This fork captures the mbed lib v125 for ease of integration into older projects.
Fork of mbed-dev by
api/CAN.h@187:92cbb9eec47b, 2018-07-20 (annotated)
- Committer:
- apluscw
- Date:
- Fri Jul 20 21:24:42 2018 +0000
- Revision:
- 187:92cbb9eec47b
Mbed library with source code from mbed lib v125. Posted to ease integration with some older projects.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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apluscw | 187:92cbb9eec47b | 1 | /* mbed Microcontroller Library |
apluscw | 187:92cbb9eec47b | 2 | * Copyright (c) 2006-2013 ARM Limited |
apluscw | 187:92cbb9eec47b | 3 | * |
apluscw | 187:92cbb9eec47b | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
apluscw | 187:92cbb9eec47b | 5 | * you may not use this file except in compliance with the License. |
apluscw | 187:92cbb9eec47b | 6 | * You may obtain a copy of the License at |
apluscw | 187:92cbb9eec47b | 7 | * |
apluscw | 187:92cbb9eec47b | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
apluscw | 187:92cbb9eec47b | 9 | * |
apluscw | 187:92cbb9eec47b | 10 | * Unless required by applicable law or agreed to in writing, software |
apluscw | 187:92cbb9eec47b | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
apluscw | 187:92cbb9eec47b | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
apluscw | 187:92cbb9eec47b | 13 | * See the License for the specific language governing permissions and |
apluscw | 187:92cbb9eec47b | 14 | * limitations under the License. |
apluscw | 187:92cbb9eec47b | 15 | */ |
apluscw | 187:92cbb9eec47b | 16 | #ifndef MBED_CAN_H |
apluscw | 187:92cbb9eec47b | 17 | #define MBED_CAN_H |
apluscw | 187:92cbb9eec47b | 18 | |
apluscw | 187:92cbb9eec47b | 19 | #include "platform.h" |
apluscw | 187:92cbb9eec47b | 20 | |
apluscw | 187:92cbb9eec47b | 21 | #if DEVICE_CAN |
apluscw | 187:92cbb9eec47b | 22 | |
apluscw | 187:92cbb9eec47b | 23 | #include "can_api.h" |
apluscw | 187:92cbb9eec47b | 24 | #include "can_helper.h" |
apluscw | 187:92cbb9eec47b | 25 | #include "Callback.h" |
apluscw | 187:92cbb9eec47b | 26 | #include "PlatformMutex.h" |
apluscw | 187:92cbb9eec47b | 27 | |
apluscw | 187:92cbb9eec47b | 28 | namespace mbed { |
apluscw | 187:92cbb9eec47b | 29 | |
apluscw | 187:92cbb9eec47b | 30 | /** CANMessage class |
apluscw | 187:92cbb9eec47b | 31 | * |
apluscw | 187:92cbb9eec47b | 32 | * @Note Synchronization level: Thread safe |
apluscw | 187:92cbb9eec47b | 33 | */ |
apluscw | 187:92cbb9eec47b | 34 | class CANMessage : public CAN_Message { |
apluscw | 187:92cbb9eec47b | 35 | |
apluscw | 187:92cbb9eec47b | 36 | public: |
apluscw | 187:92cbb9eec47b | 37 | /** Creates empty CAN message. |
apluscw | 187:92cbb9eec47b | 38 | */ |
apluscw | 187:92cbb9eec47b | 39 | CANMessage() : CAN_Message() { |
apluscw | 187:92cbb9eec47b | 40 | len = 8; |
apluscw | 187:92cbb9eec47b | 41 | type = CANData; |
apluscw | 187:92cbb9eec47b | 42 | format = CANStandard; |
apluscw | 187:92cbb9eec47b | 43 | id = 0; |
apluscw | 187:92cbb9eec47b | 44 | memset(data, 0, 8); |
apluscw | 187:92cbb9eec47b | 45 | } |
apluscw | 187:92cbb9eec47b | 46 | |
apluscw | 187:92cbb9eec47b | 47 | /** Creates CAN message with specific content. |
apluscw | 187:92cbb9eec47b | 48 | */ |
apluscw | 187:92cbb9eec47b | 49 | CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) { |
apluscw | 187:92cbb9eec47b | 50 | len = _len & 0xF; |
apluscw | 187:92cbb9eec47b | 51 | type = _type; |
apluscw | 187:92cbb9eec47b | 52 | format = _format; |
apluscw | 187:92cbb9eec47b | 53 | id = _id; |
apluscw | 187:92cbb9eec47b | 54 | memcpy(data, _data, _len); |
apluscw | 187:92cbb9eec47b | 55 | } |
apluscw | 187:92cbb9eec47b | 56 | |
apluscw | 187:92cbb9eec47b | 57 | /** Creates CAN remote message. |
apluscw | 187:92cbb9eec47b | 58 | */ |
apluscw | 187:92cbb9eec47b | 59 | CANMessage(int _id, CANFormat _format = CANStandard) { |
apluscw | 187:92cbb9eec47b | 60 | len = 0; |
apluscw | 187:92cbb9eec47b | 61 | type = CANRemote; |
apluscw | 187:92cbb9eec47b | 62 | format = _format; |
apluscw | 187:92cbb9eec47b | 63 | id = _id; |
apluscw | 187:92cbb9eec47b | 64 | memset(data, 0, 8); |
apluscw | 187:92cbb9eec47b | 65 | } |
apluscw | 187:92cbb9eec47b | 66 | }; |
apluscw | 187:92cbb9eec47b | 67 | |
apluscw | 187:92cbb9eec47b | 68 | /** A can bus client, used for communicating with can devices |
apluscw | 187:92cbb9eec47b | 69 | */ |
apluscw | 187:92cbb9eec47b | 70 | class CAN { |
apluscw | 187:92cbb9eec47b | 71 | |
apluscw | 187:92cbb9eec47b | 72 | public: |
apluscw | 187:92cbb9eec47b | 73 | /** Creates an CAN interface connected to specific pins. |
apluscw | 187:92cbb9eec47b | 74 | * |
apluscw | 187:92cbb9eec47b | 75 | * @param rd read from transmitter |
apluscw | 187:92cbb9eec47b | 76 | * @param td transmit to transmitter |
apluscw | 187:92cbb9eec47b | 77 | * |
apluscw | 187:92cbb9eec47b | 78 | * Example: |
apluscw | 187:92cbb9eec47b | 79 | * @code |
apluscw | 187:92cbb9eec47b | 80 | * #include "mbed.h" |
apluscw | 187:92cbb9eec47b | 81 | * |
apluscw | 187:92cbb9eec47b | 82 | * Ticker ticker; |
apluscw | 187:92cbb9eec47b | 83 | * DigitalOut led1(LED1); |
apluscw | 187:92cbb9eec47b | 84 | * DigitalOut led2(LED2); |
apluscw | 187:92cbb9eec47b | 85 | * CAN can1(p9, p10); |
apluscw | 187:92cbb9eec47b | 86 | * CAN can2(p30, p29); |
apluscw | 187:92cbb9eec47b | 87 | * |
apluscw | 187:92cbb9eec47b | 88 | * char counter = 0; |
apluscw | 187:92cbb9eec47b | 89 | * |
apluscw | 187:92cbb9eec47b | 90 | * void send() { |
apluscw | 187:92cbb9eec47b | 91 | * if(can1.write(CANMessage(1337, &counter, 1))) { |
apluscw | 187:92cbb9eec47b | 92 | * printf("Message sent: %d\n", counter); |
apluscw | 187:92cbb9eec47b | 93 | * counter++; |
apluscw | 187:92cbb9eec47b | 94 | * } |
apluscw | 187:92cbb9eec47b | 95 | * led1 = !led1; |
apluscw | 187:92cbb9eec47b | 96 | * } |
apluscw | 187:92cbb9eec47b | 97 | * |
apluscw | 187:92cbb9eec47b | 98 | * int main() { |
apluscw | 187:92cbb9eec47b | 99 | * ticker.attach(&send, 1); |
apluscw | 187:92cbb9eec47b | 100 | * CANMessage msg; |
apluscw | 187:92cbb9eec47b | 101 | * while(1) { |
apluscw | 187:92cbb9eec47b | 102 | * if(can2.read(msg)) { |
apluscw | 187:92cbb9eec47b | 103 | * printf("Message received: %d\n\n", msg.data[0]); |
apluscw | 187:92cbb9eec47b | 104 | * led2 = !led2; |
apluscw | 187:92cbb9eec47b | 105 | * } |
apluscw | 187:92cbb9eec47b | 106 | * wait(0.2); |
apluscw | 187:92cbb9eec47b | 107 | * } |
apluscw | 187:92cbb9eec47b | 108 | * } |
apluscw | 187:92cbb9eec47b | 109 | * @endcode |
apluscw | 187:92cbb9eec47b | 110 | */ |
apluscw | 187:92cbb9eec47b | 111 | CAN(PinName rd, PinName td); |
apluscw | 187:92cbb9eec47b | 112 | virtual ~CAN(); |
apluscw | 187:92cbb9eec47b | 113 | |
apluscw | 187:92cbb9eec47b | 114 | /** Set the frequency of the CAN interface |
apluscw | 187:92cbb9eec47b | 115 | * |
apluscw | 187:92cbb9eec47b | 116 | * @param hz The bus frequency in hertz |
apluscw | 187:92cbb9eec47b | 117 | * |
apluscw | 187:92cbb9eec47b | 118 | * @returns |
apluscw | 187:92cbb9eec47b | 119 | * 1 if successful, |
apluscw | 187:92cbb9eec47b | 120 | * 0 otherwise |
apluscw | 187:92cbb9eec47b | 121 | */ |
apluscw | 187:92cbb9eec47b | 122 | int frequency(int hz); |
apluscw | 187:92cbb9eec47b | 123 | |
apluscw | 187:92cbb9eec47b | 124 | /** Write a CANMessage to the bus. |
apluscw | 187:92cbb9eec47b | 125 | * |
apluscw | 187:92cbb9eec47b | 126 | * @param msg The CANMessage to write. |
apluscw | 187:92cbb9eec47b | 127 | * |
apluscw | 187:92cbb9eec47b | 128 | * @returns |
apluscw | 187:92cbb9eec47b | 129 | * 0 if write failed, |
apluscw | 187:92cbb9eec47b | 130 | * 1 if write was successful |
apluscw | 187:92cbb9eec47b | 131 | */ |
apluscw | 187:92cbb9eec47b | 132 | int write(CANMessage msg); |
apluscw | 187:92cbb9eec47b | 133 | |
apluscw | 187:92cbb9eec47b | 134 | /** Read a CANMessage from the bus. |
apluscw | 187:92cbb9eec47b | 135 | * |
apluscw | 187:92cbb9eec47b | 136 | * @param msg A CANMessage to read to. |
apluscw | 187:92cbb9eec47b | 137 | * @param handle message filter handle (0 for any message) |
apluscw | 187:92cbb9eec47b | 138 | * |
apluscw | 187:92cbb9eec47b | 139 | * @returns |
apluscw | 187:92cbb9eec47b | 140 | * 0 if no message arrived, |
apluscw | 187:92cbb9eec47b | 141 | * 1 if message arrived |
apluscw | 187:92cbb9eec47b | 142 | */ |
apluscw | 187:92cbb9eec47b | 143 | int read(CANMessage &msg, int handle = 0); |
apluscw | 187:92cbb9eec47b | 144 | |
apluscw | 187:92cbb9eec47b | 145 | /** Reset CAN interface. |
apluscw | 187:92cbb9eec47b | 146 | * |
apluscw | 187:92cbb9eec47b | 147 | * To use after error overflow. |
apluscw | 187:92cbb9eec47b | 148 | */ |
apluscw | 187:92cbb9eec47b | 149 | void reset(); |
apluscw | 187:92cbb9eec47b | 150 | |
apluscw | 187:92cbb9eec47b | 151 | /** Puts or removes the CAN interface into silent monitoring mode |
apluscw | 187:92cbb9eec47b | 152 | * |
apluscw | 187:92cbb9eec47b | 153 | * @param silent boolean indicating whether to go into silent mode or not |
apluscw | 187:92cbb9eec47b | 154 | */ |
apluscw | 187:92cbb9eec47b | 155 | void monitor(bool silent); |
apluscw | 187:92cbb9eec47b | 156 | |
apluscw | 187:92cbb9eec47b | 157 | enum Mode { |
apluscw | 187:92cbb9eec47b | 158 | Reset = 0, |
apluscw | 187:92cbb9eec47b | 159 | Normal, |
apluscw | 187:92cbb9eec47b | 160 | Silent, |
apluscw | 187:92cbb9eec47b | 161 | LocalTest, |
apluscw | 187:92cbb9eec47b | 162 | GlobalTest, |
apluscw | 187:92cbb9eec47b | 163 | SilentTest |
apluscw | 187:92cbb9eec47b | 164 | }; |
apluscw | 187:92cbb9eec47b | 165 | |
apluscw | 187:92cbb9eec47b | 166 | /** Change CAN operation to the specified mode |
apluscw | 187:92cbb9eec47b | 167 | * |
apluscw | 187:92cbb9eec47b | 168 | * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest) |
apluscw | 187:92cbb9eec47b | 169 | * |
apluscw | 187:92cbb9eec47b | 170 | * @returns |
apluscw | 187:92cbb9eec47b | 171 | * 0 if mode change failed or unsupported, |
apluscw | 187:92cbb9eec47b | 172 | * 1 if mode change was successful |
apluscw | 187:92cbb9eec47b | 173 | */ |
apluscw | 187:92cbb9eec47b | 174 | int mode(Mode mode); |
apluscw | 187:92cbb9eec47b | 175 | |
apluscw | 187:92cbb9eec47b | 176 | /** Filter out incomming messages |
apluscw | 187:92cbb9eec47b | 177 | * |
apluscw | 187:92cbb9eec47b | 178 | * @param id the id to filter on |
apluscw | 187:92cbb9eec47b | 179 | * @param mask the mask applied to the id |
apluscw | 187:92cbb9eec47b | 180 | * @param format format to filter on (Default CANAny) |
apluscw | 187:92cbb9eec47b | 181 | * @param handle message filter handle (Optional) |
apluscw | 187:92cbb9eec47b | 182 | * |
apluscw | 187:92cbb9eec47b | 183 | * @returns |
apluscw | 187:92cbb9eec47b | 184 | * 0 if filter change failed or unsupported, |
apluscw | 187:92cbb9eec47b | 185 | * new filter handle if successful |
apluscw | 187:92cbb9eec47b | 186 | */ |
apluscw | 187:92cbb9eec47b | 187 | int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0); |
apluscw | 187:92cbb9eec47b | 188 | |
apluscw | 187:92cbb9eec47b | 189 | /** Returns number of read errors to detect read overflow errors. |
apluscw | 187:92cbb9eec47b | 190 | */ |
apluscw | 187:92cbb9eec47b | 191 | unsigned char rderror(); |
apluscw | 187:92cbb9eec47b | 192 | |
apluscw | 187:92cbb9eec47b | 193 | /** Returns number of write errors to detect write overflow errors. |
apluscw | 187:92cbb9eec47b | 194 | */ |
apluscw | 187:92cbb9eec47b | 195 | unsigned char tderror(); |
apluscw | 187:92cbb9eec47b | 196 | |
apluscw | 187:92cbb9eec47b | 197 | enum IrqType { |
apluscw | 187:92cbb9eec47b | 198 | RxIrq = 0, |
apluscw | 187:92cbb9eec47b | 199 | TxIrq, |
apluscw | 187:92cbb9eec47b | 200 | EwIrq, |
apluscw | 187:92cbb9eec47b | 201 | DoIrq, |
apluscw | 187:92cbb9eec47b | 202 | WuIrq, |
apluscw | 187:92cbb9eec47b | 203 | EpIrq, |
apluscw | 187:92cbb9eec47b | 204 | AlIrq, |
apluscw | 187:92cbb9eec47b | 205 | BeIrq, |
apluscw | 187:92cbb9eec47b | 206 | IdIrq |
apluscw | 187:92cbb9eec47b | 207 | }; |
apluscw | 187:92cbb9eec47b | 208 | |
apluscw | 187:92cbb9eec47b | 209 | /** Attach a function to call whenever a CAN frame received interrupt is |
apluscw | 187:92cbb9eec47b | 210 | * generated. |
apluscw | 187:92cbb9eec47b | 211 | * |
apluscw | 187:92cbb9eec47b | 212 | * @param func A pointer to a void function, or 0 to set as none |
apluscw | 187:92cbb9eec47b | 213 | * @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) |
apluscw | 187:92cbb9eec47b | 214 | */ |
apluscw | 187:92cbb9eec47b | 215 | void attach(Callback<void()> func, IrqType type=RxIrq); |
apluscw | 187:92cbb9eec47b | 216 | |
apluscw | 187:92cbb9eec47b | 217 | /** Attach a member function to call whenever a CAN frame received interrupt |
apluscw | 187:92cbb9eec47b | 218 | * is generated. |
apluscw | 187:92cbb9eec47b | 219 | * |
apluscw | 187:92cbb9eec47b | 220 | * @param obj pointer to the object to call the member function on |
apluscw | 187:92cbb9eec47b | 221 | * @param method pointer to the member function to be called |
apluscw | 187:92cbb9eec47b | 222 | * @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) |
apluscw | 187:92cbb9eec47b | 223 | */ |
apluscw | 187:92cbb9eec47b | 224 | template<typename T> |
apluscw | 187:92cbb9eec47b | 225 | void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) { |
apluscw | 187:92cbb9eec47b | 226 | // Underlying call thread safe |
apluscw | 187:92cbb9eec47b | 227 | attach(Callback<void()>(obj, method), type); |
apluscw | 187:92cbb9eec47b | 228 | } |
apluscw | 187:92cbb9eec47b | 229 | |
apluscw | 187:92cbb9eec47b | 230 | /** Attach a member function to call whenever a CAN frame received interrupt |
apluscw | 187:92cbb9eec47b | 231 | * is generated. |
apluscw | 187:92cbb9eec47b | 232 | * |
apluscw | 187:92cbb9eec47b | 233 | * @param obj pointer to the object to call the member function on |
apluscw | 187:92cbb9eec47b | 234 | * @param method pointer to the member function to be called |
apluscw | 187:92cbb9eec47b | 235 | * @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) |
apluscw | 187:92cbb9eec47b | 236 | */ |
apluscw | 187:92cbb9eec47b | 237 | template<typename T> |
apluscw | 187:92cbb9eec47b | 238 | void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) { |
apluscw | 187:92cbb9eec47b | 239 | // Underlying call thread safe |
apluscw | 187:92cbb9eec47b | 240 | attach(Callback<void()>(obj, method), type); |
apluscw | 187:92cbb9eec47b | 241 | } |
apluscw | 187:92cbb9eec47b | 242 | |
apluscw | 187:92cbb9eec47b | 243 | static void _irq_handler(uint32_t id, CanIrqType type); |
apluscw | 187:92cbb9eec47b | 244 | |
apluscw | 187:92cbb9eec47b | 245 | protected: |
apluscw | 187:92cbb9eec47b | 246 | virtual void lock(); |
apluscw | 187:92cbb9eec47b | 247 | virtual void unlock(); |
apluscw | 187:92cbb9eec47b | 248 | can_t _can; |
apluscw | 187:92cbb9eec47b | 249 | Callback<void()> _irq[9]; |
apluscw | 187:92cbb9eec47b | 250 | PlatformMutex _mutex; |
apluscw | 187:92cbb9eec47b | 251 | }; |
apluscw | 187:92cbb9eec47b | 252 | |
apluscw | 187:92cbb9eec47b | 253 | } // namespace mbed |
apluscw | 187:92cbb9eec47b | 254 | |
apluscw | 187:92cbb9eec47b | 255 | #endif |
apluscw | 187:92cbb9eec47b | 256 | |
apluscw | 187:92cbb9eec47b | 257 | #endif // MBED_CAN_H |