comm_can.h File Reference

#include "conf_general.h"

Go to the source code of this file.

Macros
#define	CAN_STATUS_MSG_INT_MS   1
#define	CAN_STATUS_MSGS_TO_STORE   10

Functions
void	comm_can_init (void)
void	comm_can_transmit (uint32_t id, uint8_t *data, uint8_t len)
void	comm_can_send_buffer (uint8_t controller_id, uint8_t *data, unsigned int len, bool send)
void	comm_can_set_duty (uint8_t controller_id, float duty)
void	comm_can_set_current (uint8_t controller_id, float current)
void	comm_can_set_current_brake (uint8_t controller_id, float current)
void	comm_can_set_rpm (uint8_t controller_id, float rpm)
void	comm_can_set_pos (uint8_t controller_id, float pos)
can_status_msg *	comm_can_get_status_msg_index (int index)
can_status_msg *	comm_can_get_status_msg_id (int id)

Macro Definition Documentation

#define CAN_STATUS_MSG_INT_MS   1

#define CAN_STATUS_MSGS_TO_STORE   10

Function Documentation

can_status_msg* comm_can_get_status_msg_id

(

int

id

)

Get status message by id.

Parameters

id	Id of the controller that sent the status message.

Returns

The message or 0 for an invalid id.

can_status_msg* comm_can_get_status_msg_index

(

int

index

)

Get status message by index.

Parameters

index

Index in the array

Returns

The message or 0 for an invalid index.

void comm_can_init

(

void

)

void comm_can_send_buffer	(	uint8_t	controller_id,
		uint8_t *	data,
		unsigned int	len,
		bool	send
	)

Send a buffer up to RX_BUFFER_SIZE bytes as fragments. If the buffer is 6 bytes or less it will be sent in a single CAN frame, otherwise it will be split into several frames.

Parameters

controller_id	The controller id to send to.
data	The payload.
len	The payload length.
send	If true, this packet will be passed to the send function of commands. Otherwise, it will be passed to the process function.

void comm_can_set_current	(	uint8_t	controller_id,
		float	current
	)

void comm_can_set_current_brake	(	uint8_t	controller_id,
		float	current
	)

void comm_can_set_duty	(	uint8_t	controller_id,
		float	duty
	)

void comm_can_set_pos	(	uint8_t	controller_id,
		float	pos
	)

void comm_can_set_rpm	(	uint8_t	controller_id,
		float	rpm
	)

void comm_can_transmit	(	uint32_t	id,
		uint8_t *	data,
		uint8_t	len
	)