Daiki Kato / mbed-os-lychee

mbed-os for GR-LYCHEE

Dependents:   mbed-os-example-blinky-gr-lychee GR-Boads_Camera_sample GR-Boards_Audio_Recoder GR-Boads_Camera_DisplayApp ... more

drivers/CAN.h@0:f782d9c66c49, 2018-02-02 (annotated)

Committer:
dkato
Date:
Fri Feb 02 05:42:23 2018 +0000
Revision:
0:f782d9c66c49
mbed-os for GR-LYCHEE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dkato 0:f782d9c66c49 1 /* mbed Microcontroller Library
dkato 0:f782d9c66c49 2 * Copyright (c) 2006-2013 ARM Limited
dkato 0:f782d9c66c49 3 *
dkato 0:f782d9c66c49 4 * Licensed under the Apache License, Version 2.0 (the "License");
dkato 0:f782d9c66c49 5 * you may not use this file except in compliance with the License.
dkato 0:f782d9c66c49 6 * You may obtain a copy of the License at
dkato 0:f782d9c66c49 7 *
dkato 0:f782d9c66c49 8 * http://www.apache.org/licenses/LICENSE-2.0
dkato 0:f782d9c66c49 9 *
dkato 0:f782d9c66c49 10 * Unless required by applicable law or agreed to in writing, software
dkato 0:f782d9c66c49 11 * distributed under the License is distributed on an "AS IS" BASIS,
dkato 0:f782d9c66c49 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
dkato 0:f782d9c66c49 13 * See the License for the specific language governing permissions and
dkato 0:f782d9c66c49 14 * limitations under the License.
dkato 0:f782d9c66c49 15 */
dkato 0:f782d9c66c49 16 #ifndef MBED_CAN_H
dkato 0:f782d9c66c49 17 #define MBED_CAN_H
dkato 0:f782d9c66c49 18
dkato 0:f782d9c66c49 19 #include "platform/platform.h"
dkato 0:f782d9c66c49 20
dkato 0:f782d9c66c49 21 #if DEVICE_CAN
dkato 0:f782d9c66c49 22
dkato 0:f782d9c66c49 23 #include "hal/can_api.h"
dkato 0:f782d9c66c49 24 #include "platform/Callback.h"
dkato 0:f782d9c66c49 25 #include "platform/PlatformMutex.h"
dkato 0:f782d9c66c49 26
dkato 0:f782d9c66c49 27 namespace mbed {
dkato 0:f782d9c66c49 28 /** \addtogroup drivers */
dkato 0:f782d9c66c49 29 /** @{*/
dkato 0:f782d9c66c49 30
dkato 0:f782d9c66c49 31 /** CANMessage class
dkato 0:f782d9c66c49 32 *
dkato 0:f782d9c66c49 33 * @Note Synchronization level: Thread safe
dkato 0:f782d9c66c49 34 */
dkato 0:f782d9c66c49 35 class CANMessage : public CAN_Message {
dkato 0:f782d9c66c49 36
dkato 0:f782d9c66c49 37 public:
dkato 0:f782d9c66c49 38 /** Creates empty CAN message.
dkato 0:f782d9c66c49 39 */
dkato 0:f782d9c66c49 40 CANMessage() : CAN_Message() {
dkato 0:f782d9c66c49 41 len = 8;
dkato 0:f782d9c66c49 42 type = CANData;
dkato 0:f782d9c66c49 43 format = CANStandard;
dkato 0:f782d9c66c49 44 id = 0;
dkato 0:f782d9c66c49 45 memset(data, 0, 8);
dkato 0:f782d9c66c49 46 }
dkato 0:f782d9c66c49 47
dkato 0:f782d9c66c49 48 /** Creates CAN message with specific content.
dkato 0:f782d9c66c49 49 */
dkato 0:f782d9c66c49 50 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
dkato 0:f782d9c66c49 51 len = _len & 0xF;
dkato 0:f782d9c66c49 52 type = _type;
dkato 0:f782d9c66c49 53 format = _format;
dkato 0:f782d9c66c49 54 id = _id;
dkato 0:f782d9c66c49 55 memcpy(data, _data, _len);
dkato 0:f782d9c66c49 56 }
dkato 0:f782d9c66c49 57
dkato 0:f782d9c66c49 58 /** Creates CAN remote message.
dkato 0:f782d9c66c49 59 */
dkato 0:f782d9c66c49 60 CANMessage(int _id, CANFormat _format = CANStandard) {
dkato 0:f782d9c66c49 61 len = 0;
dkato 0:f782d9c66c49 62 type = CANRemote;
dkato 0:f782d9c66c49 63 format = _format;
dkato 0:f782d9c66c49 64 id = _id;
dkato 0:f782d9c66c49 65 memset(data, 0, 8);
dkato 0:f782d9c66c49 66 }
dkato 0:f782d9c66c49 67 };
dkato 0:f782d9c66c49 68
dkato 0:f782d9c66c49 69 /** A can bus client, used for communicating with can devices
dkato 0:f782d9c66c49 70 */
dkato 0:f782d9c66c49 71 class CAN {
dkato 0:f782d9c66c49 72
dkato 0:f782d9c66c49 73 public:
dkato 0:f782d9c66c49 74 /** Creates an CAN interface connected to specific pins.
dkato 0:f782d9c66c49 75 *
dkato 0:f782d9c66c49 76 * @param rd read from transmitter
dkato 0:f782d9c66c49 77 * @param td transmit to transmitter
dkato 0:f782d9c66c49 78 *
dkato 0:f782d9c66c49 79 * Example:
dkato 0:f782d9c66c49 80 * @code
dkato 0:f782d9c66c49 81 * #include "mbed.h"
dkato 0:f782d9c66c49 82 *
dkato 0:f782d9c66c49 83 * Ticker ticker;
dkato 0:f782d9c66c49 84 * DigitalOut led1(LED1);
dkato 0:f782d9c66c49 85 * DigitalOut led2(LED2);
dkato 0:f782d9c66c49 86 * CAN can1(p9, p10);
dkato 0:f782d9c66c49 87 * CAN can2(p30, p29);
dkato 0:f782d9c66c49 88 *
dkato 0:f782d9c66c49 89 * char counter = 0;
dkato 0:f782d9c66c49 90 *
dkato 0:f782d9c66c49 91 * void send() {
dkato 0:f782d9c66c49 92 * if(can1.write(CANMessage(1337, &counter, 1))) {
dkato 0:f782d9c66c49 93 * printf("Message sent: %d\n", counter);
dkato 0:f782d9c66c49 94 * counter++;
dkato 0:f782d9c66c49 95 * }
dkato 0:f782d9c66c49 96 * led1 = !led1;
dkato 0:f782d9c66c49 97 * }
dkato 0:f782d9c66c49 98 *
dkato 0:f782d9c66c49 99 * int main() {
dkato 0:f782d9c66c49 100 * ticker.attach(&send, 1);
dkato 0:f782d9c66c49 101 * CANMessage msg;
dkato 0:f782d9c66c49 102 * while(1) {
dkato 0:f782d9c66c49 103 * if(can2.read(msg)) {
dkato 0:f782d9c66c49 104 * printf("Message received: %d\n\n", msg.data[0]);
dkato 0:f782d9c66c49 105 * led2 = !led2;
dkato 0:f782d9c66c49 106 * }
dkato 0:f782d9c66c49 107 * wait(0.2);
dkato 0:f782d9c66c49 108 * }
dkato 0:f782d9c66c49 109 * }
dkato 0:f782d9c66c49 110 * @endcode
dkato 0:f782d9c66c49 111 */
dkato 0:f782d9c66c49 112 CAN(PinName rd, PinName td);
dkato 0:f782d9c66c49 113 virtual ~CAN();
dkato 0:f782d9c66c49 114
dkato 0:f782d9c66c49 115 /** Set the frequency of the CAN interface
dkato 0:f782d9c66c49 116 *
dkato 0:f782d9c66c49 117 * @param hz The bus frequency in hertz
dkato 0:f782d9c66c49 118 *
dkato 0:f782d9c66c49 119 * @returns
dkato 0:f782d9c66c49 120 * 1 if successful,
dkato 0:f782d9c66c49 121 * 0 otherwise
dkato 0:f782d9c66c49 122 */
dkato 0:f782d9c66c49 123 int frequency(int hz);
dkato 0:f782d9c66c49 124
dkato 0:f782d9c66c49 125 /** Write a CANMessage to the bus.
dkato 0:f782d9c66c49 126 *
dkato 0:f782d9c66c49 127 * @param msg The CANMessage to write.
dkato 0:f782d9c66c49 128 *
dkato 0:f782d9c66c49 129 * @returns
dkato 0:f782d9c66c49 130 * 0 if write failed,
dkato 0:f782d9c66c49 131 * 1 if write was successful
dkato 0:f782d9c66c49 132 */
dkato 0:f782d9c66c49 133 int write(CANMessage msg);
dkato 0:f782d9c66c49 134
dkato 0:f782d9c66c49 135 /** Read a CANMessage from the bus.
dkato 0:f782d9c66c49 136 *
dkato 0:f782d9c66c49 137 * @param msg A CANMessage to read to.
dkato 0:f782d9c66c49 138 * @param handle message filter handle (0 for any message)
dkato 0:f782d9c66c49 139 *
dkato 0:f782d9c66c49 140 * @returns
dkato 0:f782d9c66c49 141 * 0 if no message arrived,
dkato 0:f782d9c66c49 142 * 1 if message arrived
dkato 0:f782d9c66c49 143 */
dkato 0:f782d9c66c49 144 int read(CANMessage &msg, int handle = 0);
dkato 0:f782d9c66c49 145
dkato 0:f782d9c66c49 146 /** Reset CAN interface.
dkato 0:f782d9c66c49 147 *
dkato 0:f782d9c66c49 148 * To use after error overflow.
dkato 0:f782d9c66c49 149 */
dkato 0:f782d9c66c49 150 void reset();
dkato 0:f782d9c66c49 151
dkato 0:f782d9c66c49 152 /** Puts or removes the CAN interface into silent monitoring mode
dkato 0:f782d9c66c49 153 *
dkato 0:f782d9c66c49 154 * @param silent boolean indicating whether to go into silent mode or not
dkato 0:f782d9c66c49 155 */
dkato 0:f782d9c66c49 156 void monitor(bool silent);
dkato 0:f782d9c66c49 157
dkato 0:f782d9c66c49 158 enum Mode {
dkato 0:f782d9c66c49 159 Reset = 0,
dkato 0:f782d9c66c49 160 Normal,
dkato 0:f782d9c66c49 161 Silent,
dkato 0:f782d9c66c49 162 LocalTest,
dkato 0:f782d9c66c49 163 GlobalTest,
dkato 0:f782d9c66c49 164 SilentTest
dkato 0:f782d9c66c49 165 };
dkato 0:f782d9c66c49 166
dkato 0:f782d9c66c49 167 /** Change CAN operation to the specified mode
dkato 0:f782d9c66c49 168 *
dkato 0:f782d9c66c49 169 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
dkato 0:f782d9c66c49 170 *
dkato 0:f782d9c66c49 171 * @returns
dkato 0:f782d9c66c49 172 * 0 if mode change failed or unsupported,
dkato 0:f782d9c66c49 173 * 1 if mode change was successful
dkato 0:f782d9c66c49 174 */
dkato 0:f782d9c66c49 175 int mode(Mode mode);
dkato 0:f782d9c66c49 176
dkato 0:f782d9c66c49 177 /** Filter out incomming messages
dkato 0:f782d9c66c49 178 *
dkato 0:f782d9c66c49 179 * @param id the id to filter on
dkato 0:f782d9c66c49 180 * @param mask the mask applied to the id
dkato 0:f782d9c66c49 181 * @param format format to filter on (Default CANAny)
dkato 0:f782d9c66c49 182 * @param handle message filter handle (Optional)
dkato 0:f782d9c66c49 183 *
dkato 0:f782d9c66c49 184 * @returns
dkato 0:f782d9c66c49 185 * 0 if filter change failed or unsupported,
dkato 0:f782d9c66c49 186 * new filter handle if successful
dkato 0:f782d9c66c49 187 */
dkato 0:f782d9c66c49 188 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
dkato 0:f782d9c66c49 189
dkato 0:f782d9c66c49 190 /** Returns number of read errors to detect read overflow errors.
dkato 0:f782d9c66c49 191 */
dkato 0:f782d9c66c49 192 unsigned char rderror();
dkato 0:f782d9c66c49 193
dkato 0:f782d9c66c49 194 /** Returns number of write errors to detect write overflow errors.
dkato 0:f782d9c66c49 195 */
dkato 0:f782d9c66c49 196 unsigned char tderror();
dkato 0:f782d9c66c49 197
dkato 0:f782d9c66c49 198 enum IrqType {
dkato 0:f782d9c66c49 199 RxIrq = 0,
dkato 0:f782d9c66c49 200 TxIrq,
dkato 0:f782d9c66c49 201 EwIrq,
dkato 0:f782d9c66c49 202 DoIrq,
dkato 0:f782d9c66c49 203 WuIrq,
dkato 0:f782d9c66c49 204 EpIrq,
dkato 0:f782d9c66c49 205 AlIrq,
dkato 0:f782d9c66c49 206 BeIrq,
dkato 0:f782d9c66c49 207 IdIrq,
dkato 0:f782d9c66c49 208
dkato 0:f782d9c66c49 209 IrqCnt
dkato 0:f782d9c66c49 210 };
dkato 0:f782d9c66c49 211
dkato 0:f782d9c66c49 212 /** Attach a function to call whenever a CAN frame received interrupt is
dkato 0:f782d9c66c49 213 * generated.
dkato 0:f782d9c66c49 214 *
dkato 0:f782d9c66c49 215 * @param func A pointer to a void function, or 0 to set as none
dkato 0:f782d9c66c49 216 * @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)
dkato 0:f782d9c66c49 217 */
dkato 0:f782d9c66c49 218 void attach(Callback<void()> func, IrqType type=RxIrq);
dkato 0:f782d9c66c49 219
dkato 0:f782d9c66c49 220 /** Attach a member function to call whenever a CAN frame received interrupt
dkato 0:f782d9c66c49 221 * is generated.
dkato 0:f782d9c66c49 222 *
dkato 0:f782d9c66c49 223 * @param obj pointer to the object to call the member function on
dkato 0:f782d9c66c49 224 * @param method pointer to the member function to be called
dkato 0:f782d9c66c49 225 * @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)
dkato 0:f782d9c66c49 226 */
dkato 0:f782d9c66c49 227 template<typename T>
dkato 0:f782d9c66c49 228 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
dkato 0:f782d9c66c49 229 // Underlying call thread safe
dkato 0:f782d9c66c49 230 attach(Callback<void()>(obj, method), type);
dkato 0:f782d9c66c49 231 }
dkato 0:f782d9c66c49 232
dkato 0:f782d9c66c49 233 /** Attach a member function to call whenever a CAN frame received interrupt
dkato 0:f782d9c66c49 234 * is generated.
dkato 0:f782d9c66c49 235 *
dkato 0:f782d9c66c49 236 * @param obj pointer to the object to call the member function on
dkato 0:f782d9c66c49 237 * @param method pointer to the member function to be called
dkato 0:f782d9c66c49 238 * @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)
dkato 0:f782d9c66c49 239 */
dkato 0:f782d9c66c49 240 template<typename T>
dkato 0:f782d9c66c49 241 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
dkato 0:f782d9c66c49 242 // Underlying call thread safe
dkato 0:f782d9c66c49 243 attach(Callback<void()>(obj, method), type);
dkato 0:f782d9c66c49 244 }
dkato 0:f782d9c66c49 245
dkato 0:f782d9c66c49 246 static void _irq_handler(uint32_t id, CanIrqType type);
dkato 0:f782d9c66c49 247
dkato 0:f782d9c66c49 248 protected:
dkato 0:f782d9c66c49 249 virtual void lock();
dkato 0:f782d9c66c49 250 virtual void unlock();
dkato 0:f782d9c66c49 251 can_t _can;
dkato 0:f782d9c66c49 252 Callback<void()> _irq[IrqCnt];
dkato 0:f782d9c66c49 253 PlatformMutex _mutex;
dkato 0:f782d9c66c49 254 };
dkato 0:f782d9c66c49 255
dkato 0:f782d9c66c49 256 } // namespace mbed
dkato 0:f782d9c66c49 257
dkato 0:f782d9c66c49 258 #endif
dkato 0:f782d9c66c49 259
dkato 0:f782d9c66c49 260 #endif // MBED_CAN_H
dkato 0:f782d9c66c49 261
dkato 0:f782d9c66c49 262 /** @}*/