Takaaki Numai / mbed-dev

inport from local

Dependents:   Hobbyking_Cheetah_0511

drivers/CAN.h@0:85b3fd62ea1a, 2020-03-16 (annotated)

Committer:
NYX
Date:
Mon Mar 16 06:35:48 2020 +0000
Revision:
0:85b3fd62ea1a
reinport to mbed;

Who changed what in which revision?

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NYX 0:85b3fd62ea1a 1 /* mbed Microcontroller Library
NYX 0:85b3fd62ea1a 2 * Copyright (c) 2006-2013 ARM Limited
NYX 0:85b3fd62ea1a 3 *
NYX 0:85b3fd62ea1a 4 * Licensed under the Apache License, Version 2.0 (the "License");
NYX 0:85b3fd62ea1a 5 * you may not use this file except in compliance with the License.
NYX 0:85b3fd62ea1a 6 * You may obtain a copy of the License at
NYX 0:85b3fd62ea1a 7 *
NYX 0:85b3fd62ea1a 8 * http://www.apache.org/licenses/LICENSE-2.0
NYX 0:85b3fd62ea1a 9 *
NYX 0:85b3fd62ea1a 10 * Unless required by applicable law or agreed to in writing, software
NYX 0:85b3fd62ea1a 11 * distributed under the License is distributed on an "AS IS" BASIS,
NYX 0:85b3fd62ea1a 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
NYX 0:85b3fd62ea1a 13 * See the License for the specific language governing permissions and
NYX 0:85b3fd62ea1a 14 * limitations under the License.
NYX 0:85b3fd62ea1a 15 */
NYX 0:85b3fd62ea1a 16 #ifndef MBED_CAN_H
NYX 0:85b3fd62ea1a 17 #define MBED_CAN_H
NYX 0:85b3fd62ea1a 18
NYX 0:85b3fd62ea1a 19 #include "platform/platform.h"
NYX 0:85b3fd62ea1a 20
NYX 0:85b3fd62ea1a 21 #if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY)
NYX 0:85b3fd62ea1a 22
NYX 0:85b3fd62ea1a 23 #include "hal/can_api.h"
NYX 0:85b3fd62ea1a 24 #include "platform/Callback.h"
NYX 0:85b3fd62ea1a 25 #include "platform/PlatformMutex.h"
NYX 0:85b3fd62ea1a 26 #include "platform/NonCopyable.h"
NYX 0:85b3fd62ea1a 27
NYX 0:85b3fd62ea1a 28 namespace mbed {
NYX 0:85b3fd62ea1a 29 /** \addtogroup drivers */
NYX 0:85b3fd62ea1a 30
NYX 0:85b3fd62ea1a 31 /** CANMessage class
NYX 0:85b3fd62ea1a 32 *
NYX 0:85b3fd62ea1a 33 * @note Synchronization level: Thread safe
NYX 0:85b3fd62ea1a 34 * @ingroup drivers
NYX 0:85b3fd62ea1a 35 */
NYX 0:85b3fd62ea1a 36 class CANMessage : public CAN_Message {
NYX 0:85b3fd62ea1a 37
NYX 0:85b3fd62ea1a 38 public:
NYX 0:85b3fd62ea1a 39 /** Creates empty CAN message.
NYX 0:85b3fd62ea1a 40 */
NYX 0:85b3fd62ea1a 41 CANMessage() : CAN_Message() {
NYX 0:85b3fd62ea1a 42 len = 8;
NYX 0:85b3fd62ea1a 43 type = CANData;
NYX 0:85b3fd62ea1a 44 format = CANStandard;
NYX 0:85b3fd62ea1a 45 id = 0;
NYX 0:85b3fd62ea1a 46 memset(data, 0, 8);
NYX 0:85b3fd62ea1a 47 }
NYX 0:85b3fd62ea1a 48
NYX 0:85b3fd62ea1a 49 /** Creates CAN message with specific content.
NYX 0:85b3fd62ea1a 50 *
NYX 0:85b3fd62ea1a 51 * @param _id Message ID
NYX 0:85b3fd62ea1a 52 * @param _data Mesaage Data
NYX 0:85b3fd62ea1a 53 * @param _len Message Data length
NYX 0:85b3fd62ea1a 54 * @param _type Type of Data: Use enum CANType for valid parameter values
NYX 0:85b3fd62ea1a 55 * @param _format Data Format: Use enum CANFormat for valid parameter values
NYX 0:85b3fd62ea1a 56 */
NYX 0:85b3fd62ea1a 57 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
NYX 0:85b3fd62ea1a 58 len = _len & 0xF;
NYX 0:85b3fd62ea1a 59 type = _type;
NYX 0:85b3fd62ea1a 60 format = _format;
NYX 0:85b3fd62ea1a 61 id = _id;
NYX 0:85b3fd62ea1a 62 memcpy(data, _data, _len);
NYX 0:85b3fd62ea1a 63 }
NYX 0:85b3fd62ea1a 64
NYX 0:85b3fd62ea1a 65 /** Creates CAN remote message.
NYX 0:85b3fd62ea1a 66 *
NYX 0:85b3fd62ea1a 67 * @param _id Message ID
NYX 0:85b3fd62ea1a 68 * @param _format Data Format: Use enum CANType for valid parameter values
NYX 0:85b3fd62ea1a 69 */
NYX 0:85b3fd62ea1a 70 CANMessage(int _id, CANFormat _format = CANStandard) {
NYX 0:85b3fd62ea1a 71 len = 0;
NYX 0:85b3fd62ea1a 72 type = CANRemote;
NYX 0:85b3fd62ea1a 73 format = _format;
NYX 0:85b3fd62ea1a 74 id = _id;
NYX 0:85b3fd62ea1a 75 memset(data, 0, 8);
NYX 0:85b3fd62ea1a 76 }
NYX 0:85b3fd62ea1a 77 };
NYX 0:85b3fd62ea1a 78
NYX 0:85b3fd62ea1a 79 /** A can bus client, used for communicating with can devices
NYX 0:85b3fd62ea1a 80 * @ingroup drivers
NYX 0:85b3fd62ea1a 81 */
NYX 0:85b3fd62ea1a 82 class CAN : private NonCopyable<CAN> {
NYX 0:85b3fd62ea1a 83
NYX 0:85b3fd62ea1a 84 public:
NYX 0:85b3fd62ea1a 85 /** Creates an CAN interface connected to specific pins.
NYX 0:85b3fd62ea1a 86 *
NYX 0:85b3fd62ea1a 87 * @param rd read from transmitter
NYX 0:85b3fd62ea1a 88 * @param td transmit to transmitter
NYX 0:85b3fd62ea1a 89 *
NYX 0:85b3fd62ea1a 90 * Example:
NYX 0:85b3fd62ea1a 91 * @code
NYX 0:85b3fd62ea1a 92 * #include "mbed.h"
NYX 0:85b3fd62ea1a 93 *
NYX 0:85b3fd62ea1a 94 * Ticker ticker;
NYX 0:85b3fd62ea1a 95 * DigitalOut led1(LED1);
NYX 0:85b3fd62ea1a 96 * DigitalOut led2(LED2);
NYX 0:85b3fd62ea1a 97 * CAN can1(p9, p10);
NYX 0:85b3fd62ea1a 98 * CAN can2(p30, p29);
NYX 0:85b3fd62ea1a 99 *
NYX 0:85b3fd62ea1a 100 * char counter = 0;
NYX 0:85b3fd62ea1a 101 *
NYX 0:85b3fd62ea1a 102 * void send() {
NYX 0:85b3fd62ea1a 103 * if(can1.write(CANMessage(1337, &counter, 1))) {
NYX 0:85b3fd62ea1a 104 * printf("Message sent: %d\n", counter);
NYX 0:85b3fd62ea1a 105 * counter++;
NYX 0:85b3fd62ea1a 106 * }
NYX 0:85b3fd62ea1a 107 * led1 = !led1;
NYX 0:85b3fd62ea1a 108 * }
NYX 0:85b3fd62ea1a 109 *
NYX 0:85b3fd62ea1a 110 * int main() {
NYX 0:85b3fd62ea1a 111 * ticker.attach(&send, 1);
NYX 0:85b3fd62ea1a 112 * CANMessage msg;
NYX 0:85b3fd62ea1a 113 * while(1) {
NYX 0:85b3fd62ea1a 114 * if(can2.read(msg)) {
NYX 0:85b3fd62ea1a 115 * printf("Message received: %d\n\n", msg.data[0]);
NYX 0:85b3fd62ea1a 116 * led2 = !led2;
NYX 0:85b3fd62ea1a 117 * }
NYX 0:85b3fd62ea1a 118 * wait(0.2);
NYX 0:85b3fd62ea1a 119 * }
NYX 0:85b3fd62ea1a 120 * }
NYX 0:85b3fd62ea1a 121 * @endcode
NYX 0:85b3fd62ea1a 122 */
NYX 0:85b3fd62ea1a 123 CAN(PinName rd, PinName td);
NYX 0:85b3fd62ea1a 124
NYX 0:85b3fd62ea1a 125 /** Initialize CAN interface and set the frequency
NYX 0:85b3fd62ea1a 126 *
NYX 0:85b3fd62ea1a 127 * @param rd the rd pin
NYX 0:85b3fd62ea1a 128 * @param td the td pin
NYX 0:85b3fd62ea1a 129 * @param hz the bus frequency in hertz
NYX 0:85b3fd62ea1a 130 */
NYX 0:85b3fd62ea1a 131 CAN(PinName rd, PinName td, int hz);
NYX 0:85b3fd62ea1a 132
NYX 0:85b3fd62ea1a 133 virtual ~CAN();
NYX 0:85b3fd62ea1a 134
NYX 0:85b3fd62ea1a 135 /** Set the frequency of the CAN interface
NYX 0:85b3fd62ea1a 136 *
NYX 0:85b3fd62ea1a 137 * @param hz The bus frequency in hertz
NYX 0:85b3fd62ea1a 138 *
NYX 0:85b3fd62ea1a 139 * @returns
NYX 0:85b3fd62ea1a 140 * 1 if successful,
NYX 0:85b3fd62ea1a 141 * 0 otherwise
NYX 0:85b3fd62ea1a 142 */
NYX 0:85b3fd62ea1a 143 int frequency(int hz);
NYX 0:85b3fd62ea1a 144
NYX 0:85b3fd62ea1a 145 /** Write a CANMessage to the bus.
NYX 0:85b3fd62ea1a 146 *
NYX 0:85b3fd62ea1a 147 * @param msg The CANMessage to write.
NYX 0:85b3fd62ea1a 148 *
NYX 0:85b3fd62ea1a 149 * @returns
NYX 0:85b3fd62ea1a 150 * 0 if write failed,
NYX 0:85b3fd62ea1a 151 * 1 if write was successful
NYX 0:85b3fd62ea1a 152 */
NYX 0:85b3fd62ea1a 153 int write(CANMessage msg);
NYX 0:85b3fd62ea1a 154
NYX 0:85b3fd62ea1a 155 /** Read a CANMessage from the bus.
NYX 0:85b3fd62ea1a 156 *
NYX 0:85b3fd62ea1a 157 * @param msg A CANMessage to read to.
NYX 0:85b3fd62ea1a 158 * @param handle message filter handle (0 for any message)
NYX 0:85b3fd62ea1a 159 *
NYX 0:85b3fd62ea1a 160 * @returns
NYX 0:85b3fd62ea1a 161 * 0 if no message arrived,
NYX 0:85b3fd62ea1a 162 * 1 if message arrived
NYX 0:85b3fd62ea1a 163 */
NYX 0:85b3fd62ea1a 164 int read(CANMessage &msg, int handle = 0);
NYX 0:85b3fd62ea1a 165
NYX 0:85b3fd62ea1a 166 /** Reset CAN interface.
NYX 0:85b3fd62ea1a 167 *
NYX 0:85b3fd62ea1a 168 * To use after error overflow.
NYX 0:85b3fd62ea1a 169 */
NYX 0:85b3fd62ea1a 170 void reset();
NYX 0:85b3fd62ea1a 171
NYX 0:85b3fd62ea1a 172 /** Puts or removes the CAN interface into silent monitoring mode
NYX 0:85b3fd62ea1a 173 *
NYX 0:85b3fd62ea1a 174 * @param silent boolean indicating whether to go into silent mode or not
NYX 0:85b3fd62ea1a 175 */
NYX 0:85b3fd62ea1a 176 void monitor(bool silent);
NYX 0:85b3fd62ea1a 177
NYX 0:85b3fd62ea1a 178 enum Mode {
NYX 0:85b3fd62ea1a 179 Reset = 0,
NYX 0:85b3fd62ea1a 180 Normal,
NYX 0:85b3fd62ea1a 181 Silent,
NYX 0:85b3fd62ea1a 182 LocalTest,
NYX 0:85b3fd62ea1a 183 GlobalTest,
NYX 0:85b3fd62ea1a 184 SilentTest
NYX 0:85b3fd62ea1a 185 };
NYX 0:85b3fd62ea1a 186
NYX 0:85b3fd62ea1a 187 /** Change CAN operation to the specified mode
NYX 0:85b3fd62ea1a 188 *
NYX 0:85b3fd62ea1a 189 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
NYX 0:85b3fd62ea1a 190 *
NYX 0:85b3fd62ea1a 191 * @returns
NYX 0:85b3fd62ea1a 192 * 0 if mode change failed or unsupported,
NYX 0:85b3fd62ea1a 193 * 1 if mode change was successful
NYX 0:85b3fd62ea1a 194 */
NYX 0:85b3fd62ea1a 195 int mode(Mode mode);
NYX 0:85b3fd62ea1a 196
NYX 0:85b3fd62ea1a 197 /** Filter out incomming messages
NYX 0:85b3fd62ea1a 198 *
NYX 0:85b3fd62ea1a 199 * @param id the id to filter on
NYX 0:85b3fd62ea1a 200 * @param mask the mask applied to the id
NYX 0:85b3fd62ea1a 201 * @param format format to filter on (Default CANAny)
NYX 0:85b3fd62ea1a 202 * @param handle message filter handle (Optional)
NYX 0:85b3fd62ea1a 203 *
NYX 0:85b3fd62ea1a 204 * @returns
NYX 0:85b3fd62ea1a 205 * 0 if filter change failed or unsupported,
NYX 0:85b3fd62ea1a 206 * new filter handle if successful
NYX 0:85b3fd62ea1a 207 */
NYX 0:85b3fd62ea1a 208 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
NYX 0:85b3fd62ea1a 209
NYX 0:85b3fd62ea1a 210 /** Detects read errors - Used to detect read overflow errors.
NYX 0:85b3fd62ea1a 211 *
NYX 0:85b3fd62ea1a 212 * @returns number of read errors
NYX 0:85b3fd62ea1a 213 */
NYX 0:85b3fd62ea1a 214 unsigned char rderror();
NYX 0:85b3fd62ea1a 215
NYX 0:85b3fd62ea1a 216 /** Detects write errors - Used to detect write overflow errors.
NYX 0:85b3fd62ea1a 217 *
NYX 0:85b3fd62ea1a 218 * @returns number of write errors
NYX 0:85b3fd62ea1a 219 */
NYX 0:85b3fd62ea1a 220 unsigned char tderror();
NYX 0:85b3fd62ea1a 221
NYX 0:85b3fd62ea1a 222 enum IrqType {
NYX 0:85b3fd62ea1a 223 RxIrq = 0,
NYX 0:85b3fd62ea1a 224 TxIrq,
NYX 0:85b3fd62ea1a 225 EwIrq,
NYX 0:85b3fd62ea1a 226 DoIrq,
NYX 0:85b3fd62ea1a 227 WuIrq,
NYX 0:85b3fd62ea1a 228 EpIrq,
NYX 0:85b3fd62ea1a 229 AlIrq,
NYX 0:85b3fd62ea1a 230 BeIrq,
NYX 0:85b3fd62ea1a 231 IdIrq,
NYX 0:85b3fd62ea1a 232
NYX 0:85b3fd62ea1a 233 IrqCnt
NYX 0:85b3fd62ea1a 234 };
NYX 0:85b3fd62ea1a 235
NYX 0:85b3fd62ea1a 236 /** Attach a function to call whenever a CAN frame received interrupt is
NYX 0:85b3fd62ea1a 237 * generated.
NYX 0:85b3fd62ea1a 238 *
NYX 0:85b3fd62ea1a 239 * This function locks the deep sleep while a callback is attached
NYX 0:85b3fd62ea1a 240 *
NYX 0:85b3fd62ea1a 241 * @param func A pointer to a void function, or 0 to set as none
NYX 0:85b3fd62ea1a 242 * @param type 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)
NYX 0:85b3fd62ea1a 243 */
NYX 0:85b3fd62ea1a 244 void attach(Callback<void()> func, IrqType type=RxIrq);
NYX 0:85b3fd62ea1a 245
NYX 0:85b3fd62ea1a 246 /** Attach a member function to call whenever a CAN frame received interrupt
NYX 0:85b3fd62ea1a 247 * is generated.
NYX 0:85b3fd62ea1a 248 *
NYX 0:85b3fd62ea1a 249 * @param obj pointer to the object to call the member function on
NYX 0:85b3fd62ea1a 250 * @param method pointer to the member function to be called
NYX 0:85b3fd62ea1a 251 * @param type 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)
NYX 0:85b3fd62ea1a 252 * @deprecated
NYX 0:85b3fd62ea1a 253 * The attach function does not support cv-qualifiers. Replaced by
NYX 0:85b3fd62ea1a 254 * attach(callback(obj, method), type).
NYX 0:85b3fd62ea1a 255 */
NYX 0:85b3fd62ea1a 256 template<typename T>
NYX 0:85b3fd62ea1a 257 MBED_DEPRECATED_SINCE("mbed-os-5.1",
NYX 0:85b3fd62ea1a 258 "The attach function does not support cv-qualifiers. Replaced by "
NYX 0:85b3fd62ea1a 259 "attach(callback(obj, method), type).")
NYX 0:85b3fd62ea1a 260 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
NYX 0:85b3fd62ea1a 261 // Underlying call thread safe
NYX 0:85b3fd62ea1a 262 attach(callback(obj, method), type);
NYX 0:85b3fd62ea1a 263 }
NYX 0:85b3fd62ea1a 264
NYX 0:85b3fd62ea1a 265 /** Attach a member function to call whenever a CAN frame received interrupt
NYX 0:85b3fd62ea1a 266 * is generated.
NYX 0:85b3fd62ea1a 267 *
NYX 0:85b3fd62ea1a 268 * @param obj pointer to the object to call the member function on
NYX 0:85b3fd62ea1a 269 * @param method pointer to the member function to be called
NYX 0:85b3fd62ea1a 270 * @param type 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)
NYX 0:85b3fd62ea1a 271 * @deprecated
NYX 0:85b3fd62ea1a 272 * The attach function does not support cv-qualifiers. Replaced by
NYX 0:85b3fd62ea1a 273 * attach(callback(obj, method), type).
NYX 0:85b3fd62ea1a 274 */
NYX 0:85b3fd62ea1a 275 template<typename T>
NYX 0:85b3fd62ea1a 276 MBED_DEPRECATED_SINCE("mbed-os-5.1",
NYX 0:85b3fd62ea1a 277 "The attach function does not support cv-qualifiers. Replaced by "
NYX 0:85b3fd62ea1a 278 "attach(callback(obj, method), type).")
NYX 0:85b3fd62ea1a 279 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
NYX 0:85b3fd62ea1a 280 // Underlying call thread safe
NYX 0:85b3fd62ea1a 281 attach(callback(obj, method), type);
NYX 0:85b3fd62ea1a 282 }
NYX 0:85b3fd62ea1a 283
NYX 0:85b3fd62ea1a 284 static void _irq_handler(uint32_t id, CanIrqType type);
NYX 0:85b3fd62ea1a 285
NYX 0:85b3fd62ea1a 286 protected:
NYX 0:85b3fd62ea1a 287 virtual void lock();
NYX 0:85b3fd62ea1a 288 virtual void unlock();
NYX 0:85b3fd62ea1a 289 can_t _can;
NYX 0:85b3fd62ea1a 290 Callback<void()> _irq[IrqCnt];
NYX 0:85b3fd62ea1a 291 PlatformMutex _mutex;
NYX 0:85b3fd62ea1a 292 };
NYX 0:85b3fd62ea1a 293
NYX 0:85b3fd62ea1a 294 } // namespace mbed
NYX 0:85b3fd62ea1a 295
NYX 0:85b3fd62ea1a 296 #endif
NYX 0:85b3fd62ea1a 297
NYX 0:85b3fd62ea1a 298 #endif // MBED_CAN_H
NYX 0:85b3fd62ea1a 299