISABLE
|
||||
for (uint8_t i = 0; i < T::MAX_FILTER_COUNT; ++i)
|
||||
{
|
||||
filterCallbacks_[i] = nullptr;
|
||||
}
|
||||
for (uint8_t i = 0; i < T::MAX_FILTER_COUNT; ++i)
|
||||
{
|
||||
filterCallbacks_[i] = nullptr;
|
||||
}
|
||||
#endif // STA_STDLIB_DISABLE
|
||||
}
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void SubscribableCanController<T>::receiveAndNotify(uint8_t fifo)
|
||||
{
|
||||
CanRxHeader header;
|
||||
uint8_t payload[T::MAX_PAYLOAD_SIZE];
|
||||
template <typename T>
|
||||
void SubscribableCanController<T>::receiveAndNotify(uint8_t fifo)
|
||||
{
|
||||
CanRxHeader header;
|
||||
uint8_t payload[T::MAX_PAYLOAD_SIZE];
|
||||
|
||||
if (T::receiveFrame(fifo, &header, payload))
|
||||
{
|
||||
//displayFrameUART(frame);
|
||||
if (T::receiveFrame(fifo, &header, payload))
|
||||
{
|
||||
//displayFrameUART(frame);
|
||||
|
||||
// Forward frame to filter callback
|
||||
if (fifo <= T::MAX_FILTER_COUNT && filterCallbacks_[header.filter])
|
||||
{
|
||||
filterCallbacks_[header.filter](header, payload);
|
||||
}
|
||||
}
|
||||
}
|
||||
// Forward frame to filter callback
|
||||
if (fifo <= T::MAX_FILTER_COUNT && filterCallbacks_[header.filter])
|
||||
{
|
||||
filterCallbacks_[header.filter](header, payload);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void SubscribableCanController<T>::processMessages()
|
||||
{
|
||||
// Read RX interrupt flags
|
||||
uint32_t RFIF = T::getRxFifoFlags();
|
||||
template <typename T>
|
||||
void SubscribableCanController<T>::processMessages()
|
||||
{
|
||||
// Read RX interrupt flags
|
||||
uint32_t RFIF = T::getRxFifoFlags();
|
||||
|
||||
if (RFIF != 0)
|
||||
{
|
||||
// Check all flags
|
||||
for (uint8_t fifo = 0; fifo < T::MAX_FIFO_COUNT; ++fifo)
|
||||
{
|
||||
// Process messages if flag is set
|
||||
if (RFIF & 0x1)
|
||||
{
|
||||
receiveAndNotify(fifo);
|
||||
}
|
||||
if (RFIF != 0)
|
||||
{
|
||||
// Check all flags
|
||||
for (uint8_t fifo = 0; fifo < T::MAX_FIFO_COUNT; ++fifo)
|
||||
{
|
||||
// Process messages if flag is set
|
||||
if (RFIF & 0x1)
|
||||
{
|
||||
receiveAndNotify(fifo);
|
||||
}
|
||||
|
||||
// Shift next RX flag to LSB
|
||||
RFIF >>= 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
// Shift next RX flag to LSB
|
||||
RFIF >>= 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
} // namespace sta
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user