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drivers/CAN.h@168:e84263d55307, 2017-06-21 (annotated)

Committer:
AnnaBridge
Date:
Wed Jun 21 17:46:44 2017 +0100
Revision:
168:e84263d55307
Parent:
149:156823d33999
Child:
169:9672193075cf
This updates the lib to the mbed lib v 145

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 149:156823d33999 1 /* mbed Microcontroller Library
<> 149:156823d33999 2 * Copyright (c) 2006-2013 ARM Limited
<> 149:156823d33999 3 *
<> 149:156823d33999 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 149:156823d33999 5 * you may not use this file except in compliance with the License.
<> 149:156823d33999 6 * You may obtain a copy of the License at
<> 149:156823d33999 7 *
<> 149:156823d33999 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 149:156823d33999 9 *
<> 149:156823d33999 10 * Unless required by applicable law or agreed to in writing, software
<> 149:156823d33999 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 149:156823d33999 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 149:156823d33999 13 * See the License for the specific language governing permissions and
<> 149:156823d33999 14 * limitations under the License.
<> 149:156823d33999 15 */
<> 149:156823d33999 16 #ifndef MBED_CAN_H
<> 149:156823d33999 17 #define MBED_CAN_H
<> 149:156823d33999 18
<> 149:156823d33999 19 #include "platform/platform.h"
<> 149:156823d33999 20
AnnaBridge 168:e84263d55307 21 #if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY)
<> 149:156823d33999 22
<> 149:156823d33999 23 #include "hal/can_api.h"
<> 149:156823d33999 24 #include "platform/Callback.h"
<> 149:156823d33999 25 #include "platform/PlatformMutex.h"
<> 149:156823d33999 26
<> 149:156823d33999 27 namespace mbed {
<> 149:156823d33999 28 /** \addtogroup drivers */
<> 149:156823d33999 29
<> 149:156823d33999 30 /** CANMessage class
<> 149:156823d33999 31 *
AnnaBridge 168:e84263d55307 32 * @note Synchronization level: Thread safe
AnnaBridge 168:e84263d55307 33 * @ingroup drivers
<> 149:156823d33999 34 */
<> 149:156823d33999 35 class CANMessage : public CAN_Message {
<> 149:156823d33999 36
<> 149:156823d33999 37 public:
<> 149:156823d33999 38 /** Creates empty CAN message.
<> 149:156823d33999 39 */
<> 149:156823d33999 40 CANMessage() : CAN_Message() {
<> 149:156823d33999 41 len = 8;
<> 149:156823d33999 42 type = CANData;
<> 149:156823d33999 43 format = CANStandard;
<> 149:156823d33999 44 id = 0;
<> 149:156823d33999 45 memset(data, 0, 8);
<> 149:156823d33999 46 }
<> 149:156823d33999 47
<> 149:156823d33999 48 /** Creates CAN message with specific content.
AnnaBridge 168:e84263d55307 49 *
AnnaBridge 168:e84263d55307 50 * @param _id Message ID
AnnaBridge 168:e84263d55307 51 * @param _data Mesaage Data
AnnaBridge 168:e84263d55307 52 * @param _len Message Data length
AnnaBridge 168:e84263d55307 53 * @param _type Type of Data: Use enum CANType for valid parameter values
AnnaBridge 168:e84263d55307 54 * @param _format Data Format: Use enum CANFormat for valid parameter values
<> 149:156823d33999 55 */
<> 149:156823d33999 56 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
<> 149:156823d33999 57 len = _len & 0xF;
<> 149:156823d33999 58 type = _type;
<> 149:156823d33999 59 format = _format;
<> 149:156823d33999 60 id = _id;
<> 149:156823d33999 61 memcpy(data, _data, _len);
<> 149:156823d33999 62 }
<> 149:156823d33999 63
<> 149:156823d33999 64 /** Creates CAN remote message.
AnnaBridge 168:e84263d55307 65 *
AnnaBridge 168:e84263d55307 66 * @param _id Message ID
AnnaBridge 168:e84263d55307 67 * @param _format Data Format: Use enum CANType for valid parameter values
<> 149:156823d33999 68 */
<> 149:156823d33999 69 CANMessage(int _id, CANFormat _format = CANStandard) {
<> 149:156823d33999 70 len = 0;
<> 149:156823d33999 71 type = CANRemote;
<> 149:156823d33999 72 format = _format;
<> 149:156823d33999 73 id = _id;
<> 149:156823d33999 74 memset(data, 0, 8);
<> 149:156823d33999 75 }
<> 149:156823d33999 76 };
<> 149:156823d33999 77
<> 149:156823d33999 78 /** A can bus client, used for communicating with can devices
AnnaBridge 168:e84263d55307 79 * @ingroup drivers
<> 149:156823d33999 80 */
<> 149:156823d33999 81 class CAN {
<> 149:156823d33999 82
<> 149:156823d33999 83 public:
<> 149:156823d33999 84 /** Creates an CAN interface connected to specific pins.
<> 149:156823d33999 85 *
<> 149:156823d33999 86 * @param rd read from transmitter
<> 149:156823d33999 87 * @param td transmit to transmitter
<> 149:156823d33999 88 *
<> 149:156823d33999 89 * Example:
<> 149:156823d33999 90 * @code
<> 149:156823d33999 91 * #include "mbed.h"
<> 149:156823d33999 92 *
<> 149:156823d33999 93 * Ticker ticker;
<> 149:156823d33999 94 * DigitalOut led1(LED1);
<> 149:156823d33999 95 * DigitalOut led2(LED2);
<> 149:156823d33999 96 * CAN can1(p9, p10);
<> 149:156823d33999 97 * CAN can2(p30, p29);
<> 149:156823d33999 98 *
<> 149:156823d33999 99 * char counter = 0;
<> 149:156823d33999 100 *
<> 149:156823d33999 101 * void send() {
<> 149:156823d33999 102 * if(can1.write(CANMessage(1337, &counter, 1))) {
<> 149:156823d33999 103 * printf("Message sent: %d\n", counter);
<> 149:156823d33999 104 * counter++;
<> 149:156823d33999 105 * }
<> 149:156823d33999 106 * led1 = !led1;
<> 149:156823d33999 107 * }
<> 149:156823d33999 108 *
<> 149:156823d33999 109 * int main() {
<> 149:156823d33999 110 * ticker.attach(&send, 1);
<> 149:156823d33999 111 * CANMessage msg;
<> 149:156823d33999 112 * while(1) {
<> 149:156823d33999 113 * if(can2.read(msg)) {
<> 149:156823d33999 114 * printf("Message received: %d\n\n", msg.data[0]);
<> 149:156823d33999 115 * led2 = !led2;
<> 149:156823d33999 116 * }
<> 149:156823d33999 117 * wait(0.2);
<> 149:156823d33999 118 * }
<> 149:156823d33999 119 * }
<> 149:156823d33999 120 * @endcode
<> 149:156823d33999 121 */
<> 149:156823d33999 122 CAN(PinName rd, PinName td);
AnnaBridge 168:e84263d55307 123
AnnaBridge 168:e84263d55307 124 /** Initialize CAN interface and set the frequency
AnnaBridge 168:e84263d55307 125 *
AnnaBridge 168:e84263d55307 126 * @param rd the rd pin
AnnaBridge 168:e84263d55307 127 * @param td the td pin
AnnaBridge 168:e84263d55307 128 * @param hz the bus frequency in hertz
AnnaBridge 168:e84263d55307 129 */
AnnaBridge 168:e84263d55307 130 CAN(PinName rd, PinName td, int hz);
AnnaBridge 168:e84263d55307 131
<> 149:156823d33999 132 virtual ~CAN();
<> 149:156823d33999 133
<> 149:156823d33999 134 /** Set the frequency of the CAN interface
<> 149:156823d33999 135 *
<> 149:156823d33999 136 * @param hz The bus frequency in hertz
<> 149:156823d33999 137 *
<> 149:156823d33999 138 * @returns
<> 149:156823d33999 139 * 1 if successful,
<> 149:156823d33999 140 * 0 otherwise
<> 149:156823d33999 141 */
<> 149:156823d33999 142 int frequency(int hz);
<> 149:156823d33999 143
<> 149:156823d33999 144 /** Write a CANMessage to the bus.
<> 149:156823d33999 145 *
<> 149:156823d33999 146 * @param msg The CANMessage to write.
<> 149:156823d33999 147 *
<> 149:156823d33999 148 * @returns
<> 149:156823d33999 149 * 0 if write failed,
<> 149:156823d33999 150 * 1 if write was successful
<> 149:156823d33999 151 */
<> 149:156823d33999 152 int write(CANMessage msg);
<> 149:156823d33999 153
<> 149:156823d33999 154 /** Read a CANMessage from the bus.
<> 149:156823d33999 155 *
<> 149:156823d33999 156 * @param msg A CANMessage to read to.
<> 149:156823d33999 157 * @param handle message filter handle (0 for any message)
<> 149:156823d33999 158 *
<> 149:156823d33999 159 * @returns
<> 149:156823d33999 160 * 0 if no message arrived,
<> 149:156823d33999 161 * 1 if message arrived
<> 149:156823d33999 162 */
<> 149:156823d33999 163 int read(CANMessage &msg, int handle = 0);
<> 149:156823d33999 164
<> 149:156823d33999 165 /** Reset CAN interface.
<> 149:156823d33999 166 *
<> 149:156823d33999 167 * To use after error overflow.
<> 149:156823d33999 168 */
<> 149:156823d33999 169 void reset();
<> 149:156823d33999 170
<> 149:156823d33999 171 /** Puts or removes the CAN interface into silent monitoring mode
<> 149:156823d33999 172 *
<> 149:156823d33999 173 * @param silent boolean indicating whether to go into silent mode or not
<> 149:156823d33999 174 */
<> 149:156823d33999 175 void monitor(bool silent);
<> 149:156823d33999 176
<> 149:156823d33999 177 enum Mode {
<> 149:156823d33999 178 Reset = 0,
<> 149:156823d33999 179 Normal,
<> 149:156823d33999 180 Silent,
<> 149:156823d33999 181 LocalTest,
<> 149:156823d33999 182 GlobalTest,
<> 149:156823d33999 183 SilentTest
<> 149:156823d33999 184 };
<> 149:156823d33999 185
<> 149:156823d33999 186 /** Change CAN operation to the specified mode
<> 149:156823d33999 187 *
<> 149:156823d33999 188 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
<> 149:156823d33999 189 *
<> 149:156823d33999 190 * @returns
<> 149:156823d33999 191 * 0 if mode change failed or unsupported,
<> 149:156823d33999 192 * 1 if mode change was successful
<> 149:156823d33999 193 */
<> 149:156823d33999 194 int mode(Mode mode);
<> 149:156823d33999 195
<> 149:156823d33999 196 /** Filter out incomming messages
<> 149:156823d33999 197 *
<> 149:156823d33999 198 * @param id the id to filter on
<> 149:156823d33999 199 * @param mask the mask applied to the id
<> 149:156823d33999 200 * @param format format to filter on (Default CANAny)
<> 149:156823d33999 201 * @param handle message filter handle (Optional)
<> 149:156823d33999 202 *
<> 149:156823d33999 203 * @returns
<> 149:156823d33999 204 * 0 if filter change failed or unsupported,
<> 149:156823d33999 205 * new filter handle if successful
<> 149:156823d33999 206 */
<> 149:156823d33999 207 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
<> 149:156823d33999 208
AnnaBridge 168:e84263d55307 209 /** Detects read errors - Used to detect read overflow errors.
AnnaBridge 168:e84263d55307 210 *
AnnaBridge 168:e84263d55307 211 * @returns number of read errors
<> 149:156823d33999 212 */
<> 149:156823d33999 213 unsigned char rderror();
<> 149:156823d33999 214
AnnaBridge 168:e84263d55307 215 /** Detects write errors - Used to detect write overflow errors.
AnnaBridge 168:e84263d55307 216 *
AnnaBridge 168:e84263d55307 217 * @returns number of write errors
<> 149:156823d33999 218 */
<> 149:156823d33999 219 unsigned char tderror();
<> 149:156823d33999 220
<> 149:156823d33999 221 enum IrqType {
<> 149:156823d33999 222 RxIrq = 0,
<> 149:156823d33999 223 TxIrq,
<> 149:156823d33999 224 EwIrq,
<> 149:156823d33999 225 DoIrq,
<> 149:156823d33999 226 WuIrq,
<> 149:156823d33999 227 EpIrq,
<> 149:156823d33999 228 AlIrq,
<> 149:156823d33999 229 BeIrq,
<> 149:156823d33999 230 IdIrq,
<> 149:156823d33999 231
<> 149:156823d33999 232 IrqCnt
<> 149:156823d33999 233 };
<> 149:156823d33999 234
<> 149:156823d33999 235 /** Attach a function to call whenever a CAN frame received interrupt is
<> 149:156823d33999 236 * generated.
<> 149:156823d33999 237 *
<> 149:156823d33999 238 * @param func A pointer to a void function, or 0 to set as none
AnnaBridge 168:e84263d55307 239 * @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)
<> 149:156823d33999 240 */
<> 149:156823d33999 241 void attach(Callback<void()> func, IrqType type=RxIrq);
<> 149:156823d33999 242
<> 149:156823d33999 243 /** Attach a member function to call whenever a CAN frame received interrupt
<> 149:156823d33999 244 * is generated.
<> 149:156823d33999 245 *
<> 149:156823d33999 246 * @param obj pointer to the object to call the member function on
<> 149:156823d33999 247 * @param method pointer to the member function to be called
AnnaBridge 168:e84263d55307 248 * @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)
AnnaBridge 168:e84263d55307 249 * @deprecated
AnnaBridge 168:e84263d55307 250 * The attach function does not support cv-qualifiers. Replaced by
AnnaBridge 168:e84263d55307 251 * attach(callback(obj, method), type).
<> 149:156823d33999 252 */
<> 149:156823d33999 253 template<typename T>
AnnaBridge 168:e84263d55307 254 MBED_DEPRECATED_SINCE("mbed-os-5.1",
AnnaBridge 168:e84263d55307 255 "The attach function does not support cv-qualifiers. Replaced by "
AnnaBridge 168:e84263d55307 256 "attach(callback(obj, method), type).")
<> 149:156823d33999 257 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
<> 149:156823d33999 258 // Underlying call thread safe
AnnaBridge 168:e84263d55307 259 attach(callback(obj, method), type);
<> 149:156823d33999 260 }
<> 149:156823d33999 261
<> 149:156823d33999 262 /** Attach a member function to call whenever a CAN frame received interrupt
<> 149:156823d33999 263 * is generated.
<> 149:156823d33999 264 *
<> 149:156823d33999 265 * @param obj pointer to the object to call the member function on
<> 149:156823d33999 266 * @param method pointer to the member function to be called
AnnaBridge 168:e84263d55307 267 * @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)
AnnaBridge 168:e84263d55307 268 * @deprecated
AnnaBridge 168:e84263d55307 269 * The attach function does not support cv-qualifiers. Replaced by
AnnaBridge 168:e84263d55307 270 * attach(callback(obj, method), type).
<> 149:156823d33999 271 */
<> 149:156823d33999 272 template<typename T>
AnnaBridge 168:e84263d55307 273 MBED_DEPRECATED_SINCE("mbed-os-5.1",
AnnaBridge 168:e84263d55307 274 "The attach function does not support cv-qualifiers. Replaced by "
AnnaBridge 168:e84263d55307 275 "attach(callback(obj, method), type).")
<> 149:156823d33999 276 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
<> 149:156823d33999 277 // Underlying call thread safe
AnnaBridge 168:e84263d55307 278 attach(callback(obj, method), type);
<> 149:156823d33999 279 }
<> 149:156823d33999 280
<> 149:156823d33999 281 static void _irq_handler(uint32_t id, CanIrqType type);
<> 149:156823d33999 282
<> 149:156823d33999 283 protected:
<> 149:156823d33999 284 virtual void lock();
<> 149:156823d33999 285 virtual void unlock();
<> 149:156823d33999 286 can_t _can;
<> 149:156823d33999 287 Callback<void()> _irq[IrqCnt];
<> 149:156823d33999 288 PlatformMutex _mutex;
<> 149:156823d33999 289 };
<> 149:156823d33999 290
<> 149:156823d33999 291 } // namespace mbed
<> 149:156823d33999 292
<> 149:156823d33999 293 #endif
<> 149:156823d33999 294
<> 149:156823d33999 295 #endif // MBED_CAN_H
<> 149:156823d33999 296