Diff: api/CAN.h

Revision:

144:ef7eb2e8f9f7

Parent:

0:9b334a45a8ff

Child:

147:30b64687e01f

--- a/api/CAN.h	Tue Aug 02 14:07:36 2016 +0000
+++ b/api/CAN.h	Fri Sep 02 15:07:44 2016 +0100
@@ -1,243 +1,257 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2013 ARM Limited
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef MBED_CAN_H
-#define MBED_CAN_H
-
-#include "platform.h"
-
-#if DEVICE_CAN
-
-#include "can_api.h"
-#include "can_helper.h"
-#include "FunctionPointer.h"
-
-namespace mbed {
-
-/** CANMessage class
- */
-class CANMessage : public CAN_Message {
-
-public:
-    /** Creates empty CAN message.
-     */
-    CANMessage() : CAN_Message() {
-        len    = 8;
-        type   = CANData;
-        format = CANStandard;
-        id     = 0;
-        memset(data, 0, 8);
-    }
-
-    /** Creates CAN message with specific content.
-     */
-    CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
-      len    = _len & 0xF;
-      type   = _type;
-      format = _format;
-      id     = _id;
-      memcpy(data, _data, _len);
-    }
-
-    /** Creates CAN remote message.
-     */
-    CANMessage(int _id, CANFormat _format = CANStandard) {
-      len    = 0;
-      type   = CANRemote;
-      format = _format;
-      id     = _id;
-      memset(data, 0, 8);
-    }
-};
-
-/** A can bus client, used for communicating with can devices
- */
-class CAN {
-
-public:
-    /** Creates an CAN interface connected to specific pins.
-     *
-     *  @param rd read from transmitter
-     *  @param td transmit to transmitter
-     *
-     * Example:
-     * @code
-     * #include "mbed.h"
-     *
-     * Ticker ticker;
-     * DigitalOut led1(LED1);
-     * DigitalOut led2(LED2);
-     * CAN can1(p9, p10);
-     * CAN can2(p30, p29);
-     *
-     * char counter = 0;
-     *
-     * void send() {
-     *     if(can1.write(CANMessage(1337, &counter, 1))) {
-     *         printf("Message sent: %d\n", counter);
-     *         counter++;
-     *     }
-     *     led1 = !led1;
-     * }
-     *
-     * int main() {
-     *     ticker.attach(&send, 1);
-     *    CANMessage msg;
-     *     while(1) {
-     *         if(can2.read(msg)) {
-     *             printf("Message received: %d\n\n", msg.data[0]);
-     *             led2 = !led2;
-     *         }
-     *         wait(0.2);
-     *     }
-     * }
-     * @endcode
-     */
-    CAN(PinName rd, PinName td);
-    virtual ~CAN();
-
-    /** Set the frequency of the CAN interface
-     *
-     *  @param hz The bus frequency in hertz
-     *
-     *  @returns
-     *    1 if successful,
-     *    0 otherwise
-     */
-    int frequency(int hz);
-
-    /** Write a CANMessage to the bus.
-     *
-     *  @param msg The CANMessage to write.
-     *
-     *  @returns
-     *    0 if write failed,
-     *    1 if write was successful
-     */
-    int write(CANMessage msg);
-
-    /** Read a CANMessage from the bus.
-     *
-     *  @param msg A CANMessage to read to.
-     *  @param handle message filter handle (0 for any message)
-     *
-     *  @returns
-     *    0 if no message arrived,
-     *    1 if message arrived
-     */
-    int read(CANMessage &msg, int handle = 0);
-
-    /** Reset CAN interface.
-     *
-     * To use after error overflow.
-     */
-    void reset();
-
-    /** Puts or removes the CAN interface into silent monitoring mode
-     *
-     *  @param silent boolean indicating whether to go into silent mode or not
-     */
-    void monitor(bool silent);
-
-    enum Mode {
-        Reset = 0,
-        Normal,
-        Silent,
-        LocalTest,
-        GlobalTest,
-        SilentTest
-    };
-
-    /** Change CAN operation to the specified mode
-     *
-     *  @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
-     *
-     *  @returns
-     *    0 if mode change failed or unsupported,
-     *    1 if mode change was successful
-     */
-    int mode(Mode mode);
-
-    /** Filter out incomming messages
-     *
-     *  @param id the id to filter on
-     *  @param mask the mask applied to the id
-     *  @param format format to filter on (Default CANAny)
-     *  @param handle message filter handle (Optional)
-     *
-     *  @returns
-     *    0 if filter change failed or unsupported,
-     *    new filter handle if successful
-     */
-    int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
-
-    /** Returns number of read errors to detect read overflow errors.
-     */
-    unsigned char rderror();
-
-    /** Returns number of write errors to detect write overflow errors.
-     */
-    unsigned char tderror();
-
-    enum IrqType {
-        RxIrq = 0,
-        TxIrq,
-        EwIrq,
-        DoIrq,
-        WuIrq,
-        EpIrq,
-        AlIrq,
-        BeIrq,
-        IdIrq
-    };
-
-    /** Attach a function to call whenever a CAN frame received interrupt is
-     *  generated.
-     *
-     *  @param fptr A pointer to a void function, or 0 to set as none
-     *  @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)
-     */
-    void attach(void (*fptr)(void), IrqType type=RxIrq);
-
-   /** Attach a member function to call whenever a CAN frame received interrupt
-    *  is generated.
-    *
-    *  @param tptr pointer to the object to call the member function on
-    *  @param mptr pointer to the member function to be called
-    *  @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)
-    */
-   template<typename T>
-   void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
-        if((mptr != NULL) && (tptr != NULL)) {
-            _irq[type].attach(tptr, mptr);
-            can_irq_set(&_can, (CanIrqType)type, 1);
-        }
-        else {
-            can_irq_set(&_can, (CanIrqType)type, 0);
-        }
-    }
-
-    static void _irq_handler(uint32_t id, CanIrqType type);
-
-protected:
-    can_t           _can;
-    FunctionPointer _irq[9];
-};
-
-} // namespace mbed
-
-#endif
-
-#endif    // MBED_CAN_H
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef MBED_CAN_H
+#define MBED_CAN_H
+
+#include "platform.h"
+
+#if DEVICE_CAN
+
+#include "can_api.h"
+#include "can_helper.h"
+#include "Callback.h"
+#include "PlatformMutex.h"
+
+namespace mbed {
+
+/** CANMessage class
+ *
+ * @Note Synchronization level: Thread safe
+ */
+class CANMessage : public CAN_Message {
+
+public:
+    /** Creates empty CAN message.
+     */
+    CANMessage() : CAN_Message() {
+        len    = 8;
+        type   = CANData;
+        format = CANStandard;
+        id     = 0;
+        memset(data, 0, 8);
+    }
+
+    /** Creates CAN message with specific content.
+     */
+    CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
+      len    = _len & 0xF;
+      type   = _type;
+      format = _format;
+      id     = _id;
+      memcpy(data, _data, _len);
+    }
+
+    /** Creates CAN remote message.
+     */
+    CANMessage(int _id, CANFormat _format = CANStandard) {
+      len    = 0;
+      type   = CANRemote;
+      format = _format;
+      id     = _id;
+      memset(data, 0, 8);
+    }
+};
+
+/** A can bus client, used for communicating with can devices
+ */
+class CAN {
+
+public:
+    /** Creates an CAN interface connected to specific pins.
+     *
+     *  @param rd read from transmitter
+     *  @param td transmit to transmitter
+     *
+     * Example:
+     * @code
+     * #include "mbed.h"
+     *
+     * Ticker ticker;
+     * DigitalOut led1(LED1);
+     * DigitalOut led2(LED2);
+     * CAN can1(p9, p10);
+     * CAN can2(p30, p29);
+     *
+     * char counter = 0;
+     *
+     * void send() {
+     *     if(can1.write(CANMessage(1337, &counter, 1))) {
+     *         printf("Message sent: %d\n", counter);
+     *         counter++;
+     *     }
+     *     led1 = !led1;
+     * }
+     *
+     * int main() {
+     *     ticker.attach(&send, 1);
+     *    CANMessage msg;
+     *     while(1) {
+     *         if(can2.read(msg)) {
+     *             printf("Message received: %d\n\n", msg.data[0]);
+     *             led2 = !led2;
+     *         }
+     *         wait(0.2);
+     *     }
+     * }
+     * @endcode
+     */
+    CAN(PinName rd, PinName td);
+    virtual ~CAN();
+
+    /** Set the frequency of the CAN interface
+     *
+     *  @param hz The bus frequency in hertz
+     *
+     *  @returns
+     *    1 if successful,
+     *    0 otherwise
+     */
+    int frequency(int hz);
+
+    /** Write a CANMessage to the bus.
+     *
+     *  @param msg The CANMessage to write.
+     *
+     *  @returns
+     *    0 if write failed,
+     *    1 if write was successful
+     */
+    int write(CANMessage msg);
+
+    /** Read a CANMessage from the bus.
+     *
+     *  @param msg A CANMessage to read to.
+     *  @param handle message filter handle (0 for any message)
+     *
+     *  @returns
+     *    0 if no message arrived,
+     *    1 if message arrived
+     */
+    int read(CANMessage &msg, int handle = 0);
+
+    /** Reset CAN interface.
+     *
+     * To use after error overflow.
+     */
+    void reset();
+
+    /** Puts or removes the CAN interface into silent monitoring mode
+     *
+     *  @param silent boolean indicating whether to go into silent mode or not
+     */
+    void monitor(bool silent);
+
+    enum Mode {
+        Reset = 0,
+        Normal,
+        Silent,
+        LocalTest,
+        GlobalTest,
+        SilentTest
+    };
+
+    /** Change CAN operation to the specified mode
+     *
+     *  @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
+     *
+     *  @returns
+     *    0 if mode change failed or unsupported,
+     *    1 if mode change was successful
+     */
+    int mode(Mode mode);
+
+    /** Filter out incomming messages
+     *
+     *  @param id the id to filter on
+     *  @param mask the mask applied to the id
+     *  @param format format to filter on (Default CANAny)
+     *  @param handle message filter handle (Optional)
+     *
+     *  @returns
+     *    0 if filter change failed or unsupported,
+     *    new filter handle if successful
+     */
+    int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
+
+    /** Returns number of read errors to detect read overflow errors.
+     */
+    unsigned char rderror();
+
+    /** Returns number of write errors to detect write overflow errors.
+     */
+    unsigned char tderror();
+
+    enum IrqType {
+        RxIrq = 0,
+        TxIrq,
+        EwIrq,
+        DoIrq,
+        WuIrq,
+        EpIrq,
+        AlIrq,
+        BeIrq,
+        IdIrq
+    };
+
+    /** Attach a function to call whenever a CAN frame received interrupt is
+     *  generated.
+     *
+     *  @param func A pointer to a void function, or 0 to set as none
+     *  @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)
+     */
+    void attach(Callback<void()> func, IrqType type=RxIrq);
+
+   /** Attach a member function to call whenever a CAN frame received interrupt
+    *  is generated.
+    *
+    *  @param obj pointer to the object to call the member function on
+    *  @param method pointer to the member function to be called
+    *  @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)
+    */
+    template<typename T>
+    void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
+        // Underlying call thread safe
+        attach(Callback<void()>(obj, method), type);
+    }
+
+   /** Attach a member function to call whenever a CAN frame received interrupt
+    *  is generated.
+    *
+    *  @param obj pointer to the object to call the member function on
+    *  @param method pointer to the member function to be called
+    *  @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)
+    */
+    template<typename T>
+    void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
+        // Underlying call thread safe
+        attach(Callback<void()>(obj, method), type);
+    }
+
+    static void _irq_handler(uint32_t id, CanIrqType type);
+
+protected:
+    virtual void lock();
+    virtual void unlock();
+    can_t               _can;
+    Callback<void()>    _irq[9];
+    PlatformMutex       _mutex;
+};
+
+} // namespace mbed
+
+#endif
+
+#endif    // MBED_CAN_H