Revision 5:d1920eb1d63e, committed 2020-09-12

Comitter:

garivetm

Date:

Sat Sep 12 12:36:45 2020 +0000

Parent:

4:0ed21bbd917b

Commit message:

Enable Bus Off auto management ; Pass Rx and TX as constructor parameters ; Add a timeout to the write method.

Changed in this revision

--- a/ControllerCAN.cpp	Sat May 05 13:46:16 2018 +0000
+++ b/ControllerCAN.cpp	Sat Sep 12 12:36:45 2020 +0000
@@ -5,7 +5,7 @@
 INSTITUTION : IUT de CACHAN - 9 av. de la div. Leclerc - 94230 CACHAN                
                                                                                       
 VERSIONS    : v1 (03/07/2012) : FIFO organisation                             
-              v2 (18/02/2016) : Controller aand Peripheral organisation
+              v2 (18/02/2016) : Controller and Peripheral organisation
 
 ****************************************************************************
 Copyright 2016 LARNAUDIE GARIVET
@@ -25,11 +25,13 @@
 #include "mbed.h"
 #include "ControllerCAN.h"
 
-CAN ControllerCAN::can(PA_8, PA_9);
-
-ControllerCAN::ControllerCAN(){
-    can.frequency(250000);              // Baud rate : kbits/s
+ControllerCAN::ControllerCAN(PinName rd, PinName td) : can(rd, td, 250000) {
+    // Enable bus off auto mangement
+    unsigned long* CAN_MCR = (unsigned long*) 0x40006400;
+    *CAN_MCR |= CAN_MCR_ABOM;
+    
     can.attach(callback(this, &ControllerCAN::can_ISR_Reader));        // CAN ISR
+    
     FIFO_ecriture = 0;
     FIFO_lecture = 0;
     FIFO_occupation = 0;
@@ -64,9 +66,9 @@
     if(FIFO_occupation!=0)
     {
         char res = 0;
-        for (int i = 0; i < peripherals.size(); i++){
+        for (uint32_t i = 0; i < peripherals.size(); i++){
             vector<unsigned short*> IdsRead = peripherals[i]->getIdsRead();
-            for (int j = 0; j < IdsRead.size() ; j++){
+            for (uint32_t j = 0; j < IdsRead.size() ; j++){
                 if (can_MsgRx[FIFO_lecture].id == *(IdsRead[j])){
                     peripherals[i]->update(*(IdsRead[j]), can_MsgRx[FIFO_lecture]);
                     res = 1;

--- a/ControllerCAN.h	Sat May 05 13:46:16 2018 +0000
+++ b/ControllerCAN.h	Sat Sep 12 12:36:45 2020 +0000
@@ -69,8 +69,11 @@
 class ControllerCAN {
     public :
     /** Create ControllerCAN instance
+     *
+     * @param rx Rd pin
+     * @param tx td pin
      */
-    ControllerCAN();
+    ControllerCAN(PinName rd, PinName td);
     
     /** Destroy ControllerCAN instance
      */
@@ -114,7 +117,7 @@
     
     private :
     
-    static CAN can;
+    CAN can;
     vector<PeripheralCAN*> peripherals;
     unsigned char FIFO_ecriture;
     signed char FIFO_lecture;

--- a/PeripheralCAN.cpp	Sat May 05 13:46:16 2018 +0000
+++ b/PeripheralCAN.cpp	Sat Sep 12 12:36:45 2020 +0000
@@ -5,7 +5,7 @@
 INSTITUTION : IUT de CACHAN - 9 av. de la div. Leclerc - 94230 CACHAN                
                                                                                       
 VERSIONS    : v1 (03/07/2012) : FIFO organisation                             
-               v2 (18/02/2016) : Controller aand Peripheral organisation
+              v2 (18/02/2016) : Controller aand Peripheral organisation
 
 ****************************************************************************
 Copyright 2016 LARNAUDIE GARIVET
@@ -36,13 +36,22 @@
     IdsRead.push_back(Id);
 }
 
-void PeripheralCAN::writeOnCAN(unsigned short Id, const char *data, char len){
-    if (len != 0){
-        while(!controllerCAN->writeData(Id, data, len));
-    }
-    else{
-        while(!controllerCAN->writeRemote(Id));
-    }
+bool PeripheralCAN::writeOnCAN(unsigned short Id, const char *data, char len, unsigned int timeout){
+    uint32_t tickstart = 0;
+
+    /* Get start tick value */
+    tickstart = HAL_GetTick();
+    
+    do{
+        if (len != 0){
+            if(controllerCAN->writeData(Id, data, len)) return true;
+        }
+        else{
+            if(controllerCAN->writeRemote(Id)) return true;
+        }
+    } while((HAL_GetTick() - tickstart) < timeout);
+    
+    return false;
 }
 
 void PeripheralCAN::init(void){

--- a/PeripheralCAN.h	Sat May 05 13:46:16 2018 +0000
+++ b/PeripheralCAN.h	Sat Sep 12 12:36:45 2020 +0000
@@ -63,8 +63,11 @@
      * @param Id Id message
      * @param data char array containing data to be send
      * @param len size of the data array 
+     * @param timeout timeout value in ms (if 0 only one write attempt)
+     *
+     * @returns Write status : true if message was successfully sent, false else.
      */
-    void writeOnCAN(unsigned short Id, const char *data, char len);
+    bool writeOnCAN(unsigned short Id, const char *data, char len, unsigned int timeout = 0);
     //short readOnCAN(unsigned short Id, CANMessage& msg);
     
     /** Get the IdsRead vector
@@ -75,6 +78,8 @@
     
     private :
     vector<unsigned short*> IdsRead;
+
+    protected:
     ControllerCAN* controllerCAN;
 };