Gan likun / The prosthetic control

The prosthetic control（MIT）

drivers/CAN.h@0:20e0c61e0684, 2022-06-23 (annotated)

Committer:
ganlikun
Date:
Thu Jun 23 05:23:34 2022 +0000
Revision:
0:20e0c61e0684
01

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ganlikun 0:20e0c61e0684 1 /* mbed Microcontroller Library
ganlikun 0:20e0c61e0684 2 * Copyright (c) 2006-2013 ARM Limited
ganlikun 0:20e0c61e0684 3 *
ganlikun 0:20e0c61e0684 4 * Licensed under the Apache License, Version 2.0 (the "License");
ganlikun 0:20e0c61e0684 5 * you may not use this file except in compliance with the License.
ganlikun 0:20e0c61e0684 6 * You may obtain a copy of the License at
ganlikun 0:20e0c61e0684 7 *
ganlikun 0:20e0c61e0684 8 * http://www.apache.org/licenses/LICENSE-2.0
ganlikun 0:20e0c61e0684 9 *
ganlikun 0:20e0c61e0684 10 * Unless required by applicable law or agreed to in writing, software
ganlikun 0:20e0c61e0684 11 * distributed under the License is distributed on an "AS IS" BASIS,
ganlikun 0:20e0c61e0684 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ganlikun 0:20e0c61e0684 13 * See the License for the specific language governing permissions and
ganlikun 0:20e0c61e0684 14 * limitations under the License.
ganlikun 0:20e0c61e0684 15 */
ganlikun 0:20e0c61e0684 16 #ifndef MBED_CAN_H
ganlikun 0:20e0c61e0684 17 #define MBED_CAN_H
ganlikun 0:20e0c61e0684 18
ganlikun 0:20e0c61e0684 19 #include "platform/platform.h"
ganlikun 0:20e0c61e0684 20
ganlikun 0:20e0c61e0684 21 #if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY)
ganlikun 0:20e0c61e0684 22
ganlikun 0:20e0c61e0684 23 #include "hal/can_api.h"
ganlikun 0:20e0c61e0684 24 #include "platform/Callback.h"
ganlikun 0:20e0c61e0684 25 #include "platform/PlatformMutex.h"
ganlikun 0:20e0c61e0684 26 #include "platform/NonCopyable.h"
ganlikun 0:20e0c61e0684 27
ganlikun 0:20e0c61e0684 28 namespace mbed {
ganlikun 0:20e0c61e0684 29 /** \addtogroup drivers */
ganlikun 0:20e0c61e0684 30
ganlikun 0:20e0c61e0684 31 /** CANMessage class
ganlikun 0:20e0c61e0684 32 *
ganlikun 0:20e0c61e0684 33 * @note Synchronization level: Thread safe
ganlikun 0:20e0c61e0684 34 * @ingroup drivers
ganlikun 0:20e0c61e0684 35 */
ganlikun 0:20e0c61e0684 36 class CANMessage : public CAN_Message {
ganlikun 0:20e0c61e0684 37
ganlikun 0:20e0c61e0684 38 public:
ganlikun 0:20e0c61e0684 39 /** Creates empty CAN message.
ganlikun 0:20e0c61e0684 40 */
ganlikun 0:20e0c61e0684 41 CANMessage() : CAN_Message() {
ganlikun 0:20e0c61e0684 42 len = 8;
ganlikun 0:20e0c61e0684 43 type = CANData;
ganlikun 0:20e0c61e0684 44 format = CANStandard;
ganlikun 0:20e0c61e0684 45 id = 0;
ganlikun 0:20e0c61e0684 46 memset(data, 0, 8);
ganlikun 0:20e0c61e0684 47 }
ganlikun 0:20e0c61e0684 48
ganlikun 0:20e0c61e0684 49 /** Creates CAN message with specific content.
ganlikun 0:20e0c61e0684 50 *
ganlikun 0:20e0c61e0684 51 * @param _id Message ID
ganlikun 0:20e0c61e0684 52 * @param _data Mesaage Data
ganlikun 0:20e0c61e0684 53 * @param _len Message Data length
ganlikun 0:20e0c61e0684 54 * @param _type Type of Data: Use enum CANType for valid parameter values
ganlikun 0:20e0c61e0684 55 * @param _format Data Format: Use enum CANFormat for valid parameter values
ganlikun 0:20e0c61e0684 56 */
ganlikun 0:20e0c61e0684 57 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
ganlikun 0:20e0c61e0684 58 len = _len & 0xF;
ganlikun 0:20e0c61e0684 59 type = _type;
ganlikun 0:20e0c61e0684 60 format = _format;
ganlikun 0:20e0c61e0684 61 id = _id;
ganlikun 0:20e0c61e0684 62 memcpy(data, _data, _len);
ganlikun 0:20e0c61e0684 63 }
ganlikun 0:20e0c61e0684 64
ganlikun 0:20e0c61e0684 65 /** Creates CAN remote message.
ganlikun 0:20e0c61e0684 66 *
ganlikun 0:20e0c61e0684 67 * @param _id Message ID
ganlikun 0:20e0c61e0684 68 * @param _format Data Format: Use enum CANType for valid parameter values
ganlikun 0:20e0c61e0684 69 */
ganlikun 0:20e0c61e0684 70 CANMessage(int _id, CANFormat _format = CANStandard) {
ganlikun 0:20e0c61e0684 71 len = 0;
ganlikun 0:20e0c61e0684 72 type = CANRemote;
ganlikun 0:20e0c61e0684 73 format = _format;
ganlikun 0:20e0c61e0684 74 id = _id;
ganlikun 0:20e0c61e0684 75 memset(data, 0, 8);
ganlikun 0:20e0c61e0684 76 }
ganlikun 0:20e0c61e0684 77 };
ganlikun 0:20e0c61e0684 78
ganlikun 0:20e0c61e0684 79 /** A can bus client, used for communicating with can devices
ganlikun 0:20e0c61e0684 80 * @ingroup drivers
ganlikun 0:20e0c61e0684 81 */
ganlikun 0:20e0c61e0684 82 class CAN : private NonCopyable<CAN> {
ganlikun 0:20e0c61e0684 83
ganlikun 0:20e0c61e0684 84 public:
ganlikun 0:20e0c61e0684 85 /** Creates an CAN interface connected to specific pins.
ganlikun 0:20e0c61e0684 86 *
ganlikun 0:20e0c61e0684 87 * @param rd read from transmitter
ganlikun 0:20e0c61e0684 88 * @param td transmit to transmitter
ganlikun 0:20e0c61e0684 89 *
ganlikun 0:20e0c61e0684 90 * Example:
ganlikun 0:20e0c61e0684 91 * @code
ganlikun 0:20e0c61e0684 92 * #include "mbed.h"
ganlikun 0:20e0c61e0684 93 *
ganlikun 0:20e0c61e0684 94 * Ticker ticker;
ganlikun 0:20e0c61e0684 95 * DigitalOut led1(LED1);
ganlikun 0:20e0c61e0684 96 * DigitalOut led2(LED2);
ganlikun 0:20e0c61e0684 97 * CAN can1(p9, p10);
ganlikun 0:20e0c61e0684 98 * CAN can2(p30, p29);
ganlikun 0:20e0c61e0684 99 *
ganlikun 0:20e0c61e0684 100 * char counter = 0;
ganlikun 0:20e0c61e0684 101 *
ganlikun 0:20e0c61e0684 102 * void send() {
ganlikun 0:20e0c61e0684 103 * if(can1.write(CANMessage(1337, &counter, 1))) {
ganlikun 0:20e0c61e0684 104 * printf("Message sent: %d\n", counter);
ganlikun 0:20e0c61e0684 105 * counter++;
ganlikun 0:20e0c61e0684 106 * }
ganlikun 0:20e0c61e0684 107 * led1 = !led1;
ganlikun 0:20e0c61e0684 108 * }
ganlikun 0:20e0c61e0684 109 *
ganlikun 0:20e0c61e0684 110 * int main() {
ganlikun 0:20e0c61e0684 111 * ticker.attach(&send, 1);
ganlikun 0:20e0c61e0684 112 * CANMessage msg;
ganlikun 0:20e0c61e0684 113 * while(1) {
ganlikun 0:20e0c61e0684 114 * if(can2.read(msg)) {
ganlikun 0:20e0c61e0684 115 * printf("Message received: %d\n\n", msg.data[0]);
ganlikun 0:20e0c61e0684 116 * led2 = !led2;
ganlikun 0:20e0c61e0684 117 * }
ganlikun 0:20e0c61e0684 118 * wait(0.2);
ganlikun 0:20e0c61e0684 119 * }
ganlikun 0:20e0c61e0684 120 * }
ganlikun 0:20e0c61e0684 121 * @endcode
ganlikun 0:20e0c61e0684 122 */
ganlikun 0:20e0c61e0684 123 CAN(PinName rd, PinName td);
ganlikun 0:20e0c61e0684 124
ganlikun 0:20e0c61e0684 125 /** Initialize CAN interface and set the frequency
ganlikun 0:20e0c61e0684 126 *
ganlikun 0:20e0c61e0684 127 * @param rd the rd pin
ganlikun 0:20e0c61e0684 128 * @param td the td pin
ganlikun 0:20e0c61e0684 129 * @param hz the bus frequency in hertz
ganlikun 0:20e0c61e0684 130 */
ganlikun 0:20e0c61e0684 131 CAN(PinName rd, PinName td, int hz);
ganlikun 0:20e0c61e0684 132
ganlikun 0:20e0c61e0684 133 virtual ~CAN();
ganlikun 0:20e0c61e0684 134
ganlikun 0:20e0c61e0684 135 /** Set the frequency of the CAN interface
ganlikun 0:20e0c61e0684 136 *
ganlikun 0:20e0c61e0684 137 * @param hz The bus frequency in hertz
ganlikun 0:20e0c61e0684 138 *
ganlikun 0:20e0c61e0684 139 * @returns
ganlikun 0:20e0c61e0684 140 * 1 if successful,
ganlikun 0:20e0c61e0684 141 * 0 otherwise
ganlikun 0:20e0c61e0684 142 */
ganlikun 0:20e0c61e0684 143 int frequency(int hz);
ganlikun 0:20e0c61e0684 144
ganlikun 0:20e0c61e0684 145 /** Write a CANMessage to the bus.
ganlikun 0:20e0c61e0684 146 *
ganlikun 0:20e0c61e0684 147 * @param msg The CANMessage to write.
ganlikun 0:20e0c61e0684 148 *
ganlikun 0:20e0c61e0684 149 * @returns
ganlikun 0:20e0c61e0684 150 * 0 if write failed,
ganlikun 0:20e0c61e0684 151 * 1 if write was successful
ganlikun 0:20e0c61e0684 152 */
ganlikun 0:20e0c61e0684 153 int write(CANMessage msg);
ganlikun 0:20e0c61e0684 154
ganlikun 0:20e0c61e0684 155 /** Read a CANMessage from the bus.
ganlikun 0:20e0c61e0684 156 *
ganlikun 0:20e0c61e0684 157 * @param msg A CANMessage to read to.
ganlikun 0:20e0c61e0684 158 * @param handle message filter handle (0 for any message)
ganlikun 0:20e0c61e0684 159 *
ganlikun 0:20e0c61e0684 160 * @returns
ganlikun 0:20e0c61e0684 161 * 0 if no message arrived,
ganlikun 0:20e0c61e0684 162 * 1 if message arrived
ganlikun 0:20e0c61e0684 163 */
ganlikun 0:20e0c61e0684 164 int read(CANMessage &msg, int handle = 0);
ganlikun 0:20e0c61e0684 165
ganlikun 0:20e0c61e0684 166 /** Reset CAN interface.
ganlikun 0:20e0c61e0684 167 *
ganlikun 0:20e0c61e0684 168 * To use after error overflow.
ganlikun 0:20e0c61e0684 169 */
ganlikun 0:20e0c61e0684 170 void reset();
ganlikun 0:20e0c61e0684 171
ganlikun 0:20e0c61e0684 172 /** Puts or removes the CAN interface into silent monitoring mode
ganlikun 0:20e0c61e0684 173 *
ganlikun 0:20e0c61e0684 174 * @param silent boolean indicating whether to go into silent mode or not
ganlikun 0:20e0c61e0684 175 */
ganlikun 0:20e0c61e0684 176 void monitor(bool silent);
ganlikun 0:20e0c61e0684 177
ganlikun 0:20e0c61e0684 178 enum Mode {
ganlikun 0:20e0c61e0684 179 Reset = 0,
ganlikun 0:20e0c61e0684 180 Normal,
ganlikun 0:20e0c61e0684 181 Silent,
ganlikun 0:20e0c61e0684 182 LocalTest,
ganlikun 0:20e0c61e0684 183 GlobalTest,
ganlikun 0:20e0c61e0684 184 SilentTest
ganlikun 0:20e0c61e0684 185 };
ganlikun 0:20e0c61e0684 186
ganlikun 0:20e0c61e0684 187 /** Change CAN operation to the specified mode
ganlikun 0:20e0c61e0684 188 *
ganlikun 0:20e0c61e0684 189 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
ganlikun 0:20e0c61e0684 190 *
ganlikun 0:20e0c61e0684 191 * @returns
ganlikun 0:20e0c61e0684 192 * 0 if mode change failed or unsupported,
ganlikun 0:20e0c61e0684 193 * 1 if mode change was successful
ganlikun 0:20e0c61e0684 194 */
ganlikun 0:20e0c61e0684 195 int mode(Mode mode);
ganlikun 0:20e0c61e0684 196
ganlikun 0:20e0c61e0684 197 /** Filter out incomming messages
ganlikun 0:20e0c61e0684 198 *
ganlikun 0:20e0c61e0684 199 * @param id the id to filter on
ganlikun 0:20e0c61e0684 200 * @param mask the mask applied to the id
ganlikun 0:20e0c61e0684 201 * @param format format to filter on (Default CANAny)
ganlikun 0:20e0c61e0684 202 * @param handle message filter handle (Optional)
ganlikun 0:20e0c61e0684 203 *
ganlikun 0:20e0c61e0684 204 * @returns
ganlikun 0:20e0c61e0684 205 * 0 if filter change failed or unsupported,
ganlikun 0:20e0c61e0684 206 * new filter handle if successful
ganlikun 0:20e0c61e0684 207 */
ganlikun 0:20e0c61e0684 208 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
ganlikun 0:20e0c61e0684 209
ganlikun 0:20e0c61e0684 210 /** Detects read errors - Used to detect read overflow errors.
ganlikun 0:20e0c61e0684 211 *
ganlikun 0:20e0c61e0684 212 * @returns number of read errors
ganlikun 0:20e0c61e0684 213 */
ganlikun 0:20e0c61e0684 214 unsigned char rderror();
ganlikun 0:20e0c61e0684 215
ganlikun 0:20e0c61e0684 216 /** Detects write errors - Used to detect write overflow errors.
ganlikun 0:20e0c61e0684 217 *
ganlikun 0:20e0c61e0684 218 * @returns number of write errors
ganlikun 0:20e0c61e0684 219 */
ganlikun 0:20e0c61e0684 220 unsigned char tderror();
ganlikun 0:20e0c61e0684 221
ganlikun 0:20e0c61e0684 222 enum IrqType {
ganlikun 0:20e0c61e0684 223 RxIrq = 0,
ganlikun 0:20e0c61e0684 224 TxIrq,
ganlikun 0:20e0c61e0684 225 EwIrq,
ganlikun 0:20e0c61e0684 226 DoIrq,
ganlikun 0:20e0c61e0684 227 WuIrq,
ganlikun 0:20e0c61e0684 228 EpIrq,
ganlikun 0:20e0c61e0684 229 AlIrq,
ganlikun 0:20e0c61e0684 230 BeIrq,
ganlikun 0:20e0c61e0684 231 IdIrq,
ganlikun 0:20e0c61e0684 232
ganlikun 0:20e0c61e0684 233 IrqCnt
ganlikun 0:20e0c61e0684 234 };
ganlikun 0:20e0c61e0684 235
ganlikun 0:20e0c61e0684 236 /** Attach a function to call whenever a CAN frame received interrupt is
ganlikun 0:20e0c61e0684 237 * generated.
ganlikun 0:20e0c61e0684 238 *
ganlikun 0:20e0c61e0684 239 * This function locks the deep sleep while a callback is attached
ganlikun 0:20e0c61e0684 240 *
ganlikun 0:20e0c61e0684 241 * @param func A pointer to a void function, or 0 to set as none
ganlikun 0:20e0c61e0684 242 * @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)
ganlikun 0:20e0c61e0684 243 */
ganlikun 0:20e0c61e0684 244 void attach(Callback<void()> func, IrqType type=RxIrq);
ganlikun 0:20e0c61e0684 245
ganlikun 0:20e0c61e0684 246 /** Attach a member function to call whenever a CAN frame received interrupt
ganlikun 0:20e0c61e0684 247 * is generated.
ganlikun 0:20e0c61e0684 248 *
ganlikun 0:20e0c61e0684 249 * @param obj pointer to the object to call the member function on
ganlikun 0:20e0c61e0684 250 * @param method pointer to the member function to be called
ganlikun 0:20e0c61e0684 251 * @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)
ganlikun 0:20e0c61e0684 252 * @deprecated
ganlikun 0:20e0c61e0684 253 * The attach function does not support cv-qualifiers. Replaced by
ganlikun 0:20e0c61e0684 254 * attach(callback(obj, method), type).
ganlikun 0:20e0c61e0684 255 */
ganlikun 0:20e0c61e0684 256 template<typename T>
ganlikun 0:20e0c61e0684 257 MBED_DEPRECATED_SINCE("mbed-os-5.1",
ganlikun 0:20e0c61e0684 258 "The attach function does not support cv-qualifiers. Replaced by "
ganlikun 0:20e0c61e0684 259 "attach(callback(obj, method), type).")
ganlikun 0:20e0c61e0684 260 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
ganlikun 0:20e0c61e0684 261 // Underlying call thread safe
ganlikun 0:20e0c61e0684 262 attach(callback(obj, method), type);
ganlikun 0:20e0c61e0684 263 }
ganlikun 0:20e0c61e0684 264
ganlikun 0:20e0c61e0684 265 /** Attach a member function to call whenever a CAN frame received interrupt
ganlikun 0:20e0c61e0684 266 * is generated.
ganlikun 0:20e0c61e0684 267 *
ganlikun 0:20e0c61e0684 268 * @param obj pointer to the object to call the member function on
ganlikun 0:20e0c61e0684 269 * @param method pointer to the member function to be called
ganlikun 0:20e0c61e0684 270 * @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)
ganlikun 0:20e0c61e0684 271 * @deprecated
ganlikun 0:20e0c61e0684 272 * The attach function does not support cv-qualifiers. Replaced by
ganlikun 0:20e0c61e0684 273 * attach(callback(obj, method), type).
ganlikun 0:20e0c61e0684 274 */
ganlikun 0:20e0c61e0684 275 template<typename T>
ganlikun 0:20e0c61e0684 276 MBED_DEPRECATED_SINCE("mbed-os-5.1",
ganlikun 0:20e0c61e0684 277 "The attach function does not support cv-qualifiers. Replaced by "
ganlikun 0:20e0c61e0684 278 "attach(callback(obj, method), type).")
ganlikun 0:20e0c61e0684 279 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
ganlikun 0:20e0c61e0684 280 // Underlying call thread safe
ganlikun 0:20e0c61e0684 281 attach(callback(obj, method), type);
ganlikun 0:20e0c61e0684 282 }
ganlikun 0:20e0c61e0684 283
ganlikun 0:20e0c61e0684 284 static void _irq_handler(uint32_t id, CanIrqType type);
ganlikun 0:20e0c61e0684 285
ganlikun 0:20e0c61e0684 286 protected:
ganlikun 0:20e0c61e0684 287 virtual void lock();
ganlikun 0:20e0c61e0684 288 virtual void unlock();
ganlikun 0:20e0c61e0684 289 can_t _can;
ganlikun 0:20e0c61e0684 290 Callback<void()> _irq[IrqCnt];
ganlikun 0:20e0c61e0684 291 PlatformMutex _mutex;
ganlikun 0:20e0c61e0684 292 };
ganlikun 0:20e0c61e0684 293
ganlikun 0:20e0c61e0684 294 } // namespace mbed
ganlikun 0:20e0c61e0684 295
ganlikun 0:20e0c61e0684 296 #endif
ganlikun 0:20e0c61e0684 297
ganlikun 0:20e0c61e0684 298 #endif // MBED_CAN_H