#include <CANPort2B.h>

Inheritance diagram for CANPort_2B:

Public Member Functions
	CANPort_2B (CAN_HandleTypeDef &hcan, const CANPortHardwareConfig &presets, const OutputPin *silentPin=nullptr, uint8_t instance=0)

virtual	~CANPort_2B ()

bool	start ()

bool	stop ()

bool	sendMessage (CAN_tx_msg &msg)

bool	sendMessage (CAN_msg_header_tx pHeader, uint8_t aData[], uint32_t pTxMailbox=nullptr)

void	abortTxRequests ()

int32_t	addCanFilter (CAN_filter filter)

void	removeCanFilter (uint8_t filterId)

void	setSpeed (uint32_t speed)

void	setSpeedPreset (uint8_t preset)

uint32_t	getSpeed ()

uint8_t	getSpeedPreset ()

void	setSilentMode (bool silent)

void	canTxCpltCallback (CANPort *port, uint32_t mailbox) override

void	canTxAbortCallback (CANPort *port, uint32_t mailbox) override

void	canErrorCallback (CANPort *port, uint32_t code) override

CommandStatus	command (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

void	registerCommands ()

void	saveFlash ()

void	restoreFlash ()

const ClassIdentifier	getInfo ()
	Command handlers always have class infos. Works well with ChoosableClass.

const ClassType	getClassType () override

void *	getHandle ()

Public Member Functions inherited from CANPort
	CANPort (const CANPortHardwareConfig &presets, uint8_t instance=0)

virtual	~CANPort ()

virtual int32_t	getPortUsers ()

virtual void	takePort ()

virtual void	freePort ()

virtual void	giveSemaphore ()

virtual bool	takeSemaphore (uint32_t delay=portMAX_DELAY)

virtual uint8_t	speedToPreset (uint32_t speed)
	Gets preset index for a speed.

virtual uint32_t	presetToSpeed (uint8_t preset)
	Gets speed for a preset index.

Public Member Functions inherited from PersistentStorage
	PersistentStorage ()

virtual	~PersistentStorage ()

void	restoreFlashDelayed ()

Public Member Functions inherited from CommandHandler
	CommandHandler (const char *clsname, uint16_t clsid, uint8_t instance=0)

virtual	~CommandHandler ()

virtual bool	hasCommands ()

virtual void	setCommandsEnabled (bool enable)

void	registerCommands ()

virtual CommandStatus	internalCommand (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

virtual std::string	getHelpstring ()

virtual std::string	getCommandsHelpstring ()

virtual std::string	getCsvHelpstring ()

virtual uint8_t	getCommandHandlerInstance ()

void	broadcastCommandReply (CommandReply reply, uint32_t cmdId, CMDtype type)

void	sendCommandReplyAsync (CommandReply reply, uint32_t cmdId, CMDtype type, CommandInterface *interface=nullptr)

virtual uint16_t	getCommandHandlerID ()

virtual CmdHandlerInfo *	getCommandHandlerInfo ()

virtual bool	isValidCommandId (uint32_t cmdid, uint32_t ignoredFlags=0, uint32_t requiredFlag=0)

virtual CmdHandlerCommanddef *	getCommandFromName (const std::string &cmd, uint32_t ignoredFlags=0)

virtual CmdHandlerCommanddef *	getCommandFromId (const uint32_t id, uint32_t ignoredFlags=0)

template<typename ID>
void	registerCommand (const char cmd, const ID cmdid, const char help=nullptr, uint32_t flags=0)

virtual void	postCmdhandlerInit ()

template<typename ID>
void	overrideCommandFlags (const ID cmdid, uint32_t flagmask=0)

Public Member Functions inherited from CanHandler
	CanHandler ()

virtual	~CanHandler ()

virtual void	canRxPendCallback (CANPort *port, CAN_rx_msg &msg)

virtual void	canRxFullCallback (CANPort *port, uint32_t fifo)

Static Public Attributes
static const uint8_t	slaveFilterStart = 14

static ClassIdentifier	info

Static Public Attributes inherited from CommandHandler
static bool	logEnabled = true

Private Types
enum class	CanPort_commands : uint32_t { speed , send , len }

Private Attributes
uint8_t	speedPreset = speedToPreset(500000)

CAN_HandleTypeDef *	hcan = nullptr

std::vector< CAN_FilterTypeDef >	canFilters

uint32_t	txMailboxes = 0

const OutputPin *	silentPin

bool	silent = true

bool	active = false

uint32_t	lastSentTime = 0

CAN_TxHeaderTypeDef	header = {0,0,0,CAN_RTR_DATA,8,(FunctionalState)0}

uint8_t	nextLen = 8

Static Private Attributes
static const uint32_t	sendTimeout = 20

Additional Inherited Members
Static Public Member Functions inherited from CANPort
static CANPort *	handleToPort (void *handle)

Static Public Member Functions inherited from PersistentStorage
static std::vector< PersistentStorage * > &	getFlashHandlers ()

static void	restoreFlashStartupCb ()

Static Public Member Functions inherited from CommandHandler
static void	logSerial (std::string string)
	Send a log formatted sequence.

static void	logSerialDebug (std::string string)
	Send a log formatted sequence if debug is on.

static bool	logsEnabled ()

static void	setLogsEnabled (bool enabled)

static uint32_t	getClassIdFromName (const char *name)

static const char *	getClassNameFromId (const uint32_t id)

static CommandHandler *	getHandlerFromHandlerId (const uint16_t cmdhandlerID)

static CommandHandler *	getHandlerFromId (const uint16_t id, const uint8_t instance=0xFF)

static CommandHandler *	getHandlerFromClassName (const char *name, const uint8_t instance=0xFF)

static std::vector< CommandHandler * >	getHandlersFromClassName (const char *name)

static std::vector< CommandHandler * >	getHandlersFromId (const uint16_t id)

static bool	isInHandlerList (CommandHandler *handler)

static std::string	getAllHelpstrings ()

static std::vector< CommandHandler * > &	getCommandHandlers ()

template<typename TVal>
static CommandStatus	handleGetSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value)

template<typename TVal, class cls, class cls1>
static CommandStatus	handleGetSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, void(cls1::setfunc)(TVal), cls obj)

template<typename TVal, class cls, class cls1, class cls2>
static CommandStatus	handleGetFuncSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal(cls1::getfunc)(), void(cls2::setfunc)(TVal), cls *obj)

template<typename TVal, class cls, class cls1>
static CommandStatus	handleGetFuncSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, TVal(cls1::getfunc)(), cls obj)

Static Public Member Functions inherited from CanHandler
static std::vector< CanHandler * > &	getCANHandlers ()

Protected Member Functions inherited from CommandHandler
void	setInstance (uint8_t instance)

virtual void	addCommandHandler ()

virtual void	removeCommandHandler ()

void	registerCommand_INT (const char cmd, const uint32_t cmdid, const char help=nullptr, uint32_t flags=0)

void	overrideCommandFlags_INT (const uint32_t cmdid, uint32_t flagmask=CMDFLAG_GET\|CMDFLAG_GETADR)

Static Protected Member Functions inherited from CommandHandler
static std::vector< uint16_t > &	getCommandHandlerIds ()

Protected Attributes inherited from CANPort
cpp_freertos::BinarySemaphore	semaphore = cpp_freertos::BinarySemaphore(true)

cpp_freertos::BinarySemaphore	configSem = cpp_freertos::BinarySemaphore(true)

const CANPortHardwareConfig &	presets
	CAN port presets for different speeds. Hardware dependent.

bool	isWaitingFlag = false

int32_t	portUsers = 0

Protected Attributes inherited from PersistentStorage
bool	restoreDelayedFlag = false

Protected Attributes inherited from CommandHandler
bool	commandsEnabled = true

std::vector< CmdHandlerCommanddef >	registeredCommands

CmdHandlerInfo	cmdHandlerInfo

Static Protected Attributes inherited from PersistentStorage
static bool	startupComplete = false

Detailed Description

Definition at line 15 of file CANPort2B.h.

Member Enumeration Documentation

◆ CanPort_commands

enum class CANPort_2B::CanPort_commands : uint32_t

strongprivate

Enumerator
speed
send
len

Definition at line 16 of file CANPort2B.h.

Constructor & Destructor Documentation

◆ CANPort_2B()

CANPort_2B::CANPort_2B	(	CAN_HandleTypeDef &	hcan,
		const CANPortHardwareConfig &	presets,
		const OutputPin *	silentPin = nullptr,
		uint8_t	instance = 0 )

Definition at line 19 of file CANPort2B.cpp.

◆ ~CANPort_2B()

CANPort_2B::~CANPort_2B ( )

virtual

Definition at line 59 of file CANPort2B.cpp.

Member Function Documentation

◆ abortTxRequests()

void CANPort_2B::abortTxRequests ( )

virtual

Stops and clears pending requests if port is stuck

Implements CANPort.

Definition at line 180 of file CANPort2B.cpp.

◆ addCanFilter()

int32_t CANPort_2B::addCanFilter ( CAN_filter filter )

virtual

Adds a filter to the can handle Returns a free bank id if successfull and -1 if all banks are full Use the returned id to disable the filter again

Implements CANPort.

Definition at line 262 of file CANPort2B.cpp.

◆ canErrorCallback()

void CANPort_2B::canErrorCallback	(	CANPort *	port,
		uint32_t	errcode )

overridevirtual

Error during can transfer

Reimplemented from CanHandler.

Definition at line 247 of file CANPort2B.cpp.

◆ canTxAbortCallback()

void CANPort_2B::canTxAbortCallback	(	CANPort *	port,
		uint32_t	mailbox )

overridevirtual

CAN transmission aborted

Reimplemented from CanHandler.

Definition at line 239 of file CANPort2B.cpp.

◆ canTxCpltCallback()

void CANPort_2B::canTxCpltCallback	(	CANPort *	port,
		uint32_t	mailbox )

overridevirtual

CAN transmission complete

Reimplemented from CanHandler.

Definition at line 230 of file CANPort2B.cpp.

◆ command()

CommandStatus CANPort_2B::command	(	const ParsedCommand &	cmd,
		std::vector< CommandReply > &	replies )

virtual

Parameters

[in]	cmd	The parsed command to be executed.
[out]	replies	A vector to return one or multiple reply objects into. Replies to the interface will be generated based on the reply objects. A string reply may not contain start, end and separation markers: [,],\| Other characters are allowed.

Reimplemented from CommandHandler.

Definition at line 334 of file CANPort2B.cpp.

◆ getClassType()

const ClassType CANPort_2B::getClassType ( )

inlineoverridevirtual

Type of this class. Mainclass, motordriver... Should be implemented by the parent class so it is not in the info struct

Reimplemented from CommandHandler.

Definition at line 53 of file CANPort2B.h.

◆ getHandle()

void * CANPort_2B::getHandle ( )

inlinevirtual

Implements CANPort.

Definition at line 54 of file CANPort2B.h.

◆ getInfo()

const ClassIdentifier CANPort_2B::getInfo ( )

inlinevirtual

Command handlers always have class infos. Works well with ChoosableClass.

Implements CommandHandler.

Definition at line 52 of file CANPort2B.h.

◆ getSpeed()

uint32_t CANPort_2B::getSpeed ( )

virtual

Implements CANPort.

Definition at line 124 of file CANPort2B.cpp.

◆ getSpeedPreset()

uint8_t CANPort_2B::getSpeedPreset ( )

virtual

Implements CANPort.

Definition at line 128 of file CANPort2B.cpp.

◆ registerCommands()

void CANPort_2B::registerCommands ( )

Definition at line 33 of file CANPort2B.cpp.

◆ removeCanFilter()

void CANPort_2B::removeCanFilter ( uint8_t filterId )

virtual

Disables a can filter Use the id returned by the addCanFilter function

Implements CANPort.

Definition at line 320 of file CANPort2B.cpp.

◆ restoreFlash()

void CANPort_2B::restoreFlash ( )

virtual

Should be implemented to restore settings. This is not automatically called and should be called when appropriate.

Reimplemented from PersistentStorage.

Definition at line 48 of file CANPort2B.cpp.

◆ saveFlash()

void CANPort_2B::saveFlash ( )

virtual

Called when the user uses the "save" command and presses the save button in the configurator Automatically called by the command parser thread for every class that inherits from PersistentStorage

Reimplemented from PersistentStorage.

Definition at line 40 of file CANPort2B.cpp.

◆ sendMessage() [1/2]

bool CANPort_2B::sendMessage	(	CAN_msg_header_tx *	pHeader,
		uint8_t	aData[],
		uint32_t *	pTxMailbox = nullptr )

virtual

Transmits a CAN frame with separate data and header settings

Implements CANPort.

Definition at line 187 of file CANPort2B.cpp.

◆ sendMessage() [2/2]

bool CANPort_2B::sendMessage ( CAN_tx_msg & msg )

virtual

Transmits a CAN frame on this port Wraps the internal transmit function

Implements CANPort.

Definition at line 176 of file CANPort2B.cpp.

◆ setSilentMode()

void CANPort_2B::setSilentMode ( bool silent )

virtual

Sets the can port passive if a transceiver with silent mode is available

Implements CANPort.

Definition at line 165 of file CANPort2B.cpp.

◆ setSpeed()

void CANPort_2B::setSpeed ( uint32_t speed )

virtual

Changes the speed of the CAN port in bits/s Must match a preset speed

Implements CANPort.

Definition at line 155 of file CANPort2B.cpp.

◆ setSpeedPreset()

void CANPort_2B::setSpeedPreset ( uint8_t preset )

virtual

Changes the speed of the CAN port to a preset

Implements CANPort.

Definition at line 136 of file CANPort2B.cpp.

◆ start()

bool CANPort_2B::start ( )

virtual

Signals that this port is being used. Increments the user counter Signals that the port is not needed anymore. Decrements the user counter Enables the can port

Implements CANPort.

Definition at line 99 of file CANPort2B.cpp.

◆ stop()

bool CANPort_2B::stop ( )

virtual

Disables the can port

Implements CANPort.

Definition at line 114 of file CANPort2B.cpp.

Member Data Documentation

◆ active

bool CANPort_2B::active = false

private

Definition at line 65 of file CANPort2B.h.

◆ canFilters

std::vector<CAN_FilterTypeDef> CANPort_2B::canFilters

private

Definition at line 59 of file CANPort2B.h.

◆ hcan

CAN_HandleTypeDef* CANPort_2B::hcan = nullptr

private

Definition at line 58 of file CANPort2B.h.

◆ header

CAN_TxHeaderTypeDef CANPort_2B::header = {0,0,0,CAN_RTR_DATA,8,(FunctionalState)0}

private

Definition at line 71 of file CANPort2B.h.

◆ info

ClassIdentifier CANPort_2B::info

static

Initial value:

= {
    .name = "Can port",
    .id = CLSID_CANPORT,
    .visibility = ClassVisibility::visible}

Definition at line 10 of file CANPort2B.h.

◆ lastSentTime

uint32_t CANPort_2B::lastSentTime = 0

private

Definition at line 67 of file CANPort2B.h.

◆ nextLen

uint8_t CANPort_2B::nextLen = 8

private

Definition at line 72 of file CANPort2B.h.

◆ sendTimeout

const uint32_t CANPort_2B::sendTimeout = 20

staticprivate

Definition at line 69 of file CANPort2B.h.

◆ silent

bool CANPort_2B::silent = true

private

Definition at line 64 of file CANPort2B.h.

◆ silentPin

const OutputPin* CANPort_2B::silentPin

private

Definition at line 63 of file CANPort2B.h.

◆ slaveFilterStart

const uint8_t CANPort_2B::slaveFilterStart = 14

static

Definition at line 39 of file CANPort2B.h.

◆ speedPreset

uint8_t CANPort_2B::speedPreset = speedToPreset(500000)

private

Definition at line 57 of file CANPort2B.h.

◆ txMailboxes

uint32_t CANPort_2B::txMailboxes = 0

private

Definition at line 60 of file CANPort2B.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Attributes

Private Types

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ CanPort_commands

Constructor & Destructor Documentation

◆ CANPort_2B()

◆ ~CANPort_2B()

Member Function Documentation

◆ abortTxRequests()

◆ addCanFilter()

◆ canErrorCallback()

◆ canTxAbortCallback()

◆ canTxCpltCallback()

◆ command()

◆ getClassType()

◆ getHandle()

◆ getInfo()

◆ getSpeed()

◆ getSpeedPreset()

◆ registerCommands()

◆ removeCanFilter()

◆ restoreFlash()

◆ saveFlash()

◆ sendMessage() [1/2]

◆ sendMessage() [2/2]

◆ setSilentMode()

◆ setSpeed()

◆ setSpeedPreset()

◆ start()

◆ stop()

Member Data Documentation

◆ active

◆ canFilters

◆ hcan

◆ header

◆ info

◆ lastSentTime

◆ nextLen

◆ sendTimeout

◆ silent

◆ silentPin

◆ slaveFilterStart

◆ speedPreset

◆ txMailboxes