test
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CAN.cpp@8:5c90d6b9a382, 2015-10-30 (annotated)
- Committer:
- hudakz
- Date:
- Fri Oct 30 23:55:13 2015 +0000
- Revision:
- 8:5c90d6b9a382
- Parent:
- 6:c5a40d5fd9f1
- Child:
- 9:e9224f2c6d37
filter() function modified and commented
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hudakz | 0:e29bc8e0dddd | 1 | /* mbed Microcontroller Library |
hudakz | 0:e29bc8e0dddd | 2 | * Copyright (c) 2006-2013 ARM Limited |
hudakz | 0:e29bc8e0dddd | 3 | * |
hudakz | 0:e29bc8e0dddd | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
hudakz | 0:e29bc8e0dddd | 5 | * you may not use this file except in compliance with the License. |
hudakz | 0:e29bc8e0dddd | 6 | * You may obtain a copy of the License at |
hudakz | 0:e29bc8e0dddd | 7 | * |
hudakz | 0:e29bc8e0dddd | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
hudakz | 0:e29bc8e0dddd | 9 | * |
hudakz | 0:e29bc8e0dddd | 10 | * Unless required by applicable law or agreed to in writing, software |
hudakz | 0:e29bc8e0dddd | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
hudakz | 0:e29bc8e0dddd | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
hudakz | 0:e29bc8e0dddd | 13 | * See the License for the specific language governing permissions and |
hudakz | 0:e29bc8e0dddd | 14 | * limitations under the License. |
hudakz | 0:e29bc8e0dddd | 15 | * |
hudakz | 0:e29bc8e0dddd | 16 | * Modified by Zoltan Hudak <hudakz@inbox.com> |
hudakz | 0:e29bc8e0dddd | 17 | * |
hudakz | 0:e29bc8e0dddd | 18 | */ |
hudakz | 0:e29bc8e0dddd | 19 | #include "CAN.h" |
hudakz | 0:e29bc8e0dddd | 20 | //#if DEVICE_CAN |
hudakz | 0:e29bc8e0dddd | 21 | #include "cmsis.h" |
hudakz | 0:e29bc8e0dddd | 22 | |
hudakz | 0:e29bc8e0dddd | 23 | namespace mbed |
hudakz | 0:e29bc8e0dddd | 24 | { |
hudakz | 0:e29bc8e0dddd | 25 | |
hudakz | 0:e29bc8e0dddd | 26 | /** |
hudakz | 6:c5a40d5fd9f1 | 27 | * @brief Constructor |
hudakz | 6:c5a40d5fd9f1 | 28 | * @note Constructs an instance of CAN class |
hudakz | 6:c5a40d5fd9f1 | 29 | * @param rxPin: CAN Rx pin name |
hudakz | 6:c5a40d5fd9f1 | 30 | * @param txPin: CAN Tx pin name |
hudakz | 6:c5a40d5fd9f1 | 31 | * @param abom: Automatic recovery from bus-off state (defaults to enabled) |
hudakz | 0:e29bc8e0dddd | 32 | * @retval |
hudakz | 0:e29bc8e0dddd | 33 | */ |
hudakz | 6:c5a40d5fd9f1 | 34 | CAN::CAN(PinName rxPin, PinName txPin, FunctionalState abom /* = ENABLE */) : |
hudakz | 0:e29bc8e0dddd | 35 | _can(), |
hudakz | 0:e29bc8e0dddd | 36 | _irq() { |
hudakz | 6:c5a40d5fd9f1 | 37 | can_init(&_can, rxPin, txPin, abom); |
hudakz | 0:e29bc8e0dddd | 38 | can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this); |
hudakz | 0:e29bc8e0dddd | 39 | } |
hudakz | 0:e29bc8e0dddd | 40 | |
hudakz | 0:e29bc8e0dddd | 41 | /** |
hudakz | 0:e29bc8e0dddd | 42 | * @brief |
hudakz | 0:e29bc8e0dddd | 43 | * @note |
hudakz | 0:e29bc8e0dddd | 44 | * @param |
hudakz | 0:e29bc8e0dddd | 45 | * @retval |
hudakz | 0:e29bc8e0dddd | 46 | */ |
hudakz | 0:e29bc8e0dddd | 47 | CAN::~CAN(void) { |
hudakz | 0:e29bc8e0dddd | 48 | can_irq_free(&_can); |
hudakz | 0:e29bc8e0dddd | 49 | can_free(&_can); |
hudakz | 0:e29bc8e0dddd | 50 | } |
hudakz | 0:e29bc8e0dddd | 51 | |
hudakz | 0:e29bc8e0dddd | 52 | /** |
hudakz | 0:e29bc8e0dddd | 53 | * @brief |
hudakz | 0:e29bc8e0dddd | 54 | * @note |
hudakz | 0:e29bc8e0dddd | 55 | * @param |
hudakz | 0:e29bc8e0dddd | 56 | * @retval |
hudakz | 0:e29bc8e0dddd | 57 | */ |
hudakz | 0:e29bc8e0dddd | 58 | int CAN::frequency(int f) { |
hudakz | 0:e29bc8e0dddd | 59 | return can_frequency(&_can, f); |
hudakz | 0:e29bc8e0dddd | 60 | } |
hudakz | 0:e29bc8e0dddd | 61 | |
hudakz | 0:e29bc8e0dddd | 62 | /** |
hudakz | 0:e29bc8e0dddd | 63 | * @brief |
hudakz | 0:e29bc8e0dddd | 64 | * @note |
hudakz | 0:e29bc8e0dddd | 65 | * @param |
hudakz | 0:e29bc8e0dddd | 66 | * @retval |
hudakz | 0:e29bc8e0dddd | 67 | */ |
hudakz | 0:e29bc8e0dddd | 68 | int CAN::write(CANMessage msg) { |
hudakz | 0:e29bc8e0dddd | 69 | return can_write(&_can, msg, 0); |
hudakz | 0:e29bc8e0dddd | 70 | } |
hudakz | 0:e29bc8e0dddd | 71 | |
hudakz | 0:e29bc8e0dddd | 72 | /** |
hudakz | 0:e29bc8e0dddd | 73 | * @brief |
hudakz | 0:e29bc8e0dddd | 74 | * @note |
hudakz | 0:e29bc8e0dddd | 75 | * @param |
hudakz | 0:e29bc8e0dddd | 76 | * @retval |
hudakz | 0:e29bc8e0dddd | 77 | */ |
hudakz | 0:e29bc8e0dddd | 78 | int CAN::read(CANMessage& msg, int handle) { |
hudakz | 0:e29bc8e0dddd | 79 | return can_read(&_can, &msg, handle); |
hudakz | 0:e29bc8e0dddd | 80 | } |
hudakz | 0:e29bc8e0dddd | 81 | |
hudakz | 0:e29bc8e0dddd | 82 | /** |
hudakz | 0:e29bc8e0dddd | 83 | * @brief |
hudakz | 0:e29bc8e0dddd | 84 | * @note |
hudakz | 0:e29bc8e0dddd | 85 | * @param |
hudakz | 0:e29bc8e0dddd | 86 | * @retval |
hudakz | 0:e29bc8e0dddd | 87 | */ |
hudakz | 0:e29bc8e0dddd | 88 | void CAN::reset(void) { |
hudakz | 0:e29bc8e0dddd | 89 | can_reset(&_can); |
hudakz | 0:e29bc8e0dddd | 90 | } |
hudakz | 0:e29bc8e0dddd | 91 | |
hudakz | 0:e29bc8e0dddd | 92 | /** |
hudakz | 0:e29bc8e0dddd | 93 | * @brief |
hudakz | 0:e29bc8e0dddd | 94 | * @note |
hudakz | 0:e29bc8e0dddd | 95 | * @param |
hudakz | 0:e29bc8e0dddd | 96 | * @retval |
hudakz | 0:e29bc8e0dddd | 97 | */ |
hudakz | 0:e29bc8e0dddd | 98 | unsigned char CAN::rderror(void) { |
hudakz | 0:e29bc8e0dddd | 99 | return can_rderror(&_can); |
hudakz | 0:e29bc8e0dddd | 100 | } |
hudakz | 0:e29bc8e0dddd | 101 | |
hudakz | 0:e29bc8e0dddd | 102 | /** |
hudakz | 0:e29bc8e0dddd | 103 | * @brief |
hudakz | 0:e29bc8e0dddd | 104 | * @note |
hudakz | 0:e29bc8e0dddd | 105 | * @param |
hudakz | 0:e29bc8e0dddd | 106 | * @retval |
hudakz | 0:e29bc8e0dddd | 107 | */ |
hudakz | 0:e29bc8e0dddd | 108 | unsigned char CAN::tderror(void) { |
hudakz | 0:e29bc8e0dddd | 109 | return can_tderror(&_can); |
hudakz | 0:e29bc8e0dddd | 110 | } |
hudakz | 0:e29bc8e0dddd | 111 | |
hudakz | 0:e29bc8e0dddd | 112 | /** |
hudakz | 0:e29bc8e0dddd | 113 | * @brief |
hudakz | 0:e29bc8e0dddd | 114 | * @note |
hudakz | 0:e29bc8e0dddd | 115 | * @param |
hudakz | 0:e29bc8e0dddd | 116 | * @retval |
hudakz | 0:e29bc8e0dddd | 117 | */ |
hudakz | 0:e29bc8e0dddd | 118 | void CAN::monitor(bool silent) { |
hudakz | 0:e29bc8e0dddd | 119 | can_monitor(&_can, (silent) ? 1 : 0); |
hudakz | 0:e29bc8e0dddd | 120 | } |
hudakz | 0:e29bc8e0dddd | 121 | |
hudakz | 0:e29bc8e0dddd | 122 | /** |
hudakz | 0:e29bc8e0dddd | 123 | * @brief |
hudakz | 0:e29bc8e0dddd | 124 | * @note |
hudakz | 0:e29bc8e0dddd | 125 | * @param |
hudakz | 0:e29bc8e0dddd | 126 | * @retval |
hudakz | 0:e29bc8e0dddd | 127 | */ |
hudakz | 0:e29bc8e0dddd | 128 | int CAN::mode(Mode mode) { |
hudakz | 0:e29bc8e0dddd | 129 | return can_mode(&_can, (CanMode) mode); |
hudakz | 0:e29bc8e0dddd | 130 | } |
hudakz | 0:e29bc8e0dddd | 131 | |
hudakz | 0:e29bc8e0dddd | 132 | /** |
hudakz | 8:5c90d6b9a382 | 133 | * @brief Sets-up a CAN filter |
hudakz | 8:5c90d6b9a382 | 134 | * @note At the present, CANnucleo supports only mask mode and 32-bit filter scale. |
hudakz | 8:5c90d6b9a382 | 135 | * Identifier list mode filtering and 16-bit filter scale are not supported. |
hudakz | 8:5c90d6b9a382 | 136 | * There are 14 filters available (0 - 13). |
hudakz | 8:5c90d6b9a382 | 137 | * Each filter is a 32-bit filter defined by a filter ID and a filter mask. |
hudakz | 8:5c90d6b9a382 | 138 | * You may set-up up to 14 filters. If no filter is set-up then no CAN message is accepted! |
hudakz | 8:5c90d6b9a382 | 139 | * That's why filter #0 is set-up in the constructor to receive all CAN messages by default. |
hudakz | 8:5c90d6b9a382 | 140 | * On reception of a message it is compared with filter #0. If there is a match, the message is stored. |
hudakz | 8:5c90d6b9a382 | 141 | * If there is no match, the incoming identifier is then compared with the next filter. |
hudakz | 8:5c90d6b9a382 | 142 | * If the received identifier does not match any of the identifiers configured in the filters, |
hudakz | 8:5c90d6b9a382 | 143 | * the message is discarded by hardware without disturbing the software. |
hudakz | 8:5c90d6b9a382 | 144 | * |
hudakz | 8:5c90d6b9a382 | 145 | * @param id: 'Filter ID' defines the bit values to be compared with the corresponding received bits |
hudakz | 8:5c90d6b9a382 | 146 | * |
hudakz | 8:5c90d6b9a382 | 147 | * Mapping of 32-bits (4-bytes) : | STID[10:3] | STID[2:0] EXID[17:13] | EXID[12:5] | EXID[4:0] IDE RTR 0 | |
hudakz | 8:5c90d6b9a382 | 148 | * |
hudakz | 8:5c90d6b9a382 | 149 | * STID - Stardard Identifier bits |
hudakz | 8:5c90d6b9a382 | 150 | * EXID - Extended Identifier bits |
hudakz | 8:5c90d6b9a382 | 151 | * [x:y]- bit range |
hudakz | 8:5c90d6b9a382 | 152 | * IDE - Identifier Extension bit (0 -> Standard Identifier, 1 -> Extended Identifier) |
hudakz | 8:5c90d6b9a382 | 153 | * RTR - Remote Transmission Request bit |
hudakz | 8:5c90d6b9a382 | 154 | * |
hudakz | 8:5c90d6b9a382 | 155 | * @param mask: 'Filter mask' defines which bits of the 'Filter ID' are compared with the received bits |
hudakz | 8:5c90d6b9a382 | 156 | * and which bits are disregarded. |
hudakz | 8:5c90d6b9a382 | 157 | |
hudakz | 8:5c90d6b9a382 | 158 | * Mapping of 32-bits (4-bytes) : | STID[10:3] | STID[2:0] EXID[17:13] | EXID[12:5] | EXID[4:0] IDE RTR 0 | |
hudakz | 8:5c90d6b9a382 | 159 | * |
hudakz | 8:5c90d6b9a382 | 160 | * STID - Stardard Identifier bits |
hudakz | 8:5c90d6b9a382 | 161 | * EXID - Extended Identifier bits |
hudakz | 8:5c90d6b9a382 | 162 | * [x:y]- bit range |
hudakz | 8:5c90d6b9a382 | 163 | * IDE - Identifier Extension bit |
hudakz | 8:5c90d6b9a382 | 164 | * RTR - Remote Transmission Request bit |
hudakz | 8:5c90d6b9a382 | 165 | * |
hudakz | 8:5c90d6b9a382 | 166 | * 1 : bit is considered |
hudakz | 8:5c90d6b9a382 | 167 | * 0 : bit is disregarded |
hudakz | 8:5c90d6b9a382 | 168 | * |
hudakz | 8:5c90d6b9a382 | 169 | * Example of filter set-up and filtering: |
hudakz | 8:5c90d6b9a382 | 170 | * |
hudakz | 8:5c90d6b9a382 | 171 | * Let's assume we would like to receive only messages with standard identifier STID = 0x0207 (STID[15:0] = 00000010 00000111) |
hudakz | 8:5c90d6b9a382 | 172 | * |
hudakz | 8:5c90d6b9a382 | 173 | * We map the STID to filter ID by shifting the bits appropriately: |
hudakz | 8:5c90d6b9a382 | 174 | * Filter id = STID << (16 + (15 - 10)) = STID << 21 = 01000000 11100000 00000000 00000000 = 0x40E00000 |
hudakz | 8:5c90d6b9a382 | 175 | * |
hudakz | 8:5c90d6b9a382 | 176 | * To compare only the bits representing STID we set the filter mask adequately: |
hudakz | 8:5c90d6b9a382 | 177 | * Filter mask = 11111111 11100000 00000000 00000000 = 0xFFE00000 |
hudakz | 8:5c90d6b9a382 | 178 | * |
hudakz | 8:5c90d6b9a382 | 179 | * Keep in mind that filter #0 was already set-up in the constructor to receive all CAN messages by default. |
hudakz | 8:5c90d6b9a382 | 180 | * So we have to reconfigure it. If we were set-up filter #1 here then filter #0 would receive all messages |
hudakz | 8:5c90d6b9a382 | 181 | * and no message would reach filter #1! |
hudakz | 8:5c90d6b9a382 | 182 | * To set-up filter #0 we call: |
hudakz | 8:5c90d6b9a382 | 183 | * can.filter(0x0207 << 21, 0xFFE00000, CANAny, 0); |
hudakz | 8:5c90d6b9a382 | 184 | * |
hudakz | 8:5c90d6b9a382 | 185 | * -------------- Only these bits of filter id are compared with the corresponding bits of received message (the others are disregarded) |
hudakz | 8:5c90d6b9a382 | 186 | * |||||||| ||| |
hudakz | 8:5c90d6b9a382 | 187 | * Filter mask = 11111111 11100000 00000000 00000000 (= 0xFFE00000) |
hudakz | 8:5c90d6b9a382 | 188 | * Filter id = 01000000 11100000 00000000 00000000 (= 0x40E00000) |
hudakz | 8:5c90d6b9a382 | 189 | * |||||||| ||| |
hudakz | 8:5c90d6b9a382 | 190 | * -------------- The values of these bits must match to received the message. Otherwise it is discarded. |
hudakz | 8:5c90d6b9a382 | 191 | * |||||||| ||| |
hudakz | 8:5c90d6b9a382 | 192 | * Received id = 01000000 11100000 00000000 00000010 (= 0x40E00002) |
hudakz | 8:5c90d6b9a382 | 193 | * ||||| |||||||| |||||||| |
hudakz | 8:5c90d6b9a382 | 194 | * ------------------------- These bits are disregarded (masked). They can have arbitrary values. |
hudakz | 8:5c90d6b9a382 | 195 | * |
hudakz | 8:5c90d6b9a382 | 196 | * NOTE: For the meaning of individual bits see the mapping of 32-bits explained above. |
hudakz | 8:5c90d6b9a382 | 197 | * |
hudakz | 8:5c90d6b9a382 | 198 | * @format: This parameter must be CANAny |
hudakz | 8:5c90d6b9a382 | 199 | * @handle: Selects the filter. This parameter must be a number between 0 and 13. |
hudakz | 8:5c90d6b9a382 | 200 | * @retval: 0 - successful |
hudakz | 8:5c90d6b9a382 | 201 | * 1 - error |
hudakz | 8:5c90d6b9a382 | 202 | * 2 - busy |
hudakz | 8:5c90d6b9a382 | 203 | * 3 - time out |
hudakz | 8:5c90d6b9a382 | 204 | * |
hudakz | 0:e29bc8e0dddd | 205 | */ |
hudakz | 8:5c90d6b9a382 | 206 | int CAN::filter(unsigned int id, unsigned int mask, CANFormat format /* = CANAny */, int handle /* = 0 */) { |
hudakz | 0:e29bc8e0dddd | 207 | return can_filter(&_can, id, mask, format, handle); |
hudakz | 0:e29bc8e0dddd | 208 | } |
hudakz | 0:e29bc8e0dddd | 209 | |
hudakz | 0:e29bc8e0dddd | 210 | /** |
hudakz | 0:e29bc8e0dddd | 211 | * @brief Attaches handler funcion to CAN1 RX0 Interrupt |
hudakz | 0:e29bc8e0dddd | 212 | * @note Only CAN1 RX0 Interrupt supported |
hudakz | 0:e29bc8e0dddd | 213 | * @param fptr: pointer to a void (*)(void) function |
hudakz | 0:e29bc8e0dddd | 214 | * @param type: not used (only CAN1 RX0 Interrupt supported) |
hudakz | 0:e29bc8e0dddd | 215 | * @retval |
hudakz | 0:e29bc8e0dddd | 216 | */ |
hudakz | 0:e29bc8e0dddd | 217 | void CAN::attach(void (*fptr) (void), IrqType type) { |
hudakz | 0:e29bc8e0dddd | 218 | HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn); |
hudakz | 0:e29bc8e0dddd | 219 | if(fptr) { |
hudakz | 0:e29bc8e0dddd | 220 | can_irq_set(fptr); |
hudakz | 0:e29bc8e0dddd | 221 | } |
hudakz | 0:e29bc8e0dddd | 222 | can_irq_init(&_can, &CAN::_irq_handler, (uint32_t) this); |
hudakz | 0:e29bc8e0dddd | 223 | HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn); |
hudakz | 0:e29bc8e0dddd | 224 | } |
hudakz | 0:e29bc8e0dddd | 225 | |
hudakz | 0:e29bc8e0dddd | 226 | /** |
hudakz | 0:e29bc8e0dddd | 227 | * @brief |
hudakz | 0:e29bc8e0dddd | 228 | * @note |
hudakz | 0:e29bc8e0dddd | 229 | * @param |
hudakz | 0:e29bc8e0dddd | 230 | * @retval |
hudakz | 0:e29bc8e0dddd | 231 | */ |
hudakz | 0:e29bc8e0dddd | 232 | void CAN::_irq_handler(uint32_t id, CanIrqType type) { |
hudakz | 0:e29bc8e0dddd | 233 | CAN* handler = (CAN*)id; |
hudakz | 0:e29bc8e0dddd | 234 | handler->_irq[type].call(); |
hudakz | 0:e29bc8e0dddd | 235 | } |
hudakz | 0:e29bc8e0dddd | 236 | |
hudakz | 0:e29bc8e0dddd | 237 | } // namespace mbed |
hudakz | 0:e29bc8e0dddd | 238 | |
hudakz | 0:e29bc8e0dddd | 239 | |
hudakz | 0:e29bc8e0dddd | 240 | |
hudakz | 5:b53e5ee15315 | 241 | |
hudakz | 6:c5a40d5fd9f1 | 242 |