CAN-bus device driver for the Pic32MX. More...

#include <Pic32mxCan.hxx>

Inheritance diagram for Pic32mxCan:

Public Member Functions
	Pic32mxCan (CAN_MODULE module, const char *dev, unsigned irq_vector)
	Constructor.

void	isr ()
	Implementation of the interrupt handler.

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

virtual	~Device ()
	Destructor.

Private Member Functions
void	enable ()
	function to enable device

void	disable ()
	function to disable device

void	flush_buffers () OVERRIDE
	function to disable device

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

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

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

INT_SOURCE	can_int ()

INT_VECTOR	can_vector ()

	DISALLOW_COPY_AND_ASSIGN (Pic32mxCan)

Private Attributes
CAN_MODULE	hw_
	Hardware (enumeration value).

int	overrunCount_
	How many times did we drop a frame because we did not have enough hardware buffers.

unsigned	irqVector_
	Hardware interrupt vector number. Do not delete!

void *	messageFifoArea_
	Points to the shared RAM area between the hardware and the driver.

SelectInfo	txSelect_

SelectInfo	rxSelect_

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.

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.

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

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

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 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.

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

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

CAN-bus device driver for the Pic32MX.

This driver does not inherit from the shared Can driver, because the RX and RX buffering is different. The shared CAN driver has a DeviceBuffer for transmit and receive in the format of struct can_frame; whereas the PIC32 can write directly into the memory area of the CAN controller as the queues are long enough and the CAN controller is a bus master.

Definition at line 54 of file Pic32mxCan.hxx.

Constructor & Destructor Documentation

◆ Pic32mxCan()

Pic32mxCan::Pic32mxCan	(	CAN_MODULE	module,
		const char *	dev,
		unsigned	irq_vector
	)

Constructor.

Parameters

module	defines which CAN hardware to use. (can0 or can1).
dev	filename of the device to create (e.g. "/dev/can0");
irq_vector	fill with can1_interrupt_vector_number or can2_interrupt_vector_number.

Definition at line 43 of file Pic32mxCan.cxx.

◆ ~Pic32mxCan()

Pic32mxCan::~Pic32mxCan ( )

Definition at line 53 of file Pic32mxCan.cxx.

Member Function Documentation

◆ can_int()

INT_SOURCE Pic32mxCan::can_int ( )

inlineprivate

Returns: the interrupt source as used by the internal tables of the peripheral library.

Definition at line 121 of file Pic32mxCan.hxx.

◆ can_vector()

INT_VECTOR Pic32mxCan::can_vector ( )

inlineprivate

Returns: the interrupt vector enum as used by the internal tables of the peripheral library.

Definition at line 128 of file Pic32mxCan.hxx.

◆ disable()

void Pic32mxCan::disable ( )

privatevirtual

function to disable device

Implements Node.

Definition at line 395 of file Pic32mxCan.cxx.

◆ enable()

void Pic32mxCan::enable ( )

privatevirtual

function to enable device

Todo:: (balazs.racz) why is the tx buffer length 1?

Implements Node.

Definition at line 320 of file Pic32mxCan.cxx.

◆ flush_buffers()

void Pic32mxCan::flush_buffers ( )

inlineprivatevirtual

function to disable device

Implements Node.

Definition at line 107 of file Pic32mxCan.hxx.

◆ isr()

void Pic32mxCan::isr ( )

inline

Implementation of the interrupt handler.

Definition at line 68 of file Pic32mxCan.hxx.

◆ read()

ssize_t Pic32mxCan::read	(	File *	file,
		void *	buf,
		size_t	count
	)

privatevirtual

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.

Definition at line 131 of file Pic32mxCan.cxx.

◆ select()

bool Pic32mxCan::select	(	File *	file,
		int	mode
	)

privatevirtual

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.

Definition at line 283 of file Pic32mxCan.cxx.

◆ write()

ssize_t Pic32mxCan::write	(	File *	file,
		const void *	buf,
		size_t	count
	)

privatevirtual

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.

Definition at line 210 of file Pic32mxCan.cxx.

Member Data Documentation

◆ hw_

CAN_MODULE Pic32mxCan::hw_

private

Hardware (enumeration value).

Definition at line 134 of file Pic32mxCan.hxx.

◆ irqVector_

unsigned Pic32mxCan::irqVector_

private

Hardware interrupt vector number. Do not delete!

Definition at line 139 of file Pic32mxCan.hxx.

◆ messageFifoArea_

void* Pic32mxCan::messageFifoArea_

private

Points to the shared RAM area between the hardware and the driver.

Definition at line 141 of file Pic32mxCan.hxx.

◆ overrunCount_

int Pic32mxCan::overrunCount_

private

How many times did we drop a frame because we did not have enough hardware buffers.

Definition at line 137 of file Pic32mxCan.hxx.

◆ rxSelect_

SelectInfo Pic32mxCan::rxSelect_

private

Definition at line 145 of file Pic32mxCan.hxx.

◆ txSelect_

SelectInfo Pic32mxCan::txSelect_

private

Definition at line 143 of file Pic32mxCan.hxx.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Pic32mxCan()

◆ ~Pic32mxCan()

Member Function Documentation

◆ can_int()

◆ can_vector()

◆ disable()

◆ enable()

◆ flush_buffers()

◆ isr()

◆ read()

◆ select()

◆ write()

Member Data Documentation

◆ hw_

◆ irqVector_

◆ messageFifoArea_

◆ overrunCount_

◆ rxSelect_

◆ txSelect_