Gan likun / mbed-dev

00

drivers/CAN.h@0:13413ea9a877, 2022-06-12 (annotated)

Committer:
ganlikun
Date:
Sun Jun 12 14:02:44 2022 +0000
Revision:
0:13413ea9a877
00

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ganlikun 0:13413ea9a877 1 /* mbed Microcontroller Library
ganlikun 0:13413ea9a877 2 * Copyright (c) 2006-2013 ARM Limited
ganlikun 0:13413ea9a877 3 *
ganlikun 0:13413ea9a877 4 * Licensed under the Apache License, Version 2.0 (the "License");
ganlikun 0:13413ea9a877 5 * you may not use this file except in compliance with the License.
ganlikun 0:13413ea9a877 6 * You may obtain a copy of the License at
ganlikun 0:13413ea9a877 7 *
ganlikun 0:13413ea9a877 8 * http://www.apache.org/licenses/LICENSE-2.0
ganlikun 0:13413ea9a877 9 *
ganlikun 0:13413ea9a877 10 * Unless required by applicable law or agreed to in writing, software
ganlikun 0:13413ea9a877 11 * distributed under the License is distributed on an "AS IS" BASIS,
ganlikun 0:13413ea9a877 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ganlikun 0:13413ea9a877 13 * See the License for the specific language governing permissions and
ganlikun 0:13413ea9a877 14 * limitations under the License.
ganlikun 0:13413ea9a877 15 */
ganlikun 0:13413ea9a877 16 #ifndef MBED_CAN_H
ganlikun 0:13413ea9a877 17 #define MBED_CAN_H
ganlikun 0:13413ea9a877 18
ganlikun 0:13413ea9a877 19 #include "platform/platform.h"
ganlikun 0:13413ea9a877 20
ganlikun 0:13413ea9a877 21 #if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY)
ganlikun 0:13413ea9a877 22
ganlikun 0:13413ea9a877 23 #include "hal/can_api.h"
ganlikun 0:13413ea9a877 24 #include "platform/Callback.h"
ganlikun 0:13413ea9a877 25 #include "platform/PlatformMutex.h"
ganlikun 0:13413ea9a877 26 #include "platform/NonCopyable.h"
ganlikun 0:13413ea9a877 27
ganlikun 0:13413ea9a877 28 namespace mbed {
ganlikun 0:13413ea9a877 29 /** \addtogroup drivers */
ganlikun 0:13413ea9a877 30
ganlikun 0:13413ea9a877 31 /** CANMessage class
ganlikun 0:13413ea9a877 32 *
ganlikun 0:13413ea9a877 33 * @note Synchronization level: Thread safe
ganlikun 0:13413ea9a877 34 * @ingroup drivers
ganlikun 0:13413ea9a877 35 */
ganlikun 0:13413ea9a877 36 class CANMessage : public CAN_Message {
ganlikun 0:13413ea9a877 37
ganlikun 0:13413ea9a877 38 public:
ganlikun 0:13413ea9a877 39 /** Creates empty CAN message.
ganlikun 0:13413ea9a877 40 */
ganlikun 0:13413ea9a877 41 CANMessage() : CAN_Message() {
ganlikun 0:13413ea9a877 42 len = 8;
ganlikun 0:13413ea9a877 43 type = CANData;
ganlikun 0:13413ea9a877 44 format = CANStandard;
ganlikun 0:13413ea9a877 45 id = 0;
ganlikun 0:13413ea9a877 46 memset(data, 0, 8);
ganlikun 0:13413ea9a877 47 }
ganlikun 0:13413ea9a877 48
ganlikun 0:13413ea9a877 49 /** Creates CAN message with specific content.
ganlikun 0:13413ea9a877 50 *
ganlikun 0:13413ea9a877 51 * @param _id Message ID
ganlikun 0:13413ea9a877 52 * @param _data Mesaage Data
ganlikun 0:13413ea9a877 53 * @param _len Message Data length
ganlikun 0:13413ea9a877 54 * @param _type Type of Data: Use enum CANType for valid parameter values
ganlikun 0:13413ea9a877 55 * @param _format Data Format: Use enum CANFormat for valid parameter values
ganlikun 0:13413ea9a877 56 */
ganlikun 0:13413ea9a877 57 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
ganlikun 0:13413ea9a877 58 len = _len & 0xF;
ganlikun 0:13413ea9a877 59 type = _type;
ganlikun 0:13413ea9a877 60 format = _format;
ganlikun 0:13413ea9a877 61 id = _id;
ganlikun 0:13413ea9a877 62 memcpy(data, _data, _len);
ganlikun 0:13413ea9a877 63 }
ganlikun 0:13413ea9a877 64
ganlikun 0:13413ea9a877 65 /** Creates CAN remote message.
ganlikun 0:13413ea9a877 66 *
ganlikun 0:13413ea9a877 67 * @param _id Message ID
ganlikun 0:13413ea9a877 68 * @param _format Data Format: Use enum CANType for valid parameter values
ganlikun 0:13413ea9a877 69 */
ganlikun 0:13413ea9a877 70 CANMessage(int _id, CANFormat _format = CANStandard) {
ganlikun 0:13413ea9a877 71 len = 0;
ganlikun 0:13413ea9a877 72 type = CANRemote;
ganlikun 0:13413ea9a877 73 format = _format;
ganlikun 0:13413ea9a877 74 id = _id;
ganlikun 0:13413ea9a877 75 memset(data, 0, 8);
ganlikun 0:13413ea9a877 76 }
ganlikun 0:13413ea9a877 77 };
ganlikun 0:13413ea9a877 78
ganlikun 0:13413ea9a877 79 /** A can bus client, used for communicating with can devices
ganlikun 0:13413ea9a877 80 * @ingroup drivers
ganlikun 0:13413ea9a877 81 */
ganlikun 0:13413ea9a877 82 class CAN : private NonCopyable<CAN> {
ganlikun 0:13413ea9a877 83
ganlikun 0:13413ea9a877 84 public:
ganlikun 0:13413ea9a877 85 /** Creates an CAN interface connected to specific pins.
ganlikun 0:13413ea9a877 86 *
ganlikun 0:13413ea9a877 87 * @param rd read from transmitter
ganlikun 0:13413ea9a877 88 * @param td transmit to transmitter
ganlikun 0:13413ea9a877 89 *
ganlikun 0:13413ea9a877 90 * Example:
ganlikun 0:13413ea9a877 91 * @code
ganlikun 0:13413ea9a877 92 * #include "mbed.h"
ganlikun 0:13413ea9a877 93 *
ganlikun 0:13413ea9a877 94 * Ticker ticker;
ganlikun 0:13413ea9a877 95 * DigitalOut led1(LED1);
ganlikun 0:13413ea9a877 96 * DigitalOut led2(LED2);
ganlikun 0:13413ea9a877 97 * CAN can1(p9, p10);
ganlikun 0:13413ea9a877 98 * CAN can2(p30, p29);
ganlikun 0:13413ea9a877 99 *
ganlikun 0:13413ea9a877 100 * char counter = 0;
ganlikun 0:13413ea9a877 101 *
ganlikun 0:13413ea9a877 102 * void send() {
ganlikun 0:13413ea9a877 103 * if(can1.write(CANMessage(1337, &counter, 1))) {
ganlikun 0:13413ea9a877 104 * printf("Message sent: %d\n", counter);
ganlikun 0:13413ea9a877 105 * counter++;
ganlikun 0:13413ea9a877 106 * }
ganlikun 0:13413ea9a877 107 * led1 = !led1;
ganlikun 0:13413ea9a877 108 * }
ganlikun 0:13413ea9a877 109 *
ganlikun 0:13413ea9a877 110 * int main() {
ganlikun 0:13413ea9a877 111 * ticker.attach(&send, 1);
ganlikun 0:13413ea9a877 112 * CANMessage msg;
ganlikun 0:13413ea9a877 113 * while(1) {
ganlikun 0:13413ea9a877 114 * if(can2.read(msg)) {
ganlikun 0:13413ea9a877 115 * printf("Message received: %d\n\n", msg.data[0]);
ganlikun 0:13413ea9a877 116 * led2 = !led2;
ganlikun 0:13413ea9a877 117 * }
ganlikun 0:13413ea9a877 118 * wait(0.2);
ganlikun 0:13413ea9a877 119 * }
ganlikun 0:13413ea9a877 120 * }
ganlikun 0:13413ea9a877 121 * @endcode
ganlikun 0:13413ea9a877 122 */
ganlikun 0:13413ea9a877 123 CAN(PinName rd, PinName td);
ganlikun 0:13413ea9a877 124
ganlikun 0:13413ea9a877 125 /** Initialize CAN interface and set the frequency
ganlikun 0:13413ea9a877 126 *
ganlikun 0:13413ea9a877 127 * @param rd the rd pin
ganlikun 0:13413ea9a877 128 * @param td the td pin
ganlikun 0:13413ea9a877 129 * @param hz the bus frequency in hertz
ganlikun 0:13413ea9a877 130 */
ganlikun 0:13413ea9a877 131 CAN(PinName rd, PinName td, int hz);
ganlikun 0:13413ea9a877 132
ganlikun 0:13413ea9a877 133 virtual ~CAN();
ganlikun 0:13413ea9a877 134
ganlikun 0:13413ea9a877 135 /** Set the frequency of the CAN interface
ganlikun 0:13413ea9a877 136 *
ganlikun 0:13413ea9a877 137 * @param hz The bus frequency in hertz
ganlikun 0:13413ea9a877 138 *
ganlikun 0:13413ea9a877 139 * @returns
ganlikun 0:13413ea9a877 140 * 1 if successful,
ganlikun 0:13413ea9a877 141 * 0 otherwise
ganlikun 0:13413ea9a877 142 */
ganlikun 0:13413ea9a877 143 int frequency(int hz);
ganlikun 0:13413ea9a877 144
ganlikun 0:13413ea9a877 145 /** Write a CANMessage to the bus.
ganlikun 0:13413ea9a877 146 *
ganlikun 0:13413ea9a877 147 * @param msg The CANMessage to write.
ganlikun 0:13413ea9a877 148 *
ganlikun 0:13413ea9a877 149 * @returns
ganlikun 0:13413ea9a877 150 * 0 if write failed,
ganlikun 0:13413ea9a877 151 * 1 if write was successful
ganlikun 0:13413ea9a877 152 */
ganlikun 0:13413ea9a877 153 int write(CANMessage msg);
ganlikun 0:13413ea9a877 154
ganlikun 0:13413ea9a877 155 /** Read a CANMessage from the bus.
ganlikun 0:13413ea9a877 156 *
ganlikun 0:13413ea9a877 157 * @param msg A CANMessage to read to.
ganlikun 0:13413ea9a877 158 * @param handle message filter handle (0 for any message)
ganlikun 0:13413ea9a877 159 *
ganlikun 0:13413ea9a877 160 * @returns
ganlikun 0:13413ea9a877 161 * 0 if no message arrived,
ganlikun 0:13413ea9a877 162 * 1 if message arrived
ganlikun 0:13413ea9a877 163 */
ganlikun 0:13413ea9a877 164 int read(CANMessage &msg, int handle = 0);
ganlikun 0:13413ea9a877 165
ganlikun 0:13413ea9a877 166 /** Reset CAN interface.
ganlikun 0:13413ea9a877 167 *
ganlikun 0:13413ea9a877 168 * To use after error overflow.
ganlikun 0:13413ea9a877 169 */
ganlikun 0:13413ea9a877 170 void reset();
ganlikun 0:13413ea9a877 171
ganlikun 0:13413ea9a877 172 /** Puts or removes the CAN interface into silent monitoring mode
ganlikun 0:13413ea9a877 173 *
ganlikun 0:13413ea9a877 174 * @param silent boolean indicating whether to go into silent mode or not
ganlikun 0:13413ea9a877 175 */
ganlikun 0:13413ea9a877 176 void monitor(bool silent);
ganlikun 0:13413ea9a877 177
ganlikun 0:13413ea9a877 178 enum Mode {
ganlikun 0:13413ea9a877 179 Reset = 0,
ganlikun 0:13413ea9a877 180 Normal,
ganlikun 0:13413ea9a877 181 Silent,
ganlikun 0:13413ea9a877 182 LocalTest,
ganlikun 0:13413ea9a877 183 GlobalTest,
ganlikun 0:13413ea9a877 184 SilentTest
ganlikun 0:13413ea9a877 185 };
ganlikun 0:13413ea9a877 186
ganlikun 0:13413ea9a877 187 /** Change CAN operation to the specified mode
ganlikun 0:13413ea9a877 188 *
ganlikun 0:13413ea9a877 189 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
ganlikun 0:13413ea9a877 190 *
ganlikun 0:13413ea9a877 191 * @returns
ganlikun 0:13413ea9a877 192 * 0 if mode change failed or unsupported,
ganlikun 0:13413ea9a877 193 * 1 if mode change was successful
ganlikun 0:13413ea9a877 194 */
ganlikun 0:13413ea9a877 195 int mode(Mode mode);
ganlikun 0:13413ea9a877 196
ganlikun 0:13413ea9a877 197 /** Filter out incomming messages
ganlikun 0:13413ea9a877 198 *
ganlikun 0:13413ea9a877 199 * @param id the id to filter on
ganlikun 0:13413ea9a877 200 * @param mask the mask applied to the id
ganlikun 0:13413ea9a877 201 * @param format format to filter on (Default CANAny)
ganlikun 0:13413ea9a877 202 * @param handle message filter handle (Optional)
ganlikun 0:13413ea9a877 203 *
ganlikun 0:13413ea9a877 204 * @returns
ganlikun 0:13413ea9a877 205 * 0 if filter change failed or unsupported,
ganlikun 0:13413ea9a877 206 * new filter handle if successful
ganlikun 0:13413ea9a877 207 */
ganlikun 0:13413ea9a877 208 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
ganlikun 0:13413ea9a877 209
ganlikun 0:13413ea9a877 210 /** Detects read errors - Used to detect read overflow errors.
ganlikun 0:13413ea9a877 211 *
ganlikun 0:13413ea9a877 212 * @returns number of read errors
ganlikun 0:13413ea9a877 213 */
ganlikun 0:13413ea9a877 214 unsigned char rderror();
ganlikun 0:13413ea9a877 215
ganlikun 0:13413ea9a877 216 /** Detects write errors - Used to detect write overflow errors.
ganlikun 0:13413ea9a877 217 *
ganlikun 0:13413ea9a877 218 * @returns number of write errors
ganlikun 0:13413ea9a877 219 */
ganlikun 0:13413ea9a877 220 unsigned char tderror();
ganlikun 0:13413ea9a877 221
ganlikun 0:13413ea9a877 222 enum IrqType {
ganlikun 0:13413ea9a877 223 RxIrq = 0,
ganlikun 0:13413ea9a877 224 TxIrq,
ganlikun 0:13413ea9a877 225 EwIrq,
ganlikun 0:13413ea9a877 226 DoIrq,
ganlikun 0:13413ea9a877 227 WuIrq,
ganlikun 0:13413ea9a877 228 EpIrq,
ganlikun 0:13413ea9a877 229 AlIrq,
ganlikun 0:13413ea9a877 230 BeIrq,
ganlikun 0:13413ea9a877 231 IdIrq,
ganlikun 0:13413ea9a877 232
ganlikun 0:13413ea9a877 233 IrqCnt
ganlikun 0:13413ea9a877 234 };
ganlikun 0:13413ea9a877 235
ganlikun 0:13413ea9a877 236 /** Attach a function to call whenever a CAN frame received interrupt is
ganlikun 0:13413ea9a877 237 * generated.
ganlikun 0:13413ea9a877 238 *
ganlikun 0:13413ea9a877 239 * This function locks the deep sleep while a callback is attached
ganlikun 0:13413ea9a877 240 *
ganlikun 0:13413ea9a877 241 * @param func A pointer to a void function, or 0 to set as none
ganlikun 0:13413ea9a877 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 0:13413ea9a877 243 */
ganlikun 0:13413ea9a877 244 void attach(Callback<void()> func, IrqType type=RxIrq);
ganlikun 0:13413ea9a877 245
ganlikun 0:13413ea9a877 246 /** Attach a member function to call whenever a CAN frame received interrupt
ganlikun 0:13413ea9a877 247 * is generated.
ganlikun 0:13413ea9a877 248 *
ganlikun 0:13413ea9a877 249 * @param obj pointer to the object to call the member function on
ganlikun 0:13413ea9a877 250 * @param method pointer to the member function to be called
ganlikun 0:13413ea9a877 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 0:13413ea9a877 252 * @deprecated
ganlikun 0:13413ea9a877 253 * The attach function does not support cv-qualifiers. Replaced by
ganlikun 0:13413ea9a877 254 * attach(callback(obj, method), type).
ganlikun 0:13413ea9a877 255 */
ganlikun 0:13413ea9a877 256 template<typename T>
ganlikun 0:13413ea9a877 257 MBED_DEPRECATED_SINCE("mbed-os-5.1",
ganlikun 0:13413ea9a877 258 "The attach function does not support cv-qualifiers. Replaced by "
ganlikun 0:13413ea9a877 259 "attach(callback(obj, method), type).")
ganlikun 0:13413ea9a877 260 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
ganlikun 0:13413ea9a877 261 // Underlying call thread safe
ganlikun 0:13413ea9a877 262 attach(callback(obj, method), type);
ganlikun 0:13413ea9a877 263 }
ganlikun 0:13413ea9a877 264
ganlikun 0:13413ea9a877 265 /** Attach a member function to call whenever a CAN frame received interrupt
ganlikun 0:13413ea9a877 266 * is generated.
ganlikun 0:13413ea9a877 267 *
ganlikun 0:13413ea9a877 268 * @param obj pointer to the object to call the member function on
ganlikun 0:13413ea9a877 269 * @param method pointer to the member function to be called
ganlikun 0:13413ea9a877 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 0:13413ea9a877 271 * @deprecated
ganlikun 0:13413ea9a877 272 * The attach function does not support cv-qualifiers. Replaced by
ganlikun 0:13413ea9a877 273 * attach(callback(obj, method), type).
ganlikun 0:13413ea9a877 274 */
ganlikun 0:13413ea9a877 275 template<typename T>
ganlikun 0:13413ea9a877 276 MBED_DEPRECATED_SINCE("mbed-os-5.1",
ganlikun 0:13413ea9a877 277 "The attach function does not support cv-qualifiers. Replaced by "
ganlikun 0:13413ea9a877 278 "attach(callback(obj, method), type).")
ganlikun 0:13413ea9a877 279 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
ganlikun 0:13413ea9a877 280 // Underlying call thread safe
ganlikun 0:13413ea9a877 281 attach(callback(obj, method), type);
ganlikun 0:13413ea9a877 282 }
ganlikun 0:13413ea9a877 283
ganlikun 0:13413ea9a877 284 static void _irq_handler(uint32_t id, CanIrqType type);
ganlikun 0:13413ea9a877 285
ganlikun 0:13413ea9a877 286 protected:
ganlikun 0:13413ea9a877 287 virtual void lock();
ganlikun 0:13413ea9a877 288 virtual void unlock();
ganlikun 0:13413ea9a877 289 can_t _can;
ganlikun 0:13413ea9a877 290 Callback<void()> _irq[IrqCnt];
ganlikun 0:13413ea9a877 291 PlatformMutex _mutex;
ganlikun 0:13413ea9a877 292 };
ganlikun 0:13413ea9a877 293
ganlikun 0:13413ea9a877 294 } // namespace mbed
ganlikun 0:13413ea9a877 295
ganlikun 0:13413ea9a877 296 #endif
ganlikun 0:13413ea9a877 297
ganlikun 0:13413ea9a877 298 #endif // MBED_CAN_H