Tamura Mizuki / STM32F746_FFT

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Dependencies:   BSP_DISCO_F746NG SDFileSystem_Warning_Fixed

mbed_src_STM32F7/api/CAN.h@3:6f7e05dd8d15, 2020-03-06 (annotated)

Committer:
aria19970520
Date:
Fri Mar 06 06:52:14 2020 +0000
Revision:
3:6f7e05dd8d15
Parent:
0:3e46577dc273 
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MikamiUitOpen 0:3e46577dc273 1 /* mbed Microcontroller Library
MikamiUitOpen 0:3e46577dc273 2 * Copyright (c) 2006-2013 ARM Limited
MikamiUitOpen 0:3e46577dc273 3 *
MikamiUitOpen 0:3e46577dc273 4 * Licensed under the Apache License, Version 2.0 (the "License");
MikamiUitOpen 0:3e46577dc273 5 * you may not use this file except in compliance with the License.
MikamiUitOpen 0:3e46577dc273 6 * You may obtain a copy of the License at
MikamiUitOpen 0:3e46577dc273 7 *
MikamiUitOpen 0:3e46577dc273 8 * http://www.apache.org/licenses/LICENSE-2.0
MikamiUitOpen 0:3e46577dc273 9 *
MikamiUitOpen 0:3e46577dc273 10 * Unless required by applicable law or agreed to in writing, software
MikamiUitOpen 0:3e46577dc273 11 * distributed under the License is distributed on an "AS IS" BASIS,
MikamiUitOpen 0:3e46577dc273 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
MikamiUitOpen 0:3e46577dc273 13 * See the License for the specific language governing permissions and
MikamiUitOpen 0:3e46577dc273 14 * limitations under the License.
MikamiUitOpen 0:3e46577dc273 15 */
MikamiUitOpen 0:3e46577dc273 16 #ifndef MBED_CAN_H
MikamiUitOpen 0:3e46577dc273 17 #define MBED_CAN_H
MikamiUitOpen 0:3e46577dc273 18
MikamiUitOpen 0:3e46577dc273 19 #include "platform.h"
MikamiUitOpen 0:3e46577dc273 20
MikamiUitOpen 0:3e46577dc273 21 #if DEVICE_CAN
MikamiUitOpen 0:3e46577dc273 22
MikamiUitOpen 0:3e46577dc273 23 #include "can_api.h"
MikamiUitOpen 0:3e46577dc273 24 #include "can_helper.h"
MikamiUitOpen 0:3e46577dc273 25 #include "FunctionPointer.h"
MikamiUitOpen 0:3e46577dc273 26
MikamiUitOpen 0:3e46577dc273 27 namespace mbed {
MikamiUitOpen 0:3e46577dc273 28
MikamiUitOpen 0:3e46577dc273 29 /** CANMessage class
MikamiUitOpen 0:3e46577dc273 30 */
MikamiUitOpen 0:3e46577dc273 31 class CANMessage : public CAN_Message {
MikamiUitOpen 0:3e46577dc273 32
MikamiUitOpen 0:3e46577dc273 33 public:
MikamiUitOpen 0:3e46577dc273 34 /** Creates empty CAN message.
MikamiUitOpen 0:3e46577dc273 35 */
MikamiUitOpen 0:3e46577dc273 36 CANMessage() : CAN_Message() {
MikamiUitOpen 0:3e46577dc273 37 len = 8;
MikamiUitOpen 0:3e46577dc273 38 type = CANData;
MikamiUitOpen 0:3e46577dc273 39 format = CANStandard;
MikamiUitOpen 0:3e46577dc273 40 id = 0;
MikamiUitOpen 0:3e46577dc273 41 memset(data, 0, 8);
MikamiUitOpen 0:3e46577dc273 42 }
MikamiUitOpen 0:3e46577dc273 43
MikamiUitOpen 0:3e46577dc273 44 /** Creates CAN message with specific content.
MikamiUitOpen 0:3e46577dc273 45 */
MikamiUitOpen 0:3e46577dc273 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
MikamiUitOpen 0:3e46577dc273 47 len = _len & 0xF;
MikamiUitOpen 0:3e46577dc273 48 type = _type;
MikamiUitOpen 0:3e46577dc273 49 format = _format;
MikamiUitOpen 0:3e46577dc273 50 id = _id;
MikamiUitOpen 0:3e46577dc273 51 memcpy(data, _data, _len);
MikamiUitOpen 0:3e46577dc273 52 }
MikamiUitOpen 0:3e46577dc273 53
MikamiUitOpen 0:3e46577dc273 54 /** Creates CAN remote message.
MikamiUitOpen 0:3e46577dc273 55 */
MikamiUitOpen 0:3e46577dc273 56 CANMessage(int _id, CANFormat _format = CANStandard) {
MikamiUitOpen 0:3e46577dc273 57 len = 0;
MikamiUitOpen 0:3e46577dc273 58 type = CANRemote;
MikamiUitOpen 0:3e46577dc273 59 format = _format;
MikamiUitOpen 0:3e46577dc273 60 id = _id;
MikamiUitOpen 0:3e46577dc273 61 memset(data, 0, 8);
MikamiUitOpen 0:3e46577dc273 62 }
MikamiUitOpen 0:3e46577dc273 63 };
MikamiUitOpen 0:3e46577dc273 64
MikamiUitOpen 0:3e46577dc273 65 /** A can bus client, used for communicating with can devices
MikamiUitOpen 0:3e46577dc273 66 */
MikamiUitOpen 0:3e46577dc273 67 class CAN {
MikamiUitOpen 0:3e46577dc273 68
MikamiUitOpen 0:3e46577dc273 69 public:
MikamiUitOpen 0:3e46577dc273 70 /** Creates an CAN interface connected to specific pins.
MikamiUitOpen 0:3e46577dc273 71 *
MikamiUitOpen 0:3e46577dc273 72 * @param rd read from transmitter
MikamiUitOpen 0:3e46577dc273 73 * @param td transmit to transmitter
MikamiUitOpen 0:3e46577dc273 74 *
MikamiUitOpen 0:3e46577dc273 75 * Example:
MikamiUitOpen 0:3e46577dc273 76 * @code
MikamiUitOpen 0:3e46577dc273 77 * #include "mbed.h"
MikamiUitOpen 0:3e46577dc273 78 *
MikamiUitOpen 0:3e46577dc273 79 * Ticker ticker;
MikamiUitOpen 0:3e46577dc273 80 * DigitalOut led1(LED1);
MikamiUitOpen 0:3e46577dc273 81 * DigitalOut led2(LED2);
MikamiUitOpen 0:3e46577dc273 82 * CAN can1(p9, p10);
MikamiUitOpen 0:3e46577dc273 83 * CAN can2(p30, p29);
MikamiUitOpen 0:3e46577dc273 84 *
MikamiUitOpen 0:3e46577dc273 85 * char counter = 0;
MikamiUitOpen 0:3e46577dc273 86 *
MikamiUitOpen 0:3e46577dc273 87 * void send() {
MikamiUitOpen 0:3e46577dc273 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
MikamiUitOpen 0:3e46577dc273 89 * printf("Message sent: %d\n", counter);
MikamiUitOpen 0:3e46577dc273 90 * counter++;
MikamiUitOpen 0:3e46577dc273 91 * }
MikamiUitOpen 0:3e46577dc273 92 * led1 = !led1;
MikamiUitOpen 0:3e46577dc273 93 * }
MikamiUitOpen 0:3e46577dc273 94 *
MikamiUitOpen 0:3e46577dc273 95 * int main() {
MikamiUitOpen 0:3e46577dc273 96 * ticker.attach(&send, 1);
MikamiUitOpen 0:3e46577dc273 97 * CANMessage msg;
MikamiUitOpen 0:3e46577dc273 98 * while(1) {
MikamiUitOpen 0:3e46577dc273 99 * if(can2.read(msg)) {
MikamiUitOpen 0:3e46577dc273 100 * printf("Message received: %d\n\n", msg.data[0]);
MikamiUitOpen 0:3e46577dc273 101 * led2 = !led2;
MikamiUitOpen 0:3e46577dc273 102 * }
MikamiUitOpen 0:3e46577dc273 103 * wait(0.2);
MikamiUitOpen 0:3e46577dc273 104 * }
MikamiUitOpen 0:3e46577dc273 105 * }
MikamiUitOpen 0:3e46577dc273 106 * @endcode
MikamiUitOpen 0:3e46577dc273 107 */
MikamiUitOpen 0:3e46577dc273 108 CAN(PinName rd, PinName td);
MikamiUitOpen 0:3e46577dc273 109 virtual ~CAN();
MikamiUitOpen 0:3e46577dc273 110
MikamiUitOpen 0:3e46577dc273 111 /** Set the frequency of the CAN interface
MikamiUitOpen 0:3e46577dc273 112 *
MikamiUitOpen 0:3e46577dc273 113 * @param hz The bus frequency in hertz
MikamiUitOpen 0:3e46577dc273 114 *
MikamiUitOpen 0:3e46577dc273 115 * @returns
MikamiUitOpen 0:3e46577dc273 116 * 1 if successful,
MikamiUitOpen 0:3e46577dc273 117 * 0 otherwise
MikamiUitOpen 0:3e46577dc273 118 */
MikamiUitOpen 0:3e46577dc273 119 int frequency(int hz);
MikamiUitOpen 0:3e46577dc273 120
MikamiUitOpen 0:3e46577dc273 121 /** Write a CANMessage to the bus.
MikamiUitOpen 0:3e46577dc273 122 *
MikamiUitOpen 0:3e46577dc273 123 * @param msg The CANMessage to write.
MikamiUitOpen 0:3e46577dc273 124 *
MikamiUitOpen 0:3e46577dc273 125 * @returns
MikamiUitOpen 0:3e46577dc273 126 * 0 if write failed,
MikamiUitOpen 0:3e46577dc273 127 * 1 if write was successful
MikamiUitOpen 0:3e46577dc273 128 */
MikamiUitOpen 0:3e46577dc273 129 int write(CANMessage msg);
MikamiUitOpen 0:3e46577dc273 130
MikamiUitOpen 0:3e46577dc273 131 /** Read a CANMessage from the bus.
MikamiUitOpen 0:3e46577dc273 132 *
MikamiUitOpen 0:3e46577dc273 133 * @param msg A CANMessage to read to.
MikamiUitOpen 0:3e46577dc273 134 * @param handle message filter handle (0 for any message)
MikamiUitOpen 0:3e46577dc273 135 *
MikamiUitOpen 0:3e46577dc273 136 * @returns
MikamiUitOpen 0:3e46577dc273 137 * 0 if no message arrived,
MikamiUitOpen 0:3e46577dc273 138 * 1 if message arrived
MikamiUitOpen 0:3e46577dc273 139 */
MikamiUitOpen 0:3e46577dc273 140 int read(CANMessage &msg, int handle = 0);
MikamiUitOpen 0:3e46577dc273 141
MikamiUitOpen 0:3e46577dc273 142 /** Reset CAN interface.
MikamiUitOpen 0:3e46577dc273 143 *
MikamiUitOpen 0:3e46577dc273 144 * To use after error overflow.
MikamiUitOpen 0:3e46577dc273 145 */
MikamiUitOpen 0:3e46577dc273 146 void reset();
MikamiUitOpen 0:3e46577dc273 147
MikamiUitOpen 0:3e46577dc273 148 /** Puts or removes the CAN interface into silent monitoring mode
MikamiUitOpen 0:3e46577dc273 149 *
MikamiUitOpen 0:3e46577dc273 150 * @param silent boolean indicating whether to go into silent mode or not
MikamiUitOpen 0:3e46577dc273 151 */
MikamiUitOpen 0:3e46577dc273 152 void monitor(bool silent);
MikamiUitOpen 0:3e46577dc273 153
MikamiUitOpen 0:3e46577dc273 154 enum Mode {
MikamiUitOpen 0:3e46577dc273 155 Reset = 0,
MikamiUitOpen 0:3e46577dc273 156 Normal,
MikamiUitOpen 0:3e46577dc273 157 Silent,
MikamiUitOpen 0:3e46577dc273 158 LocalTest,
MikamiUitOpen 0:3e46577dc273 159 GlobalTest,
MikamiUitOpen 0:3e46577dc273 160 SilentTest
MikamiUitOpen 0:3e46577dc273 161 };
MikamiUitOpen 0:3e46577dc273 162
MikamiUitOpen 0:3e46577dc273 163 /** Change CAN operation to the specified mode
MikamiUitOpen 0:3e46577dc273 164 *
MikamiUitOpen 0:3e46577dc273 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
MikamiUitOpen 0:3e46577dc273 166 *
MikamiUitOpen 0:3e46577dc273 167 * @returns
MikamiUitOpen 0:3e46577dc273 168 * 0 if mode change failed or unsupported,
MikamiUitOpen 0:3e46577dc273 169 * 1 if mode change was successful
MikamiUitOpen 0:3e46577dc273 170 */
MikamiUitOpen 0:3e46577dc273 171 int mode(Mode mode);
MikamiUitOpen 0:3e46577dc273 172
MikamiUitOpen 0:3e46577dc273 173 /** Filter out incomming messages
MikamiUitOpen 0:3e46577dc273 174 *
MikamiUitOpen 0:3e46577dc273 175 * @param id the id to filter on
MikamiUitOpen 0:3e46577dc273 176 * @param mask the mask applied to the id
MikamiUitOpen 0:3e46577dc273 177 * @param format format to filter on (Default CANAny)
MikamiUitOpen 0:3e46577dc273 178 * @param handle message filter handle (Optional)
MikamiUitOpen 0:3e46577dc273 179 *
MikamiUitOpen 0:3e46577dc273 180 * @returns
MikamiUitOpen 0:3e46577dc273 181 * 0 if filter change failed or unsupported,
MikamiUitOpen 0:3e46577dc273 182 * new filter handle if successful
MikamiUitOpen 0:3e46577dc273 183 */
MikamiUitOpen 0:3e46577dc273 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
MikamiUitOpen 0:3e46577dc273 185
MikamiUitOpen 0:3e46577dc273 186 /** Returns number of read errors to detect read overflow errors.
MikamiUitOpen 0:3e46577dc273 187 */
MikamiUitOpen 0:3e46577dc273 188 unsigned char rderror();
MikamiUitOpen 0:3e46577dc273 189
MikamiUitOpen 0:3e46577dc273 190 /** Returns number of write errors to detect write overflow errors.
MikamiUitOpen 0:3e46577dc273 191 */
MikamiUitOpen 0:3e46577dc273 192 unsigned char tderror();
MikamiUitOpen 0:3e46577dc273 193
MikamiUitOpen 0:3e46577dc273 194 enum IrqType {
MikamiUitOpen 0:3e46577dc273 195 RxIrq = 0,
MikamiUitOpen 0:3e46577dc273 196 TxIrq,
MikamiUitOpen 0:3e46577dc273 197 EwIrq,
MikamiUitOpen 0:3e46577dc273 198 DoIrq,
MikamiUitOpen 0:3e46577dc273 199 WuIrq,
MikamiUitOpen 0:3e46577dc273 200 EpIrq,
MikamiUitOpen 0:3e46577dc273 201 AlIrq,
MikamiUitOpen 0:3e46577dc273 202 BeIrq,
MikamiUitOpen 0:3e46577dc273 203 IdIrq
MikamiUitOpen 0:3e46577dc273 204 };
MikamiUitOpen 0:3e46577dc273 205
MikamiUitOpen 0:3e46577dc273 206 /** Attach a function to call whenever a CAN frame received interrupt is
MikamiUitOpen 0:3e46577dc273 207 * generated.
MikamiUitOpen 0:3e46577dc273 208 *
MikamiUitOpen 0:3e46577dc273 209 * @param fptr A pointer to a void function, or 0 to set as none
MikamiUitOpen 0:3e46577dc273 210 * @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)
MikamiUitOpen 0:3e46577dc273 211 */
MikamiUitOpen 0:3e46577dc273 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
MikamiUitOpen 0:3e46577dc273 213
MikamiUitOpen 0:3e46577dc273 214 /** Attach a member function to call whenever a CAN frame received interrupt
MikamiUitOpen 0:3e46577dc273 215 * is generated.
MikamiUitOpen 0:3e46577dc273 216 *
MikamiUitOpen 0:3e46577dc273 217 * @param tptr pointer to the object to call the member function on
MikamiUitOpen 0:3e46577dc273 218 * @param mptr pointer to the member function to be called
MikamiUitOpen 0:3e46577dc273 219 * @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)
MikamiUitOpen 0:3e46577dc273 220 */
MikamiUitOpen 0:3e46577dc273 221 template<typename T>
MikamiUitOpen 0:3e46577dc273 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
MikamiUitOpen 0:3e46577dc273 223 if((mptr != NULL) && (tptr != NULL)) {
MikamiUitOpen 0:3e46577dc273 224 _irq[type].attach(tptr, mptr);
MikamiUitOpen 0:3e46577dc273 225 can_irq_set(&_can, (CanIrqType)type, 1);
MikamiUitOpen 0:3e46577dc273 226 }
MikamiUitOpen 0:3e46577dc273 227 else {
MikamiUitOpen 0:3e46577dc273 228 can_irq_set(&_can, (CanIrqType)type, 0);
MikamiUitOpen 0:3e46577dc273 229 }
MikamiUitOpen 0:3e46577dc273 230 }
MikamiUitOpen 0:3e46577dc273 231
MikamiUitOpen 0:3e46577dc273 232 static void _irq_handler(uint32_t id, CanIrqType type);
MikamiUitOpen 0:3e46577dc273 233
MikamiUitOpen 0:3e46577dc273 234 protected:
MikamiUitOpen 0:3e46577dc273 235 can_t _can;
MikamiUitOpen 0:3e46577dc273 236 FunctionPointer _irq[9];
MikamiUitOpen 0:3e46577dc273 237 };
MikamiUitOpen 0:3e46577dc273 238
MikamiUitOpen 0:3e46577dc273 239 } // namespace mbed
MikamiUitOpen 0:3e46577dc273 240
MikamiUitOpen 0:3e46577dc273 241 #endif
MikamiUitOpen 0:3e46577dc273 242
MikamiUitOpen 0:3e46577dc273 243 #endif // MBED_CAN_H