zhang boie / mbed-dev-f30333

drivers/CAN.h@0:bdf663c61a82, 2022-06-14 (annotated)

Committer:
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4
Date:
Tue Jun 14 09:21:18 2022 +0000
Revision:
0:bdf663c61a82
lib

Who changed what in which revision?

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abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 1 /* mbed Microcontroller Library
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 2 * Copyright (c) 2006-2013 ARM Limited
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 3 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 4 * Licensed under the Apache License, Version 2.0 (the "License");
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 5 * you may not use this file except in compliance with the License.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 6 * You may obtain a copy of the License at
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 7 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 8 * http://www.apache.org/licenses/LICENSE-2.0
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 9 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 10 * Unless required by applicable law or agreed to in writing, software
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 11 * distributed under the License is distributed on an "AS IS" BASIS,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 13 * See the License for the specific language governing permissions and
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 14 * limitations under the License.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 15 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 16 #ifndef MBED_CAN_H
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 17 #define MBED_CAN_H
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 18
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 19 #include "platform/platform.h"
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 20
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 21 #if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY)
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 22
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 23 #include "hal/can_api.h"
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 24 #include "platform/Callback.h"
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 25 #include "platform/PlatformMutex.h"
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 26 #include "platform/NonCopyable.h"
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 27
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 28 namespace mbed {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 29 /** \addtogroup drivers */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 30
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 31 /** CANMessage class
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 32 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 33 * @note Synchronization level: Thread safe
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 34 * @ingroup drivers
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 35 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 36 class CANMessage : public CAN_Message {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 37
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 38 public:
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 39 /** Creates empty CAN message.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 40 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 41 CANMessage() : CAN_Message() {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 42 len = 8;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 43 type = CANData;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 44 format = CANStandard;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 45 id = 0;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 46 memset(data, 0, 8);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 47 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 48
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 49 /** Creates CAN message with specific content.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 50 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 51 * @param _id Message ID
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 52 * @param _data Mesaage Data
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 53 * @param _len Message Data length
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 54 * @param _type Type of Data: Use enum CANType for valid parameter values
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 55 * @param _format Data Format: Use enum CANFormat for valid parameter values
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 56 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 57 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 58 len = _len & 0xF;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 59 type = _type;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 60 format = _format;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 61 id = _id;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 62 memcpy(data, _data, _len);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 63 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 64
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 65 /** Creates CAN remote message.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 66 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 67 * @param _id Message ID
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 68 * @param _format Data Format: Use enum CANType for valid parameter values
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 69 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 70 CANMessage(int _id, CANFormat _format = CANStandard) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 71 len = 0;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 72 type = CANRemote;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 73 format = _format;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 74 id = _id;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 75 memset(data, 0, 8);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 76 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 77 };
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 78
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 79 /** A can bus client, used for communicating with can devices
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 80 * @ingroup drivers
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 81 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 82 class CAN : private NonCopyable<CAN> {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 83
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 84 public:
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 85 /** Creates an CAN interface connected to specific pins.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 86 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 87 * @param rd read from transmitter
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 88 * @param td transmit to transmitter
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 89 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 90 * Example:
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 91 * @code
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 92 * #include "mbed.h"
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 93 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 94 * Ticker ticker;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 95 * DigitalOut led1(LED1);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 96 * DigitalOut led2(LED2);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 97 * CAN can1(p9, p10);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 98 * CAN can2(p30, p29);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 99 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 100 * char counter = 0;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 101 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 102 * void send() {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 103 * if(can1.write(CANMessage(1337, &counter, 1))) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 104 * printf("Message sent: %d\n", counter);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 105 * counter++;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 106 * }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 107 * led1 = !led1;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 108 * }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 109 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 110 * int main() {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 111 * ticker.attach(&send, 1);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 112 * CANMessage msg;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 113 * while(1) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 114 * if(can2.read(msg)) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 115 * printf("Message received: %d\n\n", msg.data[0]);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 116 * led2 = !led2;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 117 * }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 118 * wait(0.2);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 119 * }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 120 * }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 121 * @endcode
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 122 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 123 CAN(PinName rd, PinName td);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 124
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 125 /** Initialize CAN interface and set the frequency
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 126 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 127 * @param rd the rd pin
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 128 * @param td the td pin
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 129 * @param hz the bus frequency in hertz
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 130 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 131 CAN(PinName rd, PinName td, int hz);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 132
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 133 virtual ~CAN();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 134
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 135 /** Set the frequency of the CAN interface
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 136 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 137 * @param hz The bus frequency in hertz
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 138 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 139 * @returns
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 140 * 1 if successful,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 141 * 0 otherwise
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 142 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 143 int frequency(int hz);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 144
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 145 /** Write a CANMessage to the bus.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 146 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 147 * @param msg The CANMessage to write.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 148 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 149 * @returns
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 150 * 0 if write failed,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 151 * 1 if write was successful
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 152 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 153 int write(CANMessage msg);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 154
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 155 /** Read a CANMessage from the bus.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 156 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 157 * @param msg A CANMessage to read to.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 158 * @param handle message filter handle (0 for any message)
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 159 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 160 * @returns
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 161 * 0 if no message arrived,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 162 * 1 if message arrived
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 163 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 164 int read(CANMessage &msg, int handle = 0);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 165
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 166 /** Reset CAN interface.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 167 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 168 * To use after error overflow.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 169 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 170 void reset();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 171
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 172 /** Puts or removes the CAN interface into silent monitoring mode
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 173 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 174 * @param silent boolean indicating whether to go into silent mode or not
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 175 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 176 void monitor(bool silent);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 177
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 178 enum Mode {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 179 Reset = 0,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 180 Normal,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 181 Silent,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 182 LocalTest,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 183 GlobalTest,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 184 SilentTest
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 185 };
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 186
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 187 /** Change CAN operation to the specified mode
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 188 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 189 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 190 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 191 * @returns
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 192 * 0 if mode change failed or unsupported,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 193 * 1 if mode change was successful
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 194 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 195 int mode(Mode mode);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 196
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 197 /** Filter out incomming messages
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 198 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 199 * @param id the id to filter on
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 200 * @param mask the mask applied to the id
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 201 * @param format format to filter on (Default CANAny)
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 202 * @param handle message filter handle (Optional)
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 203 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 204 * @returns
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 205 * 0 if filter change failed or unsupported,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 206 * new filter handle if successful
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 207 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 208 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 209
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 210 /** Detects read errors - Used to detect read overflow errors.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 211 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 212 * @returns number of read errors
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 213 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 214 unsigned char rderror();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 215
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 216 /** Detects write errors - Used to detect write overflow errors.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 217 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 218 * @returns number of write errors
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 219 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 220 unsigned char tderror();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 221
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 222 enum IrqType {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 223 RxIrq = 0,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 224 TxIrq,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 225 EwIrq,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 226 DoIrq,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 227 WuIrq,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 228 EpIrq,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 229 AlIrq,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 230 BeIrq,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 231 IdIrq,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 232
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 233 IrqCnt
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 234 };
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 235
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 236 /** Attach a function to call whenever a CAN frame received interrupt is
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 237 * generated.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 238 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 239 * This function locks the deep sleep while a callback is attached
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 240 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 241 * @param func A pointer to a void function, or 0 to set as none
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 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)
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 243 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 244 void attach(Callback<void()> func, IrqType type=RxIrq);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 245
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 246 /** Attach a member function to call whenever a CAN frame received interrupt
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 247 * is generated.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 248 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 249 * @param obj pointer to the object to call the member function on
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 250 * @param method pointer to the member function to be called
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 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)
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 252 * @deprecated
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 253 * The attach function does not support cv-qualifiers. Replaced by
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 254 * attach(callback(obj, method), type).
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 255 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 256 template<typename T>
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 257 MBED_DEPRECATED_SINCE("mbed-os-5.1",
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 258 "The attach function does not support cv-qualifiers. Replaced by "
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 259 "attach(callback(obj, method), type).")
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 260 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 261 // Underlying call thread safe
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 262 attach(callback(obj, method), type);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 263 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 264
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 265 /** Attach a member function to call whenever a CAN frame received interrupt
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 266 * is generated.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 267 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 268 * @param obj pointer to the object to call the member function on
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 269 * @param method pointer to the member function to be called
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 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)
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 271 * @deprecated
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 272 * The attach function does not support cv-qualifiers. Replaced by
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 273 * attach(callback(obj, method), type).
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 274 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 275 template<typename T>
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 276 MBED_DEPRECATED_SINCE("mbed-os-5.1",
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 277 "The attach function does not support cv-qualifiers. Replaced by "
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 278 "attach(callback(obj, method), type).")
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 279 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 280 // Underlying call thread safe
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 281 attach(callback(obj, method), type);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 282 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 283
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 284 static void _irq_handler(uint32_t id, CanIrqType type);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 285
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 286 protected:
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 287 virtual void lock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 288 virtual void unlock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 289 can_t _can;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 290 Callback<void()> _irq[IrqCnt];
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 291 PlatformMutex _mutex;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 292 };
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 293
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 294 } // namespace mbed
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 295
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 296 #endif
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 297
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 298 #endif // MBED_CAN_H
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 299
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 300