CANnucleo.h

00001 /* mbed Microcontroller Library
00002  * Copyright (c) 2006-2013 ARM Limited
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016  * Modified by Zoltan Hudak    <hudakz@outlook.com>
00017  *
00018  */
00019 #ifndef CANNUCLEO_H
00020 #define CANNUCLEO_H
00021 
00022 #include "platform.h"
00023 #include "cannucleo_api.h"
00024 #include "can_helper.h"
00025 #include "Callback.h"
00026 #include "PlatformMutex.h"
00027 
00028 /** CANMessage class
00029  */
00030 class CANMessage : public CAN_Message
00031 {
00032 
00033 public:
00034     /** Creates empty CAN message.
00035      */
00036     CANMessage() : CAN_Message() {
00037         len    = 8;
00038         type   = CANData;
00039         format = CANStandard;
00040         id     = 0;
00041         memset(data, 0, 8);
00042     }
00043 
00044     /** Creates CAN message with specific content.
00045      */
00046     CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
00047         len    = _len & 0xF;
00048         type   = _type;
00049         format = _format;
00050         id     = _id;
00051         memcpy(data, _data, _len);
00052     }
00053 
00054     /** Creates CAN remote message.
00055      */
00056     CANMessage(int _id, CANFormat _format = CANStandard) {
00057         len    = 0;
00058         type   = CANRemote;
00059         format = _format;
00060         id     = _id;
00061         memset(data, 0, 8);
00062     }
00063 
00064     /*********************************************************************/
00065     /*********************************************************************/
00066     /*********************************************************************/
00067     /** Copy constructor.
00068      */
00069     CANMessage(const CANMessage& canMessage) {
00070         len     = canMessage.len;
00071         type    = canMessage.type;
00072         format  = canMessage.format;
00073         id      = canMessage.id;
00074         memcpy(data, canMessage.data, canMessage.len);
00075     }
00076 
00077     /** Clears CAN message content
00078      */
00079     void clear(void) {
00080         len    = 0;
00081         type   = CANData;
00082         format = CANStandard;
00083         id     = 0;
00084         memset(data, 0, 8);
00085     };
00086 
00087     /** Inserter operator: Appends data (value) to CAN message
00088      */
00089     template<class T>
00090     CANMessage &operator<<(const T val) {
00091         if(len + sizeof(T) <= 8) {
00092             *reinterpret_cast < T * > (&data[len]) = val;
00093             len += sizeof(T);
00094         } 
00095 #if DEBUG
00096         else {
00097             printf("Error: Cannot append data. Exceeding CAN data length!\r\n");
00098         }
00099 #endif
00100        return *this;
00101     }
00102 
00103     /** Extractor operator: Extracts data (value) from CAN message
00104      */
00105     template<class T>
00106     CANMessage &operator>>(T& val) {
00107         if(sizeof(T) <= len) {
00108             val = *reinterpret_cast < T * > (&data[0]);
00109             len -= sizeof(T);
00110             memcpy(data, data + sizeof(T), len);
00111         } 
00112 #if DEBUG
00113         else {
00114             printf("Error: Cannot extract data. Exceeding CAN data length!\r\n");
00115         }
00116 #endif
00117         return *this;
00118     }
00119 
00120 };
00121 
00122 /** A can bus client, used for communicating with can devices
00123  */
00124 class CAN
00125 {
00126 
00127 public:
00128     /** Creates an CAN interface connected to specific pins.
00129      *
00130      *  @param rd read from transmitter
00131      *  @param td transmit to transmitter
00132      *
00133      * Example:
00134      * @code
00135      * #include "mbed.h"
00136      * #include "CAN.h"
00137      *
00138      * Ticker ticker;
00139      * DigitalOut led1(LED1);
00140      * CAN can(PA_11, PA_12);
00141      *
00142      * char counter = 0;
00143      *
00144      * void send() {
00145      *     if(can.write(CANMessage(1337, &counter, 1))) {
00146      *         printf("Message sent: %d\n", counter);
00147      *         counter++;
00148      *     }
00149      *     led1 = !led1;
00150      * }
00151      *
00152      * int main() {
00153      *     ticker.attach(&send, 1);
00154      *     CANMessage msg;
00155      *     while(1) {
00156      *         if(can.read(msg)) {
00157      *             printf("Message received: %d\n\n", msg.data[0]);
00158      *             led1 = !led1;
00159      *         }
00160      *         wait(0.2);
00161      *     }
00162      * }
00163      * @endcode
00164      */
00165      
00166     /** Constructor
00167      *
00168      * @param rd CAN receiver pin name
00169      * @param td CAN transmitter pin name
00170      * @param abom Automatic recovery from bus-off state (default value set to enabled)
00171      *
00172      */
00173     CAN(PinName rd, PinName td, FunctionalState abom = ENABLE);
00174 
00175     virtual ~CAN ();
00176 
00177     /** Set the frequency of the CAN interface
00178      *
00179      *  @param hz The bus frequency in hertz
00180      *
00181      *  @returns
00182      *    1 if successful,
00183      *    0 otherwise
00184      */
00185     int frequency(int hz);
00186 
00187     /** Write a CANMessage to the bus.
00188      *
00189      *  @param msg The CANMessage to write.
00190      *
00191      *  @returns
00192      *    0 if write failed,
00193      *    1 if write was successful
00194      */
00195     int write(CANMessage msg);
00196 
00197     /** Read a CANMessage from the bus.
00198      *
00199      *  @param msg A CANMessage to read to.
00200      *  @param handle message filter handle (0 for any message)
00201      *
00202      *  @returns
00203      *    0 if no message arrived,
00204      *    1 if message arrived
00205      */
00206     int read(CANMessage &msg, int handle = 0);
00207 
00208     /** Reset CAN interface.
00209      *
00210      * To use after error overflow.
00211      */
00212     void reset();
00213 
00214     /** Puts or removes the CAN interface into silent monitoring mode
00215      *
00216      *  @param silent boolean indicating whether to go into silent mode or not
00217      */
00218     void monitor(bool silent);
00219 
00220     enum Mode {
00221         Reset = 0,
00222         Normal,
00223         Silent,
00224         LocalTest,
00225         GlobalTest,
00226         SilentTest
00227     };
00228 
00229     /** Change CAN operation to the specified mode
00230      *
00231      *  @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
00232      *
00233      *  @returns
00234      *    0 if mode change failed or unsupported,
00235      *    1 if mode change was successful
00236      */
00237     int mode(Mode mode);
00238 
00239     /** Filter out incomming messages
00240      *
00241      *  @param id the id to filter on
00242      *  @param mask the mask applied to the id
00243      *  @param format format to filter on (Default CANAny)
00244      *  @param handle message filter handle (Optional)
00245      *
00246      *  @retval  0 - successful
00247      *           1 - error
00248      *           2 - busy
00249      *           3 - time out 
00250      */
00251     int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
00252 
00253     /** Returns number of read errors to detect read overflow errors.
00254      */
00255     unsigned char rderror();
00256 
00257     /** Returns number of write errors to detect write overflow errors.
00258      */
00259     unsigned char tderror();
00260 
00261     enum IrqType {
00262         RxIrq = 0,
00263         TxIrq,
00264         EwIrq,
00265         DoIrq,
00266         WuIrq,
00267         EpIrq,
00268         AlIrq,
00269         BeIrq,
00270         IdIrq
00271     };
00272 
00273     /** Attach a function to call whenever a CAN frame received interrupt is
00274      *  generated.
00275      *
00276      *  @param func A pointer to a void function, or 0 to set as none
00277      *  @param event Which CAN interrupt to attach the member function to (only CAN::RxIrq for message received is supported)
00278      */
00279     void attach(mbed::Callback<void()> func, IrqType type=RxIrq);
00280 
00281    /** Attach a member function to call whenever a CAN frame received interrupt
00282     *  is generated.
00283     *
00284     *  @param obj pointer to the object to call the member function on
00285     *  @param method pointer to the member function to be called
00286     *  @param event Which CAN interrupt to attach the member function to (only CAN::RxIrq for message received is supported)
00287     */
00288     template<typename T>
00289     void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
00290         // Underlying call thread safe
00291         attach(Callback<void()>(obj, method), type);
00292     }
00293 
00294    /** Attach a member function to call whenever a CAN frame received interrupt
00295     *  is generated.
00296     *
00297     *  @param obj pointer to the object to call the member function on
00298     *  @param method pointer to the member function to be called
00299     *  @param event Which CAN interrupt to attach the member function to (only CAN::RxIrq for message received is supported)
00300     */
00301     template<typename T>
00302     void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
00303         // Underlying call thread safe
00304         attach(Callback<void()>(obj, method), type);
00305     }
00306 
00307 
00308     static void _irq_handler (uint32_t id, CanIrqType type);
00309 
00310 protected:
00311     virtual void            lock();
00312     virtual void            unlock();
00313     mbed::Callback<void()>  _irq[9];
00314     PlatformMutex           _mutex;
00315 };
00316 
00317 #endif    // CAN_NUCLEO_H
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