Knight KE / Mbed OS Game_Master

游戏王对战板，目前code还是空的

mbed-os/drivers/CAN.h@0:9b3d4731edbb, 2018-06-21 (annotated)

Committer:
WFKnight
Date:
Thu Jun 21 13:51:43 2018 +0000
Revision:
0:9b3d4731edbb
UART, RTOS, LED

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WFKnight 0:9b3d4731edbb 1 /* mbed Microcontroller Library
WFKnight 0:9b3d4731edbb 2 * Copyright (c) 2006-2013 ARM Limited
WFKnight 0:9b3d4731edbb 3 *
WFKnight 0:9b3d4731edbb 4 * Licensed under the Apache License, Version 2.0 (the "License");
WFKnight 0:9b3d4731edbb 5 * you may not use this file except in compliance with the License.
WFKnight 0:9b3d4731edbb 6 * You may obtain a copy of the License at
WFKnight 0:9b3d4731edbb 7 *
WFKnight 0:9b3d4731edbb 8 * http://www.apache.org/licenses/LICENSE-2.0
WFKnight 0:9b3d4731edbb 9 *
WFKnight 0:9b3d4731edbb 10 * Unless required by applicable law or agreed to in writing, software
WFKnight 0:9b3d4731edbb 11 * distributed under the License is distributed on an "AS IS" BASIS,
WFKnight 0:9b3d4731edbb 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
WFKnight 0:9b3d4731edbb 13 * See the License for the specific language governing permissions and
WFKnight 0:9b3d4731edbb 14 * limitations under the License.
WFKnight 0:9b3d4731edbb 15 */
WFKnight 0:9b3d4731edbb 16 #ifndef MBED_CAN_H
WFKnight 0:9b3d4731edbb 17 #define MBED_CAN_H
WFKnight 0:9b3d4731edbb 18
WFKnight 0:9b3d4731edbb 19 #include "platform/platform.h"
WFKnight 0:9b3d4731edbb 20
WFKnight 0:9b3d4731edbb 21 #if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY)
WFKnight 0:9b3d4731edbb 22
WFKnight 0:9b3d4731edbb 23 #include "hal/can_api.h"
WFKnight 0:9b3d4731edbb 24 #include "platform/Callback.h"
WFKnight 0:9b3d4731edbb 25 #include "platform/PlatformMutex.h"
WFKnight 0:9b3d4731edbb 26 #include "platform/NonCopyable.h"
WFKnight 0:9b3d4731edbb 27
WFKnight 0:9b3d4731edbb 28 namespace mbed {
WFKnight 0:9b3d4731edbb 29 /** \addtogroup drivers */
WFKnight 0:9b3d4731edbb 30
WFKnight 0:9b3d4731edbb 31 /** CANMessage class
WFKnight 0:9b3d4731edbb 32 *
WFKnight 0:9b3d4731edbb 33 * @note Synchronization level: Thread safe
WFKnight 0:9b3d4731edbb 34 * @ingroup drivers
WFKnight 0:9b3d4731edbb 35 */
WFKnight 0:9b3d4731edbb 36 class CANMessage : public CAN_Message {
WFKnight 0:9b3d4731edbb 37
WFKnight 0:9b3d4731edbb 38 public:
WFKnight 0:9b3d4731edbb 39 /** Creates empty CAN message.
WFKnight 0:9b3d4731edbb 40 */
WFKnight 0:9b3d4731edbb 41 CANMessage() : CAN_Message() {
WFKnight 0:9b3d4731edbb 42 len = 8;
WFKnight 0:9b3d4731edbb 43 type = CANData;
WFKnight 0:9b3d4731edbb 44 format = CANStandard;
WFKnight 0:9b3d4731edbb 45 id = 0;
WFKnight 0:9b3d4731edbb 46 memset(data, 0, 8);
WFKnight 0:9b3d4731edbb 47 }
WFKnight 0:9b3d4731edbb 48
WFKnight 0:9b3d4731edbb 49 /** Creates CAN message with specific content.
WFKnight 0:9b3d4731edbb 50 *
WFKnight 0:9b3d4731edbb 51 * @param _id Message ID
WFKnight 0:9b3d4731edbb 52 * @param _data Mesaage Data
WFKnight 0:9b3d4731edbb 53 * @param _len Message Data length
WFKnight 0:9b3d4731edbb 54 * @param _type Type of Data: Use enum CANType for valid parameter values
WFKnight 0:9b3d4731edbb 55 * @param _format Data Format: Use enum CANFormat for valid parameter values
WFKnight 0:9b3d4731edbb 56 */
WFKnight 0:9b3d4731edbb 57 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
WFKnight 0:9b3d4731edbb 58 len = _len & 0xF;
WFKnight 0:9b3d4731edbb 59 type = _type;
WFKnight 0:9b3d4731edbb 60 format = _format;
WFKnight 0:9b3d4731edbb 61 id = _id;
WFKnight 0:9b3d4731edbb 62 memcpy(data, _data, _len);
WFKnight 0:9b3d4731edbb 63 }
WFKnight 0:9b3d4731edbb 64
WFKnight 0:9b3d4731edbb 65 /** Creates CAN remote message.
WFKnight 0:9b3d4731edbb 66 *
WFKnight 0:9b3d4731edbb 67 * @param _id Message ID
WFKnight 0:9b3d4731edbb 68 * @param _format Data Format: Use enum CANType for valid parameter values
WFKnight 0:9b3d4731edbb 69 */
WFKnight 0:9b3d4731edbb 70 CANMessage(int _id, CANFormat _format = CANStandard) {
WFKnight 0:9b3d4731edbb 71 len = 0;
WFKnight 0:9b3d4731edbb 72 type = CANRemote;
WFKnight 0:9b3d4731edbb 73 format = _format;
WFKnight 0:9b3d4731edbb 74 id = _id;
WFKnight 0:9b3d4731edbb 75 memset(data, 0, 8);
WFKnight 0:9b3d4731edbb 76 }
WFKnight 0:9b3d4731edbb 77 };
WFKnight 0:9b3d4731edbb 78
WFKnight 0:9b3d4731edbb 79 /** A can bus client, used for communicating with can devices
WFKnight 0:9b3d4731edbb 80 * @ingroup drivers
WFKnight 0:9b3d4731edbb 81 */
WFKnight 0:9b3d4731edbb 82 class CAN : private NonCopyable<CAN> {
WFKnight 0:9b3d4731edbb 83
WFKnight 0:9b3d4731edbb 84 public:
WFKnight 0:9b3d4731edbb 85 /** Creates an CAN interface connected to specific pins.
WFKnight 0:9b3d4731edbb 86 *
WFKnight 0:9b3d4731edbb 87 * @param rd read from transmitter
WFKnight 0:9b3d4731edbb 88 * @param td transmit to transmitter
WFKnight 0:9b3d4731edbb 89 *
WFKnight 0:9b3d4731edbb 90 * Example:
WFKnight 0:9b3d4731edbb 91 * @code
WFKnight 0:9b3d4731edbb 92 * #include "mbed.h"
WFKnight 0:9b3d4731edbb 93 *
WFKnight 0:9b3d4731edbb 94 * Ticker ticker;
WFKnight 0:9b3d4731edbb 95 * DigitalOut led1(LED1);
WFKnight 0:9b3d4731edbb 96 * DigitalOut led2(LED2);
WFKnight 0:9b3d4731edbb 97 * CAN can1(p9, p10);
WFKnight 0:9b3d4731edbb 98 * CAN can2(p30, p29);
WFKnight 0:9b3d4731edbb 99 *
WFKnight 0:9b3d4731edbb 100 * char counter = 0;
WFKnight 0:9b3d4731edbb 101 *
WFKnight 0:9b3d4731edbb 102 * void send() {
WFKnight 0:9b3d4731edbb 103 * if(can1.write(CANMessage(1337, &counter, 1))) {
WFKnight 0:9b3d4731edbb 104 * printf("Message sent: %d\n", counter);
WFKnight 0:9b3d4731edbb 105 * counter++;
WFKnight 0:9b3d4731edbb 106 * }
WFKnight 0:9b3d4731edbb 107 * led1 = !led1;
WFKnight 0:9b3d4731edbb 108 * }
WFKnight 0:9b3d4731edbb 109 *
WFKnight 0:9b3d4731edbb 110 * int main() {
WFKnight 0:9b3d4731edbb 111 * ticker.attach(&send, 1);
WFKnight 0:9b3d4731edbb 112 * CANMessage msg;
WFKnight 0:9b3d4731edbb 113 * while(1) {
WFKnight 0:9b3d4731edbb 114 * if(can2.read(msg)) {
WFKnight 0:9b3d4731edbb 115 * printf("Message received: %d\n\n", msg.data[0]);
WFKnight 0:9b3d4731edbb 116 * led2 = !led2;
WFKnight 0:9b3d4731edbb 117 * }
WFKnight 0:9b3d4731edbb 118 * wait(0.2);
WFKnight 0:9b3d4731edbb 119 * }
WFKnight 0:9b3d4731edbb 120 * }
WFKnight 0:9b3d4731edbb 121 * @endcode
WFKnight 0:9b3d4731edbb 122 */
WFKnight 0:9b3d4731edbb 123 CAN(PinName rd, PinName td);
WFKnight 0:9b3d4731edbb 124
WFKnight 0:9b3d4731edbb 125 /** Initialize CAN interface and set the frequency
WFKnight 0:9b3d4731edbb 126 *
WFKnight 0:9b3d4731edbb 127 * @param rd the rd pin
WFKnight 0:9b3d4731edbb 128 * @param td the td pin
WFKnight 0:9b3d4731edbb 129 * @param hz the bus frequency in hertz
WFKnight 0:9b3d4731edbb 130 */
WFKnight 0:9b3d4731edbb 131 CAN(PinName rd, PinName td, int hz);
WFKnight 0:9b3d4731edbb 132
WFKnight 0:9b3d4731edbb 133 virtual ~CAN();
WFKnight 0:9b3d4731edbb 134
WFKnight 0:9b3d4731edbb 135 /** Set the frequency of the CAN interface
WFKnight 0:9b3d4731edbb 136 *
WFKnight 0:9b3d4731edbb 137 * @param hz The bus frequency in hertz
WFKnight 0:9b3d4731edbb 138 *
WFKnight 0:9b3d4731edbb 139 * @returns
WFKnight 0:9b3d4731edbb 140 * 1 if successful,
WFKnight 0:9b3d4731edbb 141 * 0 otherwise
WFKnight 0:9b3d4731edbb 142 */
WFKnight 0:9b3d4731edbb 143 int frequency(int hz);
WFKnight 0:9b3d4731edbb 144
WFKnight 0:9b3d4731edbb 145 /** Write a CANMessage to the bus.
WFKnight 0:9b3d4731edbb 146 *
WFKnight 0:9b3d4731edbb 147 * @param msg The CANMessage to write.
WFKnight 0:9b3d4731edbb 148 *
WFKnight 0:9b3d4731edbb 149 * @returns
WFKnight 0:9b3d4731edbb 150 * 0 if write failed,
WFKnight 0:9b3d4731edbb 151 * 1 if write was successful
WFKnight 0:9b3d4731edbb 152 */
WFKnight 0:9b3d4731edbb 153 int write(CANMessage msg);
WFKnight 0:9b3d4731edbb 154
WFKnight 0:9b3d4731edbb 155 /** Read a CANMessage from the bus.
WFKnight 0:9b3d4731edbb 156 *
WFKnight 0:9b3d4731edbb 157 * @param msg A CANMessage to read to.
WFKnight 0:9b3d4731edbb 158 * @param handle message filter handle (0 for any message)
WFKnight 0:9b3d4731edbb 159 *
WFKnight 0:9b3d4731edbb 160 * @returns
WFKnight 0:9b3d4731edbb 161 * 0 if no message arrived,
WFKnight 0:9b3d4731edbb 162 * 1 if message arrived
WFKnight 0:9b3d4731edbb 163 */
WFKnight 0:9b3d4731edbb 164 int read(CANMessage &msg, int handle = 0);
WFKnight 0:9b3d4731edbb 165
WFKnight 0:9b3d4731edbb 166 /** Reset CAN interface.
WFKnight 0:9b3d4731edbb 167 *
WFKnight 0:9b3d4731edbb 168 * To use after error overflow.
WFKnight 0:9b3d4731edbb 169 */
WFKnight 0:9b3d4731edbb 170 void reset();
WFKnight 0:9b3d4731edbb 171
WFKnight 0:9b3d4731edbb 172 /** Puts or removes the CAN interface into silent monitoring mode
WFKnight 0:9b3d4731edbb 173 *
WFKnight 0:9b3d4731edbb 174 * @param silent boolean indicating whether to go into silent mode or not
WFKnight 0:9b3d4731edbb 175 */
WFKnight 0:9b3d4731edbb 176 void monitor(bool silent);
WFKnight 0:9b3d4731edbb 177
WFKnight 0:9b3d4731edbb 178 enum Mode {
WFKnight 0:9b3d4731edbb 179 Reset = 0,
WFKnight 0:9b3d4731edbb 180 Normal,
WFKnight 0:9b3d4731edbb 181 Silent,
WFKnight 0:9b3d4731edbb 182 LocalTest,
WFKnight 0:9b3d4731edbb 183 GlobalTest,
WFKnight 0:9b3d4731edbb 184 SilentTest
WFKnight 0:9b3d4731edbb 185 };
WFKnight 0:9b3d4731edbb 186
WFKnight 0:9b3d4731edbb 187 /** Change CAN operation to the specified mode
WFKnight 0:9b3d4731edbb 188 *
WFKnight 0:9b3d4731edbb 189 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
WFKnight 0:9b3d4731edbb 190 *
WFKnight 0:9b3d4731edbb 191 * @returns
WFKnight 0:9b3d4731edbb 192 * 0 if mode change failed or unsupported,
WFKnight 0:9b3d4731edbb 193 * 1 if mode change was successful
WFKnight 0:9b3d4731edbb 194 */
WFKnight 0:9b3d4731edbb 195 int mode(Mode mode);
WFKnight 0:9b3d4731edbb 196
WFKnight 0:9b3d4731edbb 197 /** Filter out incomming messages
WFKnight 0:9b3d4731edbb 198 *
WFKnight 0:9b3d4731edbb 199 * @param id the id to filter on
WFKnight 0:9b3d4731edbb 200 * @param mask the mask applied to the id
WFKnight 0:9b3d4731edbb 201 * @param format format to filter on (Default CANAny)
WFKnight 0:9b3d4731edbb 202 * @param handle message filter handle (Optional)
WFKnight 0:9b3d4731edbb 203 *
WFKnight 0:9b3d4731edbb 204 * @returns
WFKnight 0:9b3d4731edbb 205 * 0 if filter change failed or unsupported,
WFKnight 0:9b3d4731edbb 206 * new filter handle if successful
WFKnight 0:9b3d4731edbb 207 */
WFKnight 0:9b3d4731edbb 208 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
WFKnight 0:9b3d4731edbb 209
WFKnight 0:9b3d4731edbb 210 /** Detects read errors - Used to detect read overflow errors.
WFKnight 0:9b3d4731edbb 211 *
WFKnight 0:9b3d4731edbb 212 * @returns number of read errors
WFKnight 0:9b3d4731edbb 213 */
WFKnight 0:9b3d4731edbb 214 unsigned char rderror();
WFKnight 0:9b3d4731edbb 215
WFKnight 0:9b3d4731edbb 216 /** Detects write errors - Used to detect write overflow errors.
WFKnight 0:9b3d4731edbb 217 *
WFKnight 0:9b3d4731edbb 218 * @returns number of write errors
WFKnight 0:9b3d4731edbb 219 */
WFKnight 0:9b3d4731edbb 220 unsigned char tderror();
WFKnight 0:9b3d4731edbb 221
WFKnight 0:9b3d4731edbb 222 enum IrqType {
WFKnight 0:9b3d4731edbb 223 RxIrq = 0,
WFKnight 0:9b3d4731edbb 224 TxIrq,
WFKnight 0:9b3d4731edbb 225 EwIrq,
WFKnight 0:9b3d4731edbb 226 DoIrq,
WFKnight 0:9b3d4731edbb 227 WuIrq,
WFKnight 0:9b3d4731edbb 228 EpIrq,
WFKnight 0:9b3d4731edbb 229 AlIrq,
WFKnight 0:9b3d4731edbb 230 BeIrq,
WFKnight 0:9b3d4731edbb 231 IdIrq,
WFKnight 0:9b3d4731edbb 232
WFKnight 0:9b3d4731edbb 233 IrqCnt
WFKnight 0:9b3d4731edbb 234 };
WFKnight 0:9b3d4731edbb 235
WFKnight 0:9b3d4731edbb 236 /** Attach a function to call whenever a CAN frame received interrupt is
WFKnight 0:9b3d4731edbb 237 * generated.
WFKnight 0:9b3d4731edbb 238 *
WFKnight 0:9b3d4731edbb 239 * This function locks the deep sleep while a callback is attached
WFKnight 0:9b3d4731edbb 240 *
WFKnight 0:9b3d4731edbb 241 * @param func A pointer to a void function, or 0 to set as none
WFKnight 0:9b3d4731edbb 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)
WFKnight 0:9b3d4731edbb 243 */
WFKnight 0:9b3d4731edbb 244 void attach(Callback<void()> func, IrqType type=RxIrq);
WFKnight 0:9b3d4731edbb 245
WFKnight 0:9b3d4731edbb 246 /** Attach a member function to call whenever a CAN frame received interrupt
WFKnight 0:9b3d4731edbb 247 * is generated.
WFKnight 0:9b3d4731edbb 248 *
WFKnight 0:9b3d4731edbb 249 * @param obj pointer to the object to call the member function on
WFKnight 0:9b3d4731edbb 250 * @param method pointer to the member function to be called
WFKnight 0:9b3d4731edbb 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)
WFKnight 0:9b3d4731edbb 252 * @deprecated
WFKnight 0:9b3d4731edbb 253 * The attach function does not support cv-qualifiers. Replaced by
WFKnight 0:9b3d4731edbb 254 * attach(callback(obj, method), type).
WFKnight 0:9b3d4731edbb 255 */
WFKnight 0:9b3d4731edbb 256 template<typename T>
WFKnight 0:9b3d4731edbb 257 MBED_DEPRECATED_SINCE("mbed-os-5.1",
WFKnight 0:9b3d4731edbb 258 "The attach function does not support cv-qualifiers. Replaced by "
WFKnight 0:9b3d4731edbb 259 "attach(callback(obj, method), type).")
WFKnight 0:9b3d4731edbb 260 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
WFKnight 0:9b3d4731edbb 261 // Underlying call thread safe
WFKnight 0:9b3d4731edbb 262 attach(callback(obj, method), type);
WFKnight 0:9b3d4731edbb 263 }
WFKnight 0:9b3d4731edbb 264
WFKnight 0:9b3d4731edbb 265 /** Attach a member function to call whenever a CAN frame received interrupt
WFKnight 0:9b3d4731edbb 266 * is generated.
WFKnight 0:9b3d4731edbb 267 *
WFKnight 0:9b3d4731edbb 268 * @param obj pointer to the object to call the member function on
WFKnight 0:9b3d4731edbb 269 * @param method pointer to the member function to be called
WFKnight 0:9b3d4731edbb 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)
WFKnight 0:9b3d4731edbb 271 * @deprecated
WFKnight 0:9b3d4731edbb 272 * The attach function does not support cv-qualifiers. Replaced by
WFKnight 0:9b3d4731edbb 273 * attach(callback(obj, method), type).
WFKnight 0:9b3d4731edbb 274 */
WFKnight 0:9b3d4731edbb 275 template<typename T>
WFKnight 0:9b3d4731edbb 276 MBED_DEPRECATED_SINCE("mbed-os-5.1",
WFKnight 0:9b3d4731edbb 277 "The attach function does not support cv-qualifiers. Replaced by "
WFKnight 0:9b3d4731edbb 278 "attach(callback(obj, method), type).")
WFKnight 0:9b3d4731edbb 279 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
WFKnight 0:9b3d4731edbb 280 // Underlying call thread safe
WFKnight 0:9b3d4731edbb 281 attach(callback(obj, method), type);
WFKnight 0:9b3d4731edbb 282 }
WFKnight 0:9b3d4731edbb 283
WFKnight 0:9b3d4731edbb 284 static void _irq_handler(uint32_t id, CanIrqType type);
WFKnight 0:9b3d4731edbb 285
WFKnight 0:9b3d4731edbb 286 protected:
WFKnight 0:9b3d4731edbb 287 virtual void lock();
WFKnight 0:9b3d4731edbb 288 virtual void unlock();
WFKnight 0:9b3d4731edbb 289 can_t _can;
WFKnight 0:9b3d4731edbb 290 Callback<void()> _irq[IrqCnt];
WFKnight 0:9b3d4731edbb 291 PlatformMutex _mutex;
WFKnight 0:9b3d4731edbb 292 };
WFKnight 0:9b3d4731edbb 293
WFKnight 0:9b3d4731edbb 294 } // namespace mbed
WFKnight 0:9b3d4731edbb 295
WFKnight 0:9b3d4731edbb 296 #endif
WFKnight 0:9b3d4731edbb 297
WFKnight 0:9b3d4731edbb 298 #endif // MBED_CAN_H
WFKnight 0:9b3d4731edbb 299