Boardcore::Canbus Namespace Reference

Classes
class	BusLoadEstimation
class	CanbusDriver
	Low level CanBus driver, with support for both peripherals (CAN1 and CAN2) on stm32f4 microcontrollers. More...
struct	CanMessage
	Generic struct that contains a can protocol message. More...
struct	CanPacket
class	CanProtocol
	Canbus protocol implementation. More...
struct	CanRXPacket
struct	CanRXStatus
struct	CanTXResult
struct	FilterBank
	Base class for a Canbus filter bank. More...
struct	ID16FilterBank
struct	ID32FilterBank
struct	Mask16FilterBank
struct	Mask32FilterBank
	32 Bit mask filter bank. More...

Enumerations
enum class	FilterMode { ID , MASK }
enum class	FilterScale { SINGLE32 , DUAL16 }
enum class	CanProtocolIdMask : uint32_t {   PRIORITY = 0x1E000000 , PRIMARY_TYPE = 0x01F80000 , SOURCE = 0x00078000 , DESTINATION = 0x00007800 ,   SECONDARY_TYPE = 0x00000780 , MESSAGE_INFORMATION = 0x1FFFFF80 , FIRST_PACKET_FLAG = 0x00000040 , LEFT_TO_SEND = 0x0000003F ,   SEQUENTIAL_INFORMATION = 0x0000007F }
	Masks of the elements composing can packets ids. More...
enum	CanProtocolShiftInformation : uint8_t {   PRIORITY = 25 , PRIMARY_TYPE = 19 , SOURCE = 15 , DESTINATION = 11 ,   SECONDARY_TYPE = 7 , FIRST_PACKET_FLAG = 6 , LEFT_TO_SEND = 0 , SEQUENTIAL_INFORMATION = 7 }

Functions
bool	operator== (const CanMessage &lhs, const CanMessage &rhs)
bool	operator!= (const CanMessage &lhs, const CanMessage &rhs)

Variables
PrintLogger	l = Logging::getLogger("canbus")
CanbusDriver *	canDrivers [2]

Enumeration Type Documentation

CanProtocolIdMask

enum class Boardcore::Canbus::CanProtocolIdMask : uint32_t

strong

Masks of the elements composing can packets ids.

The CanProtocol allows to transmit arbitrarily sized messages over the CanBus overcoming the 8 byte limitation of each single packet.

Our CanProtocol uses the extended can packet, the 29 bits id is divided such as:

• Priority 4 bit \
• Primary type 6 bit |
• Source 4 bit | 22 bits - Message informations
• Destination 4 bit |
• Secondary type 4 bit /
• First packet flag 1 bit \ 7 bits - Sequential informations
• Remaining packets 6 bit / shiftNameOfField the number of shift needed to reach that field

The id is split into 2 parts:

• Message information: Common to every packet of a given message
• Sequential information: Used to distinguish between packets

The sender splits into multiple packets a message that is then recomposed on the receiver end. The message informations are encoded into the packets id, therefore they have an effect on packets priorities.

Enumerator
PRIORITY
PRIMARY_TYPE
SOURCE
DESTINATION
SECONDARY_TYPE
MESSAGE_INFORMATION
FIRST_PACKET_FLAG
LEFT_TO_SEND
SEQUENTIAL_INFORMATION

Definition at line 60 of file CanProtocolData.h.

CanProtocolShiftInformation

enum Boardcore::Canbus::CanProtocolShiftInformation : uint8_t

Enumerator
PRIORITY
PRIMARY_TYPE
SOURCE
DESTINATION
SECONDARY_TYPE
FIRST_PACKET_FLAG
LEFT_TO_SEND
SEQUENTIAL_INFORMATION

Definition at line 76 of file CanProtocolData.h.

FilterMode

enum class Boardcore::Canbus::FilterMode

strong

Enumerator
ID
MASK

Definition at line 33 of file Filters.h.

FilterScale

enum class Boardcore::Canbus::FilterScale

strong

Enumerator
SINGLE32
DUAL16

Definition at line 39 of file Filters.h.

Function Documentation

operator!=()

bool Boardcore::Canbus::operator!= ( const CanMessage &  lhs, const CanMessage &  rhs  )

inline

Definition at line 155 of file CanProtocolData.h.

operator==()

bool Boardcore::Canbus::operator== ( const CanMessage &  lhs, const CanMessage &  rhs  )

inline

Definition at line 143 of file CanProtocolData.h.

Variable Documentation

canDrivers

CanbusDriver * Boardcore::Canbus::canDrivers

Definition at line 37 of file CanInterrupt.cpp.

l

PrintLogger Boardcore::Canbus::l = Logging::getLogger("canbus")

Definition at line 43 of file CanDriver.cpp.