teralytic / mbed-dev

mbed library sources. Supersedes mbed-src.

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api/CAN.h@148:4802eb17e82b, 2016-10-17 (annotated)

Committer:
rodriguise
Date:
Mon Oct 17 18:47:01 2016 +0000
Revision:
148:4802eb17e82b
Parent:
147:30b64687e01f 
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<> 144:ef7eb2e8f9f7 1 /* mbed Microcontroller Library
<> 144:ef7eb2e8f9f7 2 * Copyright (c) 2006-2013 ARM Limited
<> 144:ef7eb2e8f9f7 3 *
<> 144:ef7eb2e8f9f7 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 144:ef7eb2e8f9f7 5 * you may not use this file except in compliance with the License.
<> 144:ef7eb2e8f9f7 6 * You may obtain a copy of the License at
<> 144:ef7eb2e8f9f7 7 *
<> 144:ef7eb2e8f9f7 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 144:ef7eb2e8f9f7 9 *
<> 144:ef7eb2e8f9f7 10 * Unless required by applicable law or agreed to in writing, software
<> 144:ef7eb2e8f9f7 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 144:ef7eb2e8f9f7 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 144:ef7eb2e8f9f7 13 * See the License for the specific language governing permissions and
<> 144:ef7eb2e8f9f7 14 * limitations under the License.
<> 144:ef7eb2e8f9f7 15 */
<> 144:ef7eb2e8f9f7 16 #ifndef MBED_CAN_H
<> 144:ef7eb2e8f9f7 17 #define MBED_CAN_H
<> 144:ef7eb2e8f9f7 18
<> 144:ef7eb2e8f9f7 19 #include "platform.h"
<> 144:ef7eb2e8f9f7 20
<> 144:ef7eb2e8f9f7 21 #if DEVICE_CAN
<> 144:ef7eb2e8f9f7 22
<> 144:ef7eb2e8f9f7 23 #include "can_api.h"
<> 144:ef7eb2e8f9f7 24 #include "can_helper.h"
<> 144:ef7eb2e8f9f7 25 #include "Callback.h"
<> 144:ef7eb2e8f9f7 26 #include "PlatformMutex.h"
<> 144:ef7eb2e8f9f7 27
<> 144:ef7eb2e8f9f7 28 namespace mbed {
<> 144:ef7eb2e8f9f7 29
<> 144:ef7eb2e8f9f7 30 /** CANMessage class
<> 144:ef7eb2e8f9f7 31 *
<> 144:ef7eb2e8f9f7 32 * @Note Synchronization level: Thread safe
<> 144:ef7eb2e8f9f7 33 */
<> 144:ef7eb2e8f9f7 34 class CANMessage : public CAN_Message {
<> 144:ef7eb2e8f9f7 35
<> 144:ef7eb2e8f9f7 36 public:
<> 144:ef7eb2e8f9f7 37 /** Creates empty CAN message.
<> 144:ef7eb2e8f9f7 38 */
<> 144:ef7eb2e8f9f7 39 CANMessage() : CAN_Message() {
<> 144:ef7eb2e8f9f7 40 len = 8;
<> 144:ef7eb2e8f9f7 41 type = CANData;
<> 144:ef7eb2e8f9f7 42 format = CANStandard;
<> 144:ef7eb2e8f9f7 43 id = 0;
<> 144:ef7eb2e8f9f7 44 memset(data, 0, 8);
<> 144:ef7eb2e8f9f7 45 }
<> 144:ef7eb2e8f9f7 46
<> 144:ef7eb2e8f9f7 47 /** Creates CAN message with specific content.
<> 144:ef7eb2e8f9f7 48 */
<> 144:ef7eb2e8f9f7 49 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
<> 144:ef7eb2e8f9f7 50 len = _len & 0xF;
<> 144:ef7eb2e8f9f7 51 type = _type;
<> 144:ef7eb2e8f9f7 52 format = _format;
<> 144:ef7eb2e8f9f7 53 id = _id;
<> 144:ef7eb2e8f9f7 54 memcpy(data, _data, _len);
<> 144:ef7eb2e8f9f7 55 }
<> 144:ef7eb2e8f9f7 56
<> 144:ef7eb2e8f9f7 57 /** Creates CAN remote message.
<> 144:ef7eb2e8f9f7 58 */
<> 144:ef7eb2e8f9f7 59 CANMessage(int _id, CANFormat _format = CANStandard) {
<> 144:ef7eb2e8f9f7 60 len = 0;
<> 144:ef7eb2e8f9f7 61 type = CANRemote;
<> 144:ef7eb2e8f9f7 62 format = _format;
<> 144:ef7eb2e8f9f7 63 id = _id;
<> 144:ef7eb2e8f9f7 64 memset(data, 0, 8);
<> 144:ef7eb2e8f9f7 65 }
<> 144:ef7eb2e8f9f7 66 };
<> 144:ef7eb2e8f9f7 67
<> 144:ef7eb2e8f9f7 68 /** A can bus client, used for communicating with can devices
<> 144:ef7eb2e8f9f7 69 */
<> 144:ef7eb2e8f9f7 70 class CAN {
<> 144:ef7eb2e8f9f7 71
<> 144:ef7eb2e8f9f7 72 public:
<> 144:ef7eb2e8f9f7 73 /** Creates an CAN interface connected to specific pins.
<> 144:ef7eb2e8f9f7 74 *
<> 144:ef7eb2e8f9f7 75 * @param rd read from transmitter
<> 144:ef7eb2e8f9f7 76 * @param td transmit to transmitter
<> 144:ef7eb2e8f9f7 77 *
<> 144:ef7eb2e8f9f7 78 * Example:
<> 144:ef7eb2e8f9f7 79 * @code
<> 144:ef7eb2e8f9f7 80 * #include "mbed.h"
<> 144:ef7eb2e8f9f7 81 *
<> 144:ef7eb2e8f9f7 82 * Ticker ticker;
<> 144:ef7eb2e8f9f7 83 * DigitalOut led1(LED1);
<> 144:ef7eb2e8f9f7 84 * DigitalOut led2(LED2);
<> 144:ef7eb2e8f9f7 85 * CAN can1(p9, p10);
<> 144:ef7eb2e8f9f7 86 * CAN can2(p30, p29);
<> 144:ef7eb2e8f9f7 87 *
<> 144:ef7eb2e8f9f7 88 * char counter = 0;
<> 144:ef7eb2e8f9f7 89 *
<> 144:ef7eb2e8f9f7 90 * void send() {
<> 144:ef7eb2e8f9f7 91 * if(can1.write(CANMessage(1337, &counter, 1))) {
<> 144:ef7eb2e8f9f7 92 * printf("Message sent: %d\n", counter);
<> 144:ef7eb2e8f9f7 93 * counter++;
<> 144:ef7eb2e8f9f7 94 * }
<> 144:ef7eb2e8f9f7 95 * led1 = !led1;
<> 144:ef7eb2e8f9f7 96 * }
<> 144:ef7eb2e8f9f7 97 *
<> 144:ef7eb2e8f9f7 98 * int main() {
<> 144:ef7eb2e8f9f7 99 * ticker.attach(&send, 1);
<> 144:ef7eb2e8f9f7 100 * CANMessage msg;
<> 144:ef7eb2e8f9f7 101 * while(1) {
<> 144:ef7eb2e8f9f7 102 * if(can2.read(msg)) {
<> 144:ef7eb2e8f9f7 103 * printf("Message received: %d\n\n", msg.data[0]);
<> 144:ef7eb2e8f9f7 104 * led2 = !led2;
<> 144:ef7eb2e8f9f7 105 * }
<> 144:ef7eb2e8f9f7 106 * wait(0.2);
<> 144:ef7eb2e8f9f7 107 * }
<> 144:ef7eb2e8f9f7 108 * }
<> 144:ef7eb2e8f9f7 109 * @endcode
<> 144:ef7eb2e8f9f7 110 */
<> 144:ef7eb2e8f9f7 111 CAN(PinName rd, PinName td);
<> 144:ef7eb2e8f9f7 112 virtual ~CAN();
<> 144:ef7eb2e8f9f7 113
<> 144:ef7eb2e8f9f7 114 /** Set the frequency of the CAN interface
<> 144:ef7eb2e8f9f7 115 *
<> 144:ef7eb2e8f9f7 116 * @param hz The bus frequency in hertz
<> 144:ef7eb2e8f9f7 117 *
<> 144:ef7eb2e8f9f7 118 * @returns
<> 144:ef7eb2e8f9f7 119 * 1 if successful,
<> 144:ef7eb2e8f9f7 120 * 0 otherwise
<> 144:ef7eb2e8f9f7 121 */
<> 144:ef7eb2e8f9f7 122 int frequency(int hz);
<> 144:ef7eb2e8f9f7 123
<> 144:ef7eb2e8f9f7 124 /** Write a CANMessage to the bus.
<> 144:ef7eb2e8f9f7 125 *
<> 144:ef7eb2e8f9f7 126 * @param msg The CANMessage to write.
<> 144:ef7eb2e8f9f7 127 *
<> 144:ef7eb2e8f9f7 128 * @returns
<> 144:ef7eb2e8f9f7 129 * 0 if write failed,
<> 144:ef7eb2e8f9f7 130 * 1 if write was successful
<> 144:ef7eb2e8f9f7 131 */
<> 144:ef7eb2e8f9f7 132 int write(CANMessage msg);
<> 144:ef7eb2e8f9f7 133
<> 144:ef7eb2e8f9f7 134 /** Read a CANMessage from the bus.
<> 144:ef7eb2e8f9f7 135 *
<> 144:ef7eb2e8f9f7 136 * @param msg A CANMessage to read to.
<> 144:ef7eb2e8f9f7 137 * @param handle message filter handle (0 for any message)
<> 144:ef7eb2e8f9f7 138 *
<> 144:ef7eb2e8f9f7 139 * @returns
<> 144:ef7eb2e8f9f7 140 * 0 if no message arrived,
<> 144:ef7eb2e8f9f7 141 * 1 if message arrived
<> 144:ef7eb2e8f9f7 142 */
<> 144:ef7eb2e8f9f7 143 int read(CANMessage &msg, int handle = 0);
<> 144:ef7eb2e8f9f7 144
<> 144:ef7eb2e8f9f7 145 /** Reset CAN interface.
<> 144:ef7eb2e8f9f7 146 *
<> 144:ef7eb2e8f9f7 147 * To use after error overflow.
<> 144:ef7eb2e8f9f7 148 */
<> 144:ef7eb2e8f9f7 149 void reset();
<> 144:ef7eb2e8f9f7 150
<> 144:ef7eb2e8f9f7 151 /** Puts or removes the CAN interface into silent monitoring mode
<> 144:ef7eb2e8f9f7 152 *
<> 144:ef7eb2e8f9f7 153 * @param silent boolean indicating whether to go into silent mode or not
<> 144:ef7eb2e8f9f7 154 */
<> 144:ef7eb2e8f9f7 155 void monitor(bool silent);
<> 144:ef7eb2e8f9f7 156
<> 144:ef7eb2e8f9f7 157 enum Mode {
<> 144:ef7eb2e8f9f7 158 Reset = 0,
<> 144:ef7eb2e8f9f7 159 Normal,
<> 144:ef7eb2e8f9f7 160 Silent,
<> 144:ef7eb2e8f9f7 161 LocalTest,
<> 144:ef7eb2e8f9f7 162 GlobalTest,
<> 144:ef7eb2e8f9f7 163 SilentTest
<> 144:ef7eb2e8f9f7 164 };
<> 144:ef7eb2e8f9f7 165
<> 144:ef7eb2e8f9f7 166 /** Change CAN operation to the specified mode
<> 144:ef7eb2e8f9f7 167 *
<> 144:ef7eb2e8f9f7 168 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
<> 144:ef7eb2e8f9f7 169 *
<> 144:ef7eb2e8f9f7 170 * @returns
<> 144:ef7eb2e8f9f7 171 * 0 if mode change failed or unsupported,
<> 144:ef7eb2e8f9f7 172 * 1 if mode change was successful
<> 144:ef7eb2e8f9f7 173 */
<> 144:ef7eb2e8f9f7 174 int mode(Mode mode);
<> 144:ef7eb2e8f9f7 175
<> 144:ef7eb2e8f9f7 176 /** Filter out incomming messages
<> 144:ef7eb2e8f9f7 177 *
<> 144:ef7eb2e8f9f7 178 * @param id the id to filter on
<> 144:ef7eb2e8f9f7 179 * @param mask the mask applied to the id
<> 144:ef7eb2e8f9f7 180 * @param format format to filter on (Default CANAny)
<> 144:ef7eb2e8f9f7 181 * @param handle message filter handle (Optional)
<> 144:ef7eb2e8f9f7 182 *
<> 144:ef7eb2e8f9f7 183 * @returns
<> 144:ef7eb2e8f9f7 184 * 0 if filter change failed or unsupported,
<> 144:ef7eb2e8f9f7 185 * new filter handle if successful
<> 144:ef7eb2e8f9f7 186 */
<> 144:ef7eb2e8f9f7 187 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
<> 144:ef7eb2e8f9f7 188
<> 144:ef7eb2e8f9f7 189 /** Returns number of read errors to detect read overflow errors.
<> 144:ef7eb2e8f9f7 190 */
<> 144:ef7eb2e8f9f7 191 unsigned char rderror();
<> 144:ef7eb2e8f9f7 192
<> 144:ef7eb2e8f9f7 193 /** Returns number of write errors to detect write overflow errors.
<> 144:ef7eb2e8f9f7 194 */
<> 144:ef7eb2e8f9f7 195 unsigned char tderror();
<> 144:ef7eb2e8f9f7 196
<> 144:ef7eb2e8f9f7 197 enum IrqType {
<> 144:ef7eb2e8f9f7 198 RxIrq = 0,
<> 144:ef7eb2e8f9f7 199 TxIrq,
<> 144:ef7eb2e8f9f7 200 EwIrq,
<> 144:ef7eb2e8f9f7 201 DoIrq,
<> 144:ef7eb2e8f9f7 202 WuIrq,
<> 144:ef7eb2e8f9f7 203 EpIrq,
<> 144:ef7eb2e8f9f7 204 AlIrq,
<> 144:ef7eb2e8f9f7 205 BeIrq,
<> 147:30b64687e01f 206 IdIrq,
<> 147:30b64687e01f 207
<> 147:30b64687e01f 208 IrqCnt
<> 144:ef7eb2e8f9f7 209 };
<> 144:ef7eb2e8f9f7 210
<> 144:ef7eb2e8f9f7 211 /** Attach a function to call whenever a CAN frame received interrupt is
<> 144:ef7eb2e8f9f7 212 * generated.
<> 144:ef7eb2e8f9f7 213 *
<> 144:ef7eb2e8f9f7 214 * @param func A pointer to a void function, or 0 to set as none
<> 144:ef7eb2e8f9f7 215 * @param event Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, CAN::TxIrq for transmitted or aborted, CAN::EwIrq for error warning, CAN::DoIrq for data overrun, CAN::WuIrq for wake-up, CAN::EpIrq for error passive, CAN::AlIrq for arbitration lost, CAN::BeIrq for bus error)
<> 144:ef7eb2e8f9f7 216 */
<> 144:ef7eb2e8f9f7 217 void attach(Callback<void()> func, IrqType type=RxIrq);
<> 144:ef7eb2e8f9f7 218
<> 144:ef7eb2e8f9f7 219 /** Attach a member function to call whenever a CAN frame received interrupt
<> 144:ef7eb2e8f9f7 220 * is generated.
<> 144:ef7eb2e8f9f7 221 *
<> 144:ef7eb2e8f9f7 222 * @param obj pointer to the object to call the member function on
<> 144:ef7eb2e8f9f7 223 * @param method pointer to the member function to be called
<> 144:ef7eb2e8f9f7 224 * @param event Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, TxIrq for transmitted or aborted, EwIrq for error warning, DoIrq for data overrun, WuIrq for wake-up, EpIrq for error passive, AlIrq for arbitration lost, BeIrq for bus error)
<> 144:ef7eb2e8f9f7 225 */
<> 144:ef7eb2e8f9f7 226 template<typename T>
<> 144:ef7eb2e8f9f7 227 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
<> 144:ef7eb2e8f9f7 228 // Underlying call thread safe
<> 144:ef7eb2e8f9f7 229 attach(Callback<void()>(obj, method), type);
<> 144:ef7eb2e8f9f7 230 }
<> 144:ef7eb2e8f9f7 231
<> 144:ef7eb2e8f9f7 232 /** Attach a member function to call whenever a CAN frame received interrupt
<> 144:ef7eb2e8f9f7 233 * is generated.
<> 144:ef7eb2e8f9f7 234 *
<> 144:ef7eb2e8f9f7 235 * @param obj pointer to the object to call the member function on
<> 144:ef7eb2e8f9f7 236 * @param method pointer to the member function to be called
<> 144:ef7eb2e8f9f7 237 * @param event Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, TxIrq for transmitted or aborted, EwIrq for error warning, DoIrq for data overrun, WuIrq for wake-up, EpIrq for error passive, AlIrq for arbitration lost, BeIrq for bus error)
<> 144:ef7eb2e8f9f7 238 */
<> 144:ef7eb2e8f9f7 239 template<typename T>
<> 144:ef7eb2e8f9f7 240 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
<> 144:ef7eb2e8f9f7 241 // Underlying call thread safe
<> 144:ef7eb2e8f9f7 242 attach(Callback<void()>(obj, method), type);
<> 144:ef7eb2e8f9f7 243 }
<> 144:ef7eb2e8f9f7 244
<> 144:ef7eb2e8f9f7 245 static void _irq_handler(uint32_t id, CanIrqType type);
<> 144:ef7eb2e8f9f7 246
<> 144:ef7eb2e8f9f7 247 protected:
<> 144:ef7eb2e8f9f7 248 virtual void lock();
<> 144:ef7eb2e8f9f7 249 virtual void unlock();
<> 144:ef7eb2e8f9f7 250 can_t _can;
<> 147:30b64687e01f 251 Callback<void()> _irq[IrqCnt];
<> 144:ef7eb2e8f9f7 252 PlatformMutex _mutex;
<> 144:ef7eb2e8f9f7 253 };
<> 144:ef7eb2e8f9f7 254
<> 144:ef7eb2e8f9f7 255 } // namespace mbed
<> 144:ef7eb2e8f9f7 256
<> 144:ef7eb2e8f9f7 257 #endif
<> 144:ef7eb2e8f9f7 258
<> 144:ef7eb2e8f9f7 259 #endif // MBED_CAN_H