halx::peripheral::CanBase クラス

#include <common.hpp>

公開メンバ関数
virtual	~CanBase ()
virtual bool	start ()=0
virtual bool	stop ()=0
virtual bool	transmit (const CanMessage &msg, uint32_t timeout)=0
virtual std::optional< size_t >	attach_rx_filter (const CanFilter &filter, void(*callback)(const CanMessage &msg, void *context), void *context)=0
virtual bool	detach_rx_filter (size_t filter_index)=0
std::optional< size_t >	attach_rx_filter (const CanFilter &filter, std::function< void(const CanMessage &)> &&callback)
template<class Queue>
std::optional< size_t >	attach_rx_queue (const CanFilter &filter, Queue &queue)

詳解

#include <cstdio>
#include <halx/core.hpp>
#include <halx/peripheral.hpp>
 
extern UART_HandleTypeDef huart2;
extern FDCAN_HandleTypeDef hfdcan1;
 
extern "C" void main_thread(void *) {
  using namespace halx::core;
  using namespace halx::peripheral;
 
  Uart<&huart2> uart2;
  enable_stdout(uart2);
 
  Can<&hfdcan1> can1;
 
  // 受信フィルター、受信キューの設定
  CanFilter rx_filter = {
      .id = 0x0,
      .mask = 0x0,
      .ide = false,
  };
  RingBuffer<CanMessage> rx_queue(10);
  can1.attach_rx_queue(rx_filter, rx_queue);
 
  // CAN通信開始
  can1.start();
 
  // 送信するメッセージの作成
  CanMessage tx_message = {
      .id = 0x3,
      .ide = false,
      .dlc = 1,
      .data = {0x0},
  };
 
  for (int i = 0; i < 10; ++i) {
    // 送信
    can1.transmit(tx_message, MAX_DELAY);
    tx_message.data[0]++;
  }
 
  while (true) {
    // 受信
    CanMessage rx_message;
    if (rx_queue.pop(rx_message, MAX_DELAY)) {
      printf("id: %d, data: %d\r\n", (int)rx_message.id,
             (int)rx_message.data[0]);
    }
    delay(10);
  }
}

構築子と解体子

~CanBase()

virtual halx::peripheral::CanBase::~CanBase ( )

inlinevirtual

関数詳解

attach_rx_filter() [1/2]

std::optional< size_t > halx::peripheral::CanBase::attach_rx_filter ( const CanFilter & filter, std::function< void(const CanMessage &)> && callback )

inline

attach_rx_filter() [2/2]

virtual std::optional< size_t > halx::peripheral::CanBase::attach_rx_filter ( const CanFilter & filter, void(* callback )(const CanMessage &msg, void *context), void * context )

pure virtual

attach_rx_queue()

template<class Queue>

std::optional< size_t > halx::peripheral::CanBase::attach_rx_queue ( const CanFilter & filter, Queue & queue )

inline

detach_rx_filter()

virtual bool halx::peripheral::CanBase::detach_rx_filter ( size_t filter_index )

pure virtual

start()

virtual bool halx::peripheral::CanBase::start ( )

pure virtual

stop()

virtual bool halx::peripheral::CanBase::stop ( )

pure virtual

transmit()

virtual bool halx::peripheral::CanBase::transmit ( const CanMessage & msg, uint32_t timeout )

pure virtual

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このクラス詳解は次のファイルから抽出されました:

• include/halx/peripheral/can/common.hpp