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;
}
}
/**
* 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);
}
int init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode, uavcan::uint8_t can_number)
{
return driver.init(bitrate, mode, can_number);
}
int init(uavcan::uint32_t bitrate)
{
return driver.init(bitrate);
}