Ejemplo n.º 1
0
static inline void emulateSingleFrameBroadcastTransfer(CanDriver& can, uavcan::NodeID node_id,
                                                       const MessageType& message, uavcan::TransferID tid)
{
    uavcan::StaticTransferBuffer<100> buffer;
    uavcan::BitStream bitstream(buffer);
    uavcan::ScalarCodec codec(bitstream);

    // Manual message publication
    ASSERT_LT(0, MessageType::encode(message, codec));
    ASSERT_GE(8, buffer.getMaxWritePos());

    // DataTypeID data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
    // uint_fast8_t frame_index, TransferID transfer_id, bool last_frame
    uavcan::Frame frame(MessageType::DefaultDataTypeID, uavcan::TransferTypeMessageBroadcast,
                        node_id, uavcan::NodeID::Broadcast, tid);
    frame.setStartOfTransfer(true);
    frame.setEndOfTransfer(true);

    ASSERT_EQ(buffer.getMaxWritePos(), frame.setPayload(buffer.getRawPtr(), buffer.getMaxWritePos()));

    uavcan::CanFrame can_frame;
    ASSERT_TRUE(frame.compile(can_frame));

    can.pushRxToAllIfaces(can_frame);
}
Ejemplo n.º 2
0
    int init(DelayCallable delay_callable, uavcan::uint32_t& inout_bitrate = BitRateAutoDetect)
    {
        if (inout_bitrate > 0)
        {
            return driver.init(inout_bitrate, CanIface::NormalMode);
        }
        else
        {
            static const uavcan::uint32_t StandardBitRates[] =
            {
                1000000,
                500000,
                250000,
                125000
            };

            for (uavcan::uint8_t br = 0; br < sizeof(StandardBitRates) / sizeof(StandardBitRates[0]); br++)
            {
                inout_bitrate = StandardBitRates[br];

                const int res = driver.init(inout_bitrate, CanIface::SilentMode);

                delay_callable();

                if (res >= 0)
                {
                    for (uavcan::uint8_t iface = 0; iface < driver.getNumIfaces(); iface++)
                    {
                        if (!driver.getIface(iface)->isRxBufferEmpty())
                        {
                            // Re-initializing in normal mode
                            return driver.init(inout_bitrate, CanIface::NormalMode);
                        }
                    }
                }
            }

            return -ErrBitRateNotDetected;
        }
    }
Ejemplo n.º 3
0
 /**
  * This overload simply configures the provided bitrate.
  * Auto bit rate detection will not be performed.
  * Bitrate value must be positive.
  * @return  Negative value on error; non-negative on success. Refer to constants Err*.
  */
 int init(uavcan::uint32_t bitrate)
 {
     return driver.init(bitrate, CanIface::NormalMode);
 }
Ejemplo n.º 4
0
 int init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode, uavcan::uint8_t can_number)
 {
     return driver.init(bitrate, mode, can_number);
 }
Ejemplo n.º 5
0
 int init(uavcan::uint32_t bitrate)
 {
     return driver.init(bitrate);
 }