Base class for a CAN device for the Arduino environment. More...

#include <Can.hxx>

Inheritance diagram for Can:

Public Member Functions
int	available ()

int	availableForWrite ()

int	read (struct can_frame *frame)
	Read a frame if there is one available.

int	write (const struct can_frame *frame)
	Send a frame if there is space available.

virtual void	enable ()=0
	function to enable device

virtual void	disable ()=0
	function to disable device

Public Member Functions inherited from Device
	Device (const char *name)
	Constructor.

virtual	~Device ()
	Destructor.

Static Public Attributes
static unsigned	numReceivedPackets_ {0}

static unsigned	numTransmittedPackets_ {0}

Protected Member Functions
	Can (const char *ignored)
	Constructor.

	~Can ()
	Destructor.

virtual void	tx_msg ()=0
	function to try and transmit a message

	Can (const char *name, size_t tx_buffer_size=config_can_tx_buffer_size(), size_t rx_buffer_size=config_can_rx_buffer_size())
	Constructor.

	~Can ()
	Destructor.

void	enable () override=0
	function to enable device

void	disable () override=0
	function to disable device

virtual void	tx_msg ()=0
	function to try and transmit a message

bool	has_tx_buffer_space () OVERRIDE

bool	has_rx_buffer_data () OVERRIDE

void	flush_buffers () OVERRIDE
	called after disable

ssize_t	read (File file, void buf, size_t count) OVERRIDE
	Read from a file or device.

ssize_t	write (File file, const void buf, size_t count) OVERRIDE
	Write to a file or device.

bool	select (File *file, int mode) OVERRIDE
	Device select method.

Protected Member Functions inherited from Atomic
void	lock ()

void	unlock ()

Protected Member Functions inherited from NonBlockNode
	NonBlockNode (const char *name)
	Constructor.

int	ioctl (File *file, unsigned long int key, unsigned long data) OVERRIDE
	Request an ioctl transaction.

Protected Member Functions inherited from Node
	Node (const char *name)
	Constructor.

virtual	~Node ()
	Destructor.

int	open (File , const char , int, int) OVERRIDE
	Open method.

int	close (File *) OVERRIDE
	Close method.

virtual int	fstat (File file, struct stat stat) override
	Get the status information of a file or device.

	Device (const char *name)
	Constructor.

virtual	~Device ()
	Destructor.

Protected Member Functions inherited from FileIO
	FileIO (const char *name)
	Constructor.

virtual	~FileIO ()
	Destructor.

virtual off_t	lseek (File *f, off_t offset, int whence)
	Seek method.

virtual int	fcntl (File *file, int cmd, unsigned long data)
	Manipulate a file descriptor.

Protected Attributes
DeviceBuffer< struct can_frame > *	txBuf
	transmit buffer

DeviceBuffer< struct can_frame > *	rxBuf
	receive buffer

unsigned int	overrunCount
	overrun count

unsigned int	busOffCount
	bus-off count

unsigned int	softErrorCount
	soft error count

Protected Attributes inherited from NonBlockNode
Notifiable *	readableNotify_
	This will be notified if the device has data avilable for read.

Notifiable *	writableNotify_
	This will be notified if the device has buffer avilable for write.

Protected Attributes inherited from Node
OSMutex	lock_
	protects internal structures.

mode_t	mode_
	File open mode, such as O_NONBLOCK.

unsigned int	references_
	number of open references

Protected Attributes inherited from FileIO
const char *	name
	device name

Private Member Functions
	DISALLOW_COPY_AND_ASSIGN (Can)

	DISALLOW_COPY_AND_ASSIGN (Can)

Additional Inherited Members
Static Public Member Functions inherited from Device
static int	open (struct _reent reent, const char path, int flags, int mode)
	Open a file or device.

static int	close (struct _reent *reent, int fd)
	Close a file or device.

static int	stat (struct _reent reent, const char path, struct stat *stat)
	Get the status information of a file or device.

static int	select (int nfds, fd_set readfds, fd_set writefds, fd_set *exceptfds, long long timeout)
	POSIX select().

static void	select_clear ()
	Clears the current thread's select bits.

Static Public Member Functions inherited from FileIO
static ssize_t	read (struct _reent reent, int fd, void buf, size_t count)
	Read from a file or device.

static ssize_t	write (struct _reent reent, int fd, const void buf, size_t count)
	Write to a file or device.

static _off_t	lseek (struct _reent *reent, int fd, _off_t offset, int whence)
	Change the offset index of a file or device.

static int	fstat (struct _reent reent, int fd, struct stat stat)
	Get the status information of a file or device.

static int	ioctl (int fd, unsigned long int key, unsigned long data)
	Request and ioctl transaction.

static int	fcntl (int fd, int cmd, unsigned long data)
	Manipulate a file descriptor.

static bool	is_device (int fd)
	Test if the file descriptor belongs to a device.

Static Protected Member Functions inherited from Device
static void	select_insert (SelectInfo *info)
	Add client to list of clients needing woken.

static void	select_wakeup (SelectInfo *info)
	Wakeup the list of clients needing woken.

static void	select_wakeup_from_isr (SelectInfo info, int woken)
	Wakeup the list of clients needing woken.

static int	open (struct _reent reent, const char path, int flags, int mode)
	Open a file or device.

static int	close (struct _reent *reent, int fd)
	Close a file or device.

static int	stat (struct _reent reent, const char path, struct stat *stat)
	Get the status information of a file or device.

static int	select (int nfds, fd_set readfds, fd_set writefds, fd_set *exceptfds, long long timeout)
	POSIX select().

static void	select_clear ()
	Clears the current thread's select bits.

Static Protected Member Functions inherited from FileIO
static int	fd_alloc (void)
	Allocate a free file descriptor.

static void	fd_free (int fd)
	Free up a file descriptor.

static File *	file_lookup (int fd)
	Looks up a reference to a File corresponding to a given file descriptor.

static int	fd_lookup (File *file)
	Looks up a file descriptor corresponding to a given File reference.

static ssize_t	read (struct _reent reent, int fd, void buf, size_t count)
	Read from a file or device.

static ssize_t	write (struct _reent reent, int fd, const void buf, size_t count)
	Write to a file or device.

static _off_t	lseek (struct _reent *reent, int fd, _off_t offset, int whence)
	Change the offset index of a file or device.

static int	fstat (struct _reent reent, int fd, struct stat stat)
	Get the status information of a file or device.

static int	ioctl (int fd, unsigned long int key, unsigned long data)
	Request and ioctl transaction.

static int	fcntl (int fd, int cmd, unsigned long data)
	Manipulate a file descriptor.

static bool	is_device (int fd)
	Test if the file descriptor belongs to a device.

Static Protected Attributes inherited from FileIO
static const unsigned int	numOpenFiles = 20

static File	files []
	File descriptor pool.

static OSMutex	mutex
	mutual exclusion for fileio

Detailed Description

Base class for a CAN device for the Arduino environment.

Private data for a can device.

Definition at line 47 of file arduino/Can.hxx.

Constructor & Destructor Documentation

◆ Can() [1/2]

Can::Can ( const char * ignored )

inlineprotected

Constructor.

Parameters

name	ignored, may be null

Definition at line 97 of file arduino/Can.hxx.

◆ ~Can() [1/2]

Can::~Can ( )

inlineprotected

Destructor.

Definition at line 110 of file arduino/Can.hxx.

◆ Can() [2/2]

Can::Can	(	const char *	name,
		size_t	tx_buffer_size = `config_can_tx_buffer_size()`,
		size_t	rx_buffer_size = `config_can_rx_buffer_size()`
	)

inlineprotected

Constructor.

Parameters

name	device name in file system
tx_buffer_size	transmit buffer size in can frames
rx_buffer_size	receive buffer size in can frames

Definition at line 57 of file common/Can.hxx.

◆ ~Can() [2/2]

Can::~Can ( )

inlineprotected

Destructor.

Definition at line 71 of file common/Can.hxx.

Member Function Documentation

◆ available()

int Can::available ( )

inline

Returns: number of CAN frames available for read (input frames).

Definition at line 54 of file arduino/Can.hxx.

◆ availableForWrite()

int Can::availableForWrite ( )

inline

Returns: number of CAN frames available for write (space in output buffer).

Definition at line 61 of file arduino/Can.hxx.

◆ disable() [1/2]

void Can::disable ( )

overrideprotectedpure virtual

function to disable device

Implements Node.

Implemented in BenchmarkCan, TCAN4550Can, MCP2515Can, TCAN4550Can, LpcCan, MbedCanDriver, Stm32Can, and TivaCan.

◆ disable() [2/2]

virtual void Can::disable ( )

pure virtual

function to disable device

Implements Node.

Implemented in BenchmarkCan, TCAN4550Can, MCP2515Can, TCAN4550Can, LpcCan, MbedCanDriver, Stm32Can, and TivaCan.

◆ enable() [1/2]

void Can::enable ( )

overrideprotectedpure virtual

function to enable device

Implements Node.

Implemented in BenchmarkCan, TCAN4550Can, MCP2515Can, TCAN4550Can, LpcCan, MbedCanDriver, Stm32Can, and TivaCan.

◆ enable() [2/2]

virtual void Can::enable ( )

pure virtual

function to enable device

Implements Node.

Implemented in BenchmarkCan, TCAN4550Can, MCP2515Can, TCAN4550Can, LpcCan, MbedCanDriver, Stm32Can, and TivaCan.

◆ flush_buffers()

void Can::flush_buffers ( )

protectedvirtual

called after disable

Flush the receive and transmit buffers for this device.

Implements Node.

Reimplemented in TCAN4550Can, TCAN4550Can, and MbedCanDriver.

Definition at line 46 of file common/Can.cxx.

◆ has_rx_buffer_data()

bool Can::has_rx_buffer_data ( )

inlineprotectedvirtual

Todo:: (Stuart Baker) remove once we switch over to select().

Returns: true if there is data in the receive buffer, false if all data has been consumed.

Implements NonBlockNode.

Definition at line 93 of file common/Can.hxx.

◆ has_tx_buffer_space()

bool Can::has_tx_buffer_space ( )

inlineprotectedvirtual

Todo:: (Stuart Baker) remove once we switch over to select().

Returns: true if there is space in the transmit buffer, false if transmit buffers are full (i.e. a transmit would block).

Implements NonBlockNode.

Definition at line 85 of file common/Can.hxx.

◆ read() [1/2]

ssize_t Can::read	(	File *	file,
		void *	buf,
		size_t	count
	)

protectedvirtual

Read from a file or device.

Parameters

file	file reference for this device
buf	location to place read data
count	number of bytes to read

Returns: number of bytes read upon success, -1 upon failure with errno containing the cause

Implements FileIO.

Reimplemented in TCAN4550Can, and TCAN4550Can.

Definition at line 58 of file common/Can.cxx.

◆ read() [2/2]

int Can::read ( struct can_frame * frame )

inline

Read a frame if there is one available.

Parameters

frame will be filled with the input CAN frame.

Returns: 0 or 1 depending on whether a frame was read or not.

Definition at line 69 of file arduino/Can.hxx.

◆ select()

bool Can::select	(	File *	file,
		int	mode
	)

protectedvirtual

Device select method.

Default impementation returns true.

Parameters

file	reference to the file
mode	FREAD for read active, FWRITE for write active, 0 for exceptions

Returns: true if active, false if inactive

Reimplemented from FileIO.

Reimplemented in TCAN4550Can, and TCAN4550Can.

Definition at line 168 of file common/Can.cxx.

◆ tx_msg() [1/2]

virtual void Can::tx_msg ( )

protectedpure virtual

function to try and transmit a message

Implemented in BenchmarkCan, TCAN4550Can, MCP2515Can, TCAN4550Can, LpcCan, MbedCanDriver, Stm32Can, and TivaCan.

◆ tx_msg() [2/2]

virtual void Can::tx_msg ( )

protectedpure virtual

function to try and transmit a message

Implemented in BenchmarkCan, TCAN4550Can, MCP2515Can, TCAN4550Can, LpcCan, MbedCanDriver, Stm32Can, and TivaCan.

◆ write() [1/2]

int Can::write ( const struct can_frame * frame )

inline

Send a frame if there is space available.

Parameters

frame the output CAN frame.

Returns: 0 or 1 depending on whether the write happened or not.

Definition at line 79 of file arduino/Can.hxx.

◆ write() [2/2]

ssize_t Can::write	(	File *	file,
		const void *	buf,
		size_t	count
	)

protectedvirtual

Write to a file or device.

Parameters

file	file reference for this device
buf	location to find write data
count	number of bytes to write

Returns: number of bytes written upon success, -1 upon failure with errno containing the cause

Implements FileIO.

Reimplemented in TCAN4550Can, and TCAN4550Can.

Definition at line 110 of file common/Can.cxx.

Member Data Documentation

◆ busOffCount

unsigned int Can::busOffCount

protected

bus-off count

Definition at line 121 of file arduino/Can.hxx.

◆ numReceivedPackets_

static unsigned Can::numReceivedPackets_ {0}

static

Definition at line 39 of file arduino/Can.hxx.

◆ numTransmittedPackets_

static unsigned Can::numTransmittedPackets_ {0}

static

Definition at line 40 of file arduino/Can.hxx.

◆ overrunCount

unsigned int Can::overrunCount

protected

overrun count

Definition at line 120 of file arduino/Can.hxx.

◆ rxBuf

DeviceBuffer< struct can_frame > * Can::rxBuf

protected

receive buffer

Definition at line 119 of file arduino/Can.hxx.

◆ softErrorCount

unsigned int Can::softErrorCount

protected

soft error count

soff error count

Definition at line 122 of file arduino/Can.hxx.

◆ txBuf

DeviceBuffer< struct can_frame > * Can::txBuf

protected

transmit buffer

Definition at line 118 of file arduino/Can.hxx.

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

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Can() [1/2]

◆ ~Can() [1/2]

◆ Can() [2/2]

◆ ~Can() [2/2]

Member Function Documentation

◆ available()

◆ availableForWrite()

◆ disable() [1/2]

◆ disable() [2/2]

◆ enable() [1/2]

◆ enable() [2/2]

◆ flush_buffers()

◆ has_rx_buffer_data()

◆ has_tx_buffer_space()

◆ read() [1/2]

◆ read() [2/2]

◆ select()

◆ tx_msg() [1/2]

◆ tx_msg() [2/2]

◆ write() [1/2]

◆ write() [2/2]

Member Data Documentation

◆ busOffCount

◆ numReceivedPackets_

◆ numTransmittedPackets_

◆ overrunCount

◆ rxBuf

◆ softErrorCount

◆ txBuf