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mbed-dev/drivers/CAN.h@1:d0dfbce63a89, 2017-02-24 (annotated)

Committer:
elmot
Date:
Fri Feb 24 21:13:56 2017 +0000
Revision:
1:d0dfbce63a89
Ready-to-copy

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elmot 1:d0dfbce63a89 1 /* mbed Microcontroller Library
elmot 1:d0dfbce63a89 2 * Copyright (c) 2006-2013 ARM Limited
elmot 1:d0dfbce63a89 3 *
elmot 1:d0dfbce63a89 4 * Licensed under the Apache License, Version 2.0 (the "License");
elmot 1:d0dfbce63a89 5 * you may not use this file except in compliance with the License.
elmot 1:d0dfbce63a89 6 * You may obtain a copy of the License at
elmot 1:d0dfbce63a89 7 *
elmot 1:d0dfbce63a89 8 * http://www.apache.org/licenses/LICENSE-2.0
elmot 1:d0dfbce63a89 9 *
elmot 1:d0dfbce63a89 10 * Unless required by applicable law or agreed to in writing, software
elmot 1:d0dfbce63a89 11 * distributed under the License is distributed on an "AS IS" BASIS,
elmot 1:d0dfbce63a89 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
elmot 1:d0dfbce63a89 13 * See the License for the specific language governing permissions and
elmot 1:d0dfbce63a89 14 * limitations under the License.
elmot 1:d0dfbce63a89 15 */
elmot 1:d0dfbce63a89 16 #ifndef MBED_CAN_H
elmot 1:d0dfbce63a89 17 #define MBED_CAN_H
elmot 1:d0dfbce63a89 18
elmot 1:d0dfbce63a89 19 #include "platform/platform.h"
elmot 1:d0dfbce63a89 20
elmot 1:d0dfbce63a89 21 #if DEVICE_CAN
elmot 1:d0dfbce63a89 22
elmot 1:d0dfbce63a89 23 #include "hal/can_api.h"
elmot 1:d0dfbce63a89 24 #include "platform/Callback.h"
elmot 1:d0dfbce63a89 25 #include "platform/PlatformMutex.h"
elmot 1:d0dfbce63a89 26
elmot 1:d0dfbce63a89 27 namespace mbed {
elmot 1:d0dfbce63a89 28 /** \addtogroup drivers */
elmot 1:d0dfbce63a89 29 /** @{*/
elmot 1:d0dfbce63a89 30
elmot 1:d0dfbce63a89 31 /** CANMessage class
elmot 1:d0dfbce63a89 32 *
elmot 1:d0dfbce63a89 33 * @Note Synchronization level: Thread safe
elmot 1:d0dfbce63a89 34 */
elmot 1:d0dfbce63a89 35 class CANMessage : public CAN_Message {
elmot 1:d0dfbce63a89 36
elmot 1:d0dfbce63a89 37 public:
elmot 1:d0dfbce63a89 38 /** Creates empty CAN message.
elmot 1:d0dfbce63a89 39 */
elmot 1:d0dfbce63a89 40 CANMessage() : CAN_Message() {
elmot 1:d0dfbce63a89 41 len = 8;
elmot 1:d0dfbce63a89 42 type = CANData;
elmot 1:d0dfbce63a89 43 format = CANStandard;
elmot 1:d0dfbce63a89 44 id = 0;
elmot 1:d0dfbce63a89 45 memset(data, 0, 8);
elmot 1:d0dfbce63a89 46 }
elmot 1:d0dfbce63a89 47
elmot 1:d0dfbce63a89 48 /** Creates CAN message with specific content.
elmot 1:d0dfbce63a89 49 */
elmot 1:d0dfbce63a89 50 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
elmot 1:d0dfbce63a89 51 len = _len & 0xF;
elmot 1:d0dfbce63a89 52 type = _type;
elmot 1:d0dfbce63a89 53 format = _format;
elmot 1:d0dfbce63a89 54 id = _id;
elmot 1:d0dfbce63a89 55 memcpy(data, _data, _len);
elmot 1:d0dfbce63a89 56 }
elmot 1:d0dfbce63a89 57
elmot 1:d0dfbce63a89 58 /** Creates CAN remote message.
elmot 1:d0dfbce63a89 59 */
elmot 1:d0dfbce63a89 60 CANMessage(int _id, CANFormat _format = CANStandard) {
elmot 1:d0dfbce63a89 61 len = 0;
elmot 1:d0dfbce63a89 62 type = CANRemote;
elmot 1:d0dfbce63a89 63 format = _format;
elmot 1:d0dfbce63a89 64 id = _id;
elmot 1:d0dfbce63a89 65 memset(data, 0, 8);
elmot 1:d0dfbce63a89 66 }
elmot 1:d0dfbce63a89 67 };
elmot 1:d0dfbce63a89 68
elmot 1:d0dfbce63a89 69 /** A can bus client, used for communicating with can devices
elmot 1:d0dfbce63a89 70 */
elmot 1:d0dfbce63a89 71 class CAN {
elmot 1:d0dfbce63a89 72
elmot 1:d0dfbce63a89 73 public:
elmot 1:d0dfbce63a89 74 /** Creates an CAN interface connected to specific pins.
elmot 1:d0dfbce63a89 75 *
elmot 1:d0dfbce63a89 76 * @param rd read from transmitter
elmot 1:d0dfbce63a89 77 * @param td transmit to transmitter
elmot 1:d0dfbce63a89 78 *
elmot 1:d0dfbce63a89 79 * Example:
elmot 1:d0dfbce63a89 80 * @code
elmot 1:d0dfbce63a89 81 * #include "mbed.h"
elmot 1:d0dfbce63a89 82 *
elmot 1:d0dfbce63a89 83 * Ticker ticker;
elmot 1:d0dfbce63a89 84 * DigitalOut led1(LED1);
elmot 1:d0dfbce63a89 85 * DigitalOut led2(LED2);
elmot 1:d0dfbce63a89 86 * CAN can1(p9, p10);
elmot 1:d0dfbce63a89 87 * CAN can2(p30, p29);
elmot 1:d0dfbce63a89 88 *
elmot 1:d0dfbce63a89 89 * char counter = 0;
elmot 1:d0dfbce63a89 90 *
elmot 1:d0dfbce63a89 91 * void send() {
elmot 1:d0dfbce63a89 92 * if(can1.write(CANMessage(1337, &counter, 1))) {
elmot 1:d0dfbce63a89 93 * printf("Message sent: %d\n", counter);
elmot 1:d0dfbce63a89 94 * counter++;
elmot 1:d0dfbce63a89 95 * }
elmot 1:d0dfbce63a89 96 * led1 = !led1;
elmot 1:d0dfbce63a89 97 * }
elmot 1:d0dfbce63a89 98 *
elmot 1:d0dfbce63a89 99 * int main() {
elmot 1:d0dfbce63a89 100 * ticker.attach(&send, 1);
elmot 1:d0dfbce63a89 101 * CANMessage msg;
elmot 1:d0dfbce63a89 102 * while(1) {
elmot 1:d0dfbce63a89 103 * if(can2.read(msg)) {
elmot 1:d0dfbce63a89 104 * printf("Message received: %d\n\n", msg.data[0]);
elmot 1:d0dfbce63a89 105 * led2 = !led2;
elmot 1:d0dfbce63a89 106 * }
elmot 1:d0dfbce63a89 107 * wait(0.2);
elmot 1:d0dfbce63a89 108 * }
elmot 1:d0dfbce63a89 109 * }
elmot 1:d0dfbce63a89 110 * @endcode
elmot 1:d0dfbce63a89 111 */
elmot 1:d0dfbce63a89 112 CAN(PinName rd, PinName td);
elmot 1:d0dfbce63a89 113 virtual ~CAN();
elmot 1:d0dfbce63a89 114
elmot 1:d0dfbce63a89 115 /** Set the frequency of the CAN interface
elmot 1:d0dfbce63a89 116 *
elmot 1:d0dfbce63a89 117 * @param hz The bus frequency in hertz
elmot 1:d0dfbce63a89 118 *
elmot 1:d0dfbce63a89 119 * @returns
elmot 1:d0dfbce63a89 120 * 1 if successful,
elmot 1:d0dfbce63a89 121 * 0 otherwise
elmot 1:d0dfbce63a89 122 */
elmot 1:d0dfbce63a89 123 int frequency(int hz);
elmot 1:d0dfbce63a89 124
elmot 1:d0dfbce63a89 125 /** Write a CANMessage to the bus.
elmot 1:d0dfbce63a89 126 *
elmot 1:d0dfbce63a89 127 * @param msg The CANMessage to write.
elmot 1:d0dfbce63a89 128 *
elmot 1:d0dfbce63a89 129 * @returns
elmot 1:d0dfbce63a89 130 * 0 if write failed,
elmot 1:d0dfbce63a89 131 * 1 if write was successful
elmot 1:d0dfbce63a89 132 */
elmot 1:d0dfbce63a89 133 int write(CANMessage msg);
elmot 1:d0dfbce63a89 134
elmot 1:d0dfbce63a89 135 /** Read a CANMessage from the bus.
elmot 1:d0dfbce63a89 136 *
elmot 1:d0dfbce63a89 137 * @param msg A CANMessage to read to.
elmot 1:d0dfbce63a89 138 * @param handle message filter handle (0 for any message)
elmot 1:d0dfbce63a89 139 *
elmot 1:d0dfbce63a89 140 * @returns
elmot 1:d0dfbce63a89 141 * 0 if no message arrived,
elmot 1:d0dfbce63a89 142 * 1 if message arrived
elmot 1:d0dfbce63a89 143 */
elmot 1:d0dfbce63a89 144 int read(CANMessage &msg, int handle = 0);
elmot 1:d0dfbce63a89 145
elmot 1:d0dfbce63a89 146 /** Reset CAN interface.
elmot 1:d0dfbce63a89 147 *
elmot 1:d0dfbce63a89 148 * To use after error overflow.
elmot 1:d0dfbce63a89 149 */
elmot 1:d0dfbce63a89 150 void reset();
elmot 1:d0dfbce63a89 151
elmot 1:d0dfbce63a89 152 /** Puts or removes the CAN interface into silent monitoring mode
elmot 1:d0dfbce63a89 153 *
elmot 1:d0dfbce63a89 154 * @param silent boolean indicating whether to go into silent mode or not
elmot 1:d0dfbce63a89 155 */
elmot 1:d0dfbce63a89 156 void monitor(bool silent);
elmot 1:d0dfbce63a89 157
elmot 1:d0dfbce63a89 158 enum Mode {
elmot 1:d0dfbce63a89 159 Reset = 0,
elmot 1:d0dfbce63a89 160 Normal,
elmot 1:d0dfbce63a89 161 Silent,
elmot 1:d0dfbce63a89 162 LocalTest,
elmot 1:d0dfbce63a89 163 GlobalTest,
elmot 1:d0dfbce63a89 164 SilentTest
elmot 1:d0dfbce63a89 165 };
elmot 1:d0dfbce63a89 166
elmot 1:d0dfbce63a89 167 /** Change CAN operation to the specified mode
elmot 1:d0dfbce63a89 168 *
elmot 1:d0dfbce63a89 169 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
elmot 1:d0dfbce63a89 170 *
elmot 1:d0dfbce63a89 171 * @returns
elmot 1:d0dfbce63a89 172 * 0 if mode change failed or unsupported,
elmot 1:d0dfbce63a89 173 * 1 if mode change was successful
elmot 1:d0dfbce63a89 174 */
elmot 1:d0dfbce63a89 175 int mode(Mode mode);
elmot 1:d0dfbce63a89 176
elmot 1:d0dfbce63a89 177 /** Filter out incomming messages
elmot 1:d0dfbce63a89 178 *
elmot 1:d0dfbce63a89 179 * @param id the id to filter on
elmot 1:d0dfbce63a89 180 * @param mask the mask applied to the id
elmot 1:d0dfbce63a89 181 * @param format format to filter on (Default CANAny)
elmot 1:d0dfbce63a89 182 * @param handle message filter handle (Optional)
elmot 1:d0dfbce63a89 183 *
elmot 1:d0dfbce63a89 184 * @returns
elmot 1:d0dfbce63a89 185 * 0 if filter change failed or unsupported,
elmot 1:d0dfbce63a89 186 * new filter handle if successful
elmot 1:d0dfbce63a89 187 */
elmot 1:d0dfbce63a89 188 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
elmot 1:d0dfbce63a89 189
elmot 1:d0dfbce63a89 190 /** Returns number of read errors to detect read overflow errors.
elmot 1:d0dfbce63a89 191 */
elmot 1:d0dfbce63a89 192 unsigned char rderror();
elmot 1:d0dfbce63a89 193
elmot 1:d0dfbce63a89 194 /** Returns number of write errors to detect write overflow errors.
elmot 1:d0dfbce63a89 195 */
elmot 1:d0dfbce63a89 196 unsigned char tderror();
elmot 1:d0dfbce63a89 197
elmot 1:d0dfbce63a89 198 enum IrqType {
elmot 1:d0dfbce63a89 199 RxIrq = 0,
elmot 1:d0dfbce63a89 200 TxIrq,
elmot 1:d0dfbce63a89 201 EwIrq,
elmot 1:d0dfbce63a89 202 DoIrq,
elmot 1:d0dfbce63a89 203 WuIrq,
elmot 1:d0dfbce63a89 204 EpIrq,
elmot 1:d0dfbce63a89 205 AlIrq,
elmot 1:d0dfbce63a89 206 BeIrq,
elmot 1:d0dfbce63a89 207 IdIrq,
elmot 1:d0dfbce63a89 208
elmot 1:d0dfbce63a89 209 IrqCnt
elmot 1:d0dfbce63a89 210 };
elmot 1:d0dfbce63a89 211
elmot 1:d0dfbce63a89 212 /** Attach a function to call whenever a CAN frame received interrupt is
elmot 1:d0dfbce63a89 213 * generated.
elmot 1:d0dfbce63a89 214 *
elmot 1:d0dfbce63a89 215 * @param func A pointer to a void function, or 0 to set as none
elmot 1:d0dfbce63a89 216 * @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)
elmot 1:d0dfbce63a89 217 */
elmot 1:d0dfbce63a89 218 void attach(Callback<void()> func, IrqType type=RxIrq);
elmot 1:d0dfbce63a89 219
elmot 1:d0dfbce63a89 220 /** Attach a member function to call whenever a CAN frame received interrupt
elmot 1:d0dfbce63a89 221 * is generated.
elmot 1:d0dfbce63a89 222 *
elmot 1:d0dfbce63a89 223 * @param obj pointer to the object to call the member function on
elmot 1:d0dfbce63a89 224 * @param method pointer to the member function to be called
elmot 1:d0dfbce63a89 225 * @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)
elmot 1:d0dfbce63a89 226 */
elmot 1:d0dfbce63a89 227 template<typename T>
elmot 1:d0dfbce63a89 228 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
elmot 1:d0dfbce63a89 229 // Underlying call thread safe
elmot 1:d0dfbce63a89 230 attach(Callback<void()>(obj, method), type);
elmot 1:d0dfbce63a89 231 }
elmot 1:d0dfbce63a89 232
elmot 1:d0dfbce63a89 233 /** Attach a member function to call whenever a CAN frame received interrupt
elmot 1:d0dfbce63a89 234 * is generated.
elmot 1:d0dfbce63a89 235 *
elmot 1:d0dfbce63a89 236 * @param obj pointer to the object to call the member function on
elmot 1:d0dfbce63a89 237 * @param method pointer to the member function to be called
elmot 1:d0dfbce63a89 238 * @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)
elmot 1:d0dfbce63a89 239 */
elmot 1:d0dfbce63a89 240 template<typename T>
elmot 1:d0dfbce63a89 241 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
elmot 1:d0dfbce63a89 242 // Underlying call thread safe
elmot 1:d0dfbce63a89 243 attach(Callback<void()>(obj, method), type);
elmot 1:d0dfbce63a89 244 }
elmot 1:d0dfbce63a89 245
elmot 1:d0dfbce63a89 246 static void _irq_handler(uint32_t id, CanIrqType type);
elmot 1:d0dfbce63a89 247
elmot 1:d0dfbce63a89 248 protected:
elmot 1:d0dfbce63a89 249 virtual void lock();
elmot 1:d0dfbce63a89 250 virtual void unlock();
elmot 1:d0dfbce63a89 251 can_t _can;
elmot 1:d0dfbce63a89 252 Callback<void()> _irq[IrqCnt];
elmot 1:d0dfbce63a89 253 PlatformMutex _mutex;
elmot 1:d0dfbce63a89 254 };
elmot 1:d0dfbce63a89 255
elmot 1:d0dfbce63a89 256 } // namespace mbed
elmot 1:d0dfbce63a89 257
elmot 1:d0dfbce63a89 258 #endif
elmot 1:d0dfbce63a89 259
elmot 1:d0dfbce63a89 260 #endif // MBED_CAN_H
elmot 1:d0dfbce63a89 261
elmot 1:d0dfbce63a89 262 /** @}*/