Projets S4 IUT de Cachan / CANnucleo

test

Fork of CANnucleo by Zoltan Hudak

CAN.cpp@21:bcd8161f8f6c, 2016-05-19 (annotated)

Committer:
hudakz
Date:
Thu May 19 17:16:59 2016 +0000
Revision:
21:bcd8161f8f6c
Parent:
14:0344705e6fb8 
Added support for attaching member functions as interrupt handlers.

Who changed what in which revision?

UserRevisionLine numberNew 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 #include "cmsis.h"
hudakz 0:e29bc8e0dddd 21
hudakz 0:e29bc8e0dddd 22 namespace mbed
hudakz 0:e29bc8e0dddd 23 {
hudakz 0:e29bc8e0dddd 24
hudakz 0:e29bc8e0dddd 25 /**
hudakz 6:c5a40d5fd9f1 26 * @brief Constructor
hudakz 6:c5a40d5fd9f1 27 * @note Constructs an instance of CAN class
hudakz 6:c5a40d5fd9f1 28 * @param rxPin: CAN Rx pin name
hudakz 6:c5a40d5fd9f1 29 * @param txPin: CAN Tx pin name
hudakz 6:c5a40d5fd9f1 30 * @param abom: Automatic recovery from bus-off state (defaults to enabled)
hudakz 0:e29bc8e0dddd 31 * @retval
hudakz 0:e29bc8e0dddd 32 */
hudakz 6:c5a40d5fd9f1 33 CAN::CAN(PinName rxPin, PinName txPin, FunctionalState abom /* = ENABLE */) :
hudakz 0:e29bc8e0dddd 34 _irq() {
hudakz 21:bcd8161f8f6c 35 can_init(rxPin, txPin, abom);
hudakz 21:bcd8161f8f6c 36 can_irq_init((uint32_t)this, (&CAN::_irq_handler));
hudakz 0:e29bc8e0dddd 37 }
hudakz 0:e29bc8e0dddd 38
hudakz 0:e29bc8e0dddd 39 /**
hudakz 0:e29bc8e0dddd 40 * @brief
hudakz 0:e29bc8e0dddd 41 * @note
hudakz 0:e29bc8e0dddd 42 * @param
hudakz 0:e29bc8e0dddd 43 * @retval
hudakz 0:e29bc8e0dddd 44 */
hudakz 0:e29bc8e0dddd 45 CAN::~CAN(void) {
hudakz 21:bcd8161f8f6c 46 can_irq_free();
hudakz 21:bcd8161f8f6c 47 can_free();
hudakz 0:e29bc8e0dddd 48 }
hudakz 0:e29bc8e0dddd 49
hudakz 0:e29bc8e0dddd 50 /**
hudakz 0:e29bc8e0dddd 51 * @brief
hudakz 0:e29bc8e0dddd 52 * @note
hudakz 0:e29bc8e0dddd 53 * @param
hudakz 0:e29bc8e0dddd 54 * @retval
hudakz 0:e29bc8e0dddd 55 */
hudakz 0:e29bc8e0dddd 56 int CAN::frequency(int f) {
hudakz 21:bcd8161f8f6c 57 return can_frequency(f);
hudakz 0:e29bc8e0dddd 58 }
hudakz 0:e29bc8e0dddd 59
hudakz 0:e29bc8e0dddd 60 /**
hudakz 0:e29bc8e0dddd 61 * @brief
hudakz 0:e29bc8e0dddd 62 * @note
hudakz 0:e29bc8e0dddd 63 * @param
hudakz 0:e29bc8e0dddd 64 * @retval
hudakz 0:e29bc8e0dddd 65 */
hudakz 0:e29bc8e0dddd 66 int CAN::write(CANMessage msg) {
hudakz 21:bcd8161f8f6c 67 return can_write(msg, 0);
hudakz 0:e29bc8e0dddd 68 }
hudakz 0:e29bc8e0dddd 69
hudakz 0:e29bc8e0dddd 70 /**
hudakz 0:e29bc8e0dddd 71 * @brief
hudakz 0:e29bc8e0dddd 72 * @note
hudakz 0:e29bc8e0dddd 73 * @param
hudakz 0:e29bc8e0dddd 74 * @retval
hudakz 0:e29bc8e0dddd 75 */
hudakz 0:e29bc8e0dddd 76 int CAN::read(CANMessage& msg, int handle) {
hudakz 21:bcd8161f8f6c 77 return can_read(&msg, handle);
hudakz 0:e29bc8e0dddd 78 }
hudakz 0:e29bc8e0dddd 79
hudakz 0:e29bc8e0dddd 80 /**
hudakz 0:e29bc8e0dddd 81 * @brief
hudakz 0:e29bc8e0dddd 82 * @note
hudakz 0:e29bc8e0dddd 83 * @param
hudakz 0:e29bc8e0dddd 84 * @retval
hudakz 0:e29bc8e0dddd 85 */
hudakz 0:e29bc8e0dddd 86 void CAN::reset(void) {
hudakz 21:bcd8161f8f6c 87 can_reset();
hudakz 0:e29bc8e0dddd 88 }
hudakz 0:e29bc8e0dddd 89
hudakz 0:e29bc8e0dddd 90 /**
hudakz 0:e29bc8e0dddd 91 * @brief
hudakz 0:e29bc8e0dddd 92 * @note
hudakz 0:e29bc8e0dddd 93 * @param
hudakz 0:e29bc8e0dddd 94 * @retval
hudakz 0:e29bc8e0dddd 95 */
hudakz 0:e29bc8e0dddd 96 unsigned char CAN::rderror(void) {
hudakz 21:bcd8161f8f6c 97 return can_rderror();
hudakz 0:e29bc8e0dddd 98 }
hudakz 0:e29bc8e0dddd 99
hudakz 0:e29bc8e0dddd 100 /**
hudakz 0:e29bc8e0dddd 101 * @brief
hudakz 0:e29bc8e0dddd 102 * @note
hudakz 0:e29bc8e0dddd 103 * @param
hudakz 0:e29bc8e0dddd 104 * @retval
hudakz 0:e29bc8e0dddd 105 */
hudakz 0:e29bc8e0dddd 106 unsigned char CAN::tderror(void) {
hudakz 21:bcd8161f8f6c 107 return can_tderror();
hudakz 0:e29bc8e0dddd 108 }
hudakz 0:e29bc8e0dddd 109
hudakz 0:e29bc8e0dddd 110 /**
hudakz 0:e29bc8e0dddd 111 * @brief
hudakz 0:e29bc8e0dddd 112 * @note
hudakz 0:e29bc8e0dddd 113 * @param
hudakz 0:e29bc8e0dddd 114 * @retval
hudakz 0:e29bc8e0dddd 115 */
hudakz 0:e29bc8e0dddd 116 void CAN::monitor(bool silent) {
hudakz 21:bcd8161f8f6c 117 can_monitor((silent) ? 1 : 0);
hudakz 0:e29bc8e0dddd 118 }
hudakz 0:e29bc8e0dddd 119
hudakz 0:e29bc8e0dddd 120 /**
hudakz 0:e29bc8e0dddd 121 * @brief
hudakz 0:e29bc8e0dddd 122 * @note
hudakz 0:e29bc8e0dddd 123 * @param
hudakz 0:e29bc8e0dddd 124 * @retval
hudakz 0:e29bc8e0dddd 125 */
hudakz 0:e29bc8e0dddd 126 int CAN::mode(Mode mode) {
hudakz 21:bcd8161f8f6c 127 return can_mode((CanMode) mode);
hudakz 0:e29bc8e0dddd 128 }
hudakz 0:e29bc8e0dddd 129
hudakz 0:e29bc8e0dddd 130 /**
hudakz 9:e9224f2c6d37 131 * @brief Sets up a CAN filter
hudakz 8:5c90d6b9a382 132 * @note At the present, CANnucleo supports only mask mode and 32-bit filter scale.
hudakz 8:5c90d6b9a382 133 * Identifier list mode filtering and 16-bit filter scale are not supported.
hudakz 9:e9224f2c6d37 134 * There are 14 filters available (0 - 13) for the application to set up.
hudakz 8:5c90d6b9a382 135 * Each filter is a 32-bit filter defined by a filter ID and a filter mask.
hudakz 9:e9224f2c6d37 136 * If no filter is set up then no CAN message is accepted (received)!
hudakz 9:e9224f2c6d37 137 * That's why filter #0 is set up in the constructor to receive all CAN messages by default.
hudakz 8:5c90d6b9a382 138 * On reception of a message it is compared with filter #0. If there is a match, the message is stored.
hudakz 8:5c90d6b9a382 139 * If there is no match, the incoming identifier is then compared with the next filter.
hudakz 8:5c90d6b9a382 140 * If the received identifier does not match any of the identifiers configured in the filters,
hudakz 8:5c90d6b9a382 141 * the message is discarded by hardware without disturbing the software.
hudakz 8:5c90d6b9a382 142 *
hudakz 8:5c90d6b9a382 143 * @param id: 'Filter ID' defines the bit values to be compared with the corresponding received bits
hudakz 8:5c90d6b9a382 144 *
hudakz 8:5c90d6b9a382 145 * 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 146 *
hudakz 8:5c90d6b9a382 147 * STID - Stardard Identifier bits
hudakz 8:5c90d6b9a382 148 * EXID - Extended Identifier bits
hudakz 8:5c90d6b9a382 149 * [x:y]- bit range
hudakz 8:5c90d6b9a382 150 * IDE - Identifier Extension bit (0 -> Standard Identifier, 1 -> Extended Identifier)
hudakz 9:e9224f2c6d37 151 * RTR - Remote Transmission Request bit (0 -> Remote Transmission Request, 1 -> Standard message)
hudakz 8:5c90d6b9a382 152 *
hudakz 8:5c90d6b9a382 153 * @param mask: 'Filter mask' defines which bits of the 'Filter ID' are compared with the received bits
hudakz 8:5c90d6b9a382 154 * and which bits are disregarded.
hudakz 8:5c90d6b9a382 155
hudakz 8:5c90d6b9a382 156 * 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 157 *
hudakz 8:5c90d6b9a382 158 * STID - Stardard Identifier bits
hudakz 8:5c90d6b9a382 159 * EXID - Extended Identifier bits
hudakz 8:5c90d6b9a382 160 * [x:y]- bit range
hudakz 8:5c90d6b9a382 161 * IDE - Identifier Extension bit
hudakz 8:5c90d6b9a382 162 * RTR - Remote Transmission Request bit
hudakz 8:5c90d6b9a382 163 *
hudakz 10:227a455d0f9f 164 * 1 -> bit is considered
hudakz 10:227a455d0f9f 165 * 0 -> bit is disregarded
hudakz 8:5c90d6b9a382 166 *
hudakz 10:227a455d0f9f 167 * ----------------------------------------
hudakz 10:227a455d0f9f 168 * Example of filter set up and filtering:
hudakz 10:227a455d0f9f 169 * ----------------------------------------
hudakz 10:227a455d0f9f 170 *
hudakz 10:227a455d0f9f 171 * Let's assume we would like to receive only messages
hudakz 10:227a455d0f9f 172 * with standard identifier STID = 0x0207 (STID[15:0] = 00000010 00000111)
hudakz 8:5c90d6b9a382 173 *
hudakz 8:5c90d6b9a382 174 * We map the STID to filter ID by shifting the bits appropriately:
hudakz 8:5c90d6b9a382 175 * Filter id = STID << (16 + (15 - 10)) = STID << 21 = 01000000 11100000 00000000 00000000 = 0x40E00000
hudakz 8:5c90d6b9a382 176 *
hudakz 8:5c90d6b9a382 177 * To compare only the bits representing STID we set the filter mask adequately:
hudakz 9:e9224f2c6d37 178 * Filter mask = 11111111 11100000 00000000 00000100 = 0xFFE00004
hudakz 14:0344705e6fb8 179 * |||||||| ||| |
hudakz 14:0344705e6fb8 180 * -------- --- |
hudakz 14:0344705e6fb8 181 * | | |
hudakz 14:0344705e6fb8 182 * STID[10:3] STID[2:0] IDE
hudakz 8:5c90d6b9a382 183 *
hudakz 21:bcd8161f8f6c 184 * Recall that filter #0 has been set up in the constructor to receive all CAN messages by default.
hudakz 9:e9224f2c6d37 185 * So we have to reconfigure it. If we were set up filter #1 here then filter #0 would receive all the messages
hudakz 8:5c90d6b9a382 186 * and no message would reach filter #1!
hudakz 9:e9224f2c6d37 187 *
hudakz 21:bcd8161f8f6c 188 * To reconfigure (set up) filter #0 we call:
hudakz 9:e9224f2c6d37 189 * can.filter(0x0207 << 21, 0xFFE00004, CANAny, 0);
hudakz 8:5c90d6b9a382 190 *
hudakz 21:bcd8161f8f6c 191 * Only these bits of 'Filter id' (set to 1 here in 'Filter mask') are compared with the corresponding
hudakz 9:e9224f2c6d37 192 * bits of received message (the others are disregarded)
hudakz 11:439f3a34c42e 193 * |
hudakz 11:439f3a34c42e 194 * ---------------------------------
hudakz 11:439f3a34c42e 195 * |||||||| ||| |
hudakz 9:e9224f2c6d37 196 * Filter mask = 11111111 11100000 00000000 00000100 (= 0xFFE00004)
hudakz 9:e9224f2c6d37 197 * Filter id = 01000000 11100000 00000000 00000000 (= 0x40E00000)
hudakz 11:439f3a34c42e 198 * |||||||| ||| |
hudakz 11:439f3a34c42e 199 * ---------------------------------
hudakz 11:439f3a34c42e 200 * |
hudakz 11:439f3a34c42e 201 * To receive the message the values of these bits must match.
hudakz 11:439f3a34c42e 202 * Otherwise the message is passed to the next filter or
hudakz 9:e9224f2c6d37 203 * discarded if this was the last active filter.
hudakz 11:439f3a34c42e 204 * |
hudakz 11:439f3a34c42e 205 * ---------------------------------
hudakz 11:439f3a34c42e 206 * |||||||| ||| |
hudakz 9:e9224f2c6d37 207 * Received id = 01000000 11100000 00000000 00000010 (= 0x40E00002)
hudakz 11:439f3a34c42e 208 * ||||| |||||||| ||||| ||
hudakz 11:439f3a34c42e 209 * -----------------------
hudakz 11:439f3a34c42e 210 * |
hudakz 21:bcd8161f8f6c 211 * These bits (set to 0 in 'Filter mask') are disregarded (masked).
hudakz 9:e9224f2c6d37 212 * They can have arbitrary values.
hudakz 8:5c90d6b9a382 213 *
hudakz 8:5c90d6b9a382 214 * NOTE: For the meaning of individual bits see the mapping of 32-bits explained above.
hudakz 8:5c90d6b9a382 215 *
hudakz 9:e9224f2c6d37 216 * @param format: This parameter must be CANAny
hudakz 9:e9224f2c6d37 217 * @param handle: Selects the filter. This parameter must be a number between 0 and 13.
hudakz 21:bcd8161f8f6c 218 * @retval 0 - successful
hudakz 21:bcd8161f8f6c 219 * 1 - error
hudakz 21:bcd8161f8f6c 220 * 2 - busy
hudakz 21:bcd8161f8f6c 221 * 3 - time out
hudakz 0:e29bc8e0dddd 222 */
hudakz 8:5c90d6b9a382 223 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format /* = CANAny */, int handle /* = 0 */) {
hudakz 21:bcd8161f8f6c 224 return can_filter(id, mask, format, handle);
hudakz 0:e29bc8e0dddd 225 }
hudakz 0:e29bc8e0dddd 226
hudakz 0:e29bc8e0dddd 227 /**
hudakz 0:e29bc8e0dddd 228 * @brief Attaches handler funcion to CAN1 RX0 Interrupt
hudakz 0:e29bc8e0dddd 229 * @note Only CAN1 RX0 Interrupt supported
hudakz 0:e29bc8e0dddd 230 * @param fptr: pointer to a void (*)(void) function
hudakz 0:e29bc8e0dddd 231 * @param type: not used (only CAN1 RX0 Interrupt supported)
hudakz 0:e29bc8e0dddd 232 * @retval
hudakz 0:e29bc8e0dddd 233 */
hudakz 0:e29bc8e0dddd 234 void CAN::attach(void (*fptr) (void), IrqType type) {
hudakz 14:0344705e6fb8 235 HAL_NVIC_DisableIRQ(CAN_IRQ);
hudakz 21:bcd8161f8f6c 236 if(fptr)
hudakz 21:bcd8161f8f6c 237 _irq[(CanIrqType)type].attach(fptr);
hudakz 14:0344705e6fb8 238 HAL_NVIC_EnableIRQ(CAN_IRQ);
hudakz 0:e29bc8e0dddd 239 }
hudakz 0:e29bc8e0dddd 240
hudakz 0:e29bc8e0dddd 241 /**
hudakz 0:e29bc8e0dddd 242 * @brief
hudakz 0:e29bc8e0dddd 243 * @note
hudakz 0:e29bc8e0dddd 244 * @param
hudakz 0:e29bc8e0dddd 245 * @retval
hudakz 0:e29bc8e0dddd 246 */
hudakz 0:e29bc8e0dddd 247 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
hudakz 0:e29bc8e0dddd 248 CAN* handler = (CAN*)id;
hudakz 0:e29bc8e0dddd 249 handler->_irq[type].call();
hudakz 0:e29bc8e0dddd 250 }
hudakz 0:e29bc8e0dddd 251
hudakz 0:e29bc8e0dddd 252 } // namespace mbed
hudakz 0:e29bc8e0dddd 253
hudakz 0:e29bc8e0dddd 254
hudakz 0:e29bc8e0dddd 255
hudakz 5:b53e5ee15315 256
hudakz 6:c5a40d5fd9f1 257
hudakz 11:439f3a34c42e 258
hudakz 21:bcd8161f8f6c 259
hudakz 21:bcd8161f8f6c 260