takashi kadono / Mbed OS Nucleo_446

Color Oled(SSD1331) connect to STMicroelectronics Nucleo-F466

Dependencies:   ssd1331

mbed-os/drivers/CAN.h@3:f3764f852aa8, 2018-10-11 (annotated)

Committer:
kadonotakashi
Date:
Thu Oct 11 02:27:46 2018 +0000
Revision:
3:f3764f852aa8
Parent:
0:8fdf9a60065b 
Nucreo 446 + SSD1331 test version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kadonotakashi 0:8fdf9a60065b 1 /* mbed Microcontroller Library
kadonotakashi 0:8fdf9a60065b 2 * Copyright (c) 2006-2013 ARM Limited
kadonotakashi 0:8fdf9a60065b 3 *
kadonotakashi 0:8fdf9a60065b 4 * Licensed under the Apache License, Version 2.0 (the "License");
kadonotakashi 0:8fdf9a60065b 5 * you may not use this file except in compliance with the License.
kadonotakashi 0:8fdf9a60065b 6 * You may obtain a copy of the License at
kadonotakashi 0:8fdf9a60065b 7 *
kadonotakashi 0:8fdf9a60065b 8 * http://www.apache.org/licenses/LICENSE-2.0
kadonotakashi 0:8fdf9a60065b 9 *
kadonotakashi 0:8fdf9a60065b 10 * Unless required by applicable law or agreed to in writing, software
kadonotakashi 0:8fdf9a60065b 11 * distributed under the License is distributed on an "AS IS" BASIS,
kadonotakashi 0:8fdf9a60065b 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
kadonotakashi 0:8fdf9a60065b 13 * See the License for the specific language governing permissions and
kadonotakashi 0:8fdf9a60065b 14 * limitations under the License.
kadonotakashi 0:8fdf9a60065b 15 */
kadonotakashi 0:8fdf9a60065b 16 #ifndef MBED_CAN_H
kadonotakashi 0:8fdf9a60065b 17 #define MBED_CAN_H
kadonotakashi 0:8fdf9a60065b 18
kadonotakashi 0:8fdf9a60065b 19 #include "platform/platform.h"
kadonotakashi 0:8fdf9a60065b 20
kadonotakashi 0:8fdf9a60065b 21 #if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY)
kadonotakashi 0:8fdf9a60065b 22
kadonotakashi 0:8fdf9a60065b 23 #include "hal/can_api.h"
kadonotakashi 0:8fdf9a60065b 24 #include "platform/Callback.h"
kadonotakashi 0:8fdf9a60065b 25 #include "platform/PlatformMutex.h"
kadonotakashi 0:8fdf9a60065b 26 #include "platform/NonCopyable.h"
kadonotakashi 0:8fdf9a60065b 27
kadonotakashi 0:8fdf9a60065b 28 namespace mbed {
kadonotakashi 0:8fdf9a60065b 29 /** \addtogroup drivers */
kadonotakashi 0:8fdf9a60065b 30
kadonotakashi 0:8fdf9a60065b 31 /** CANMessage class
kadonotakashi 0:8fdf9a60065b 32 *
kadonotakashi 0:8fdf9a60065b 33 * @note Synchronization level: Thread safe
kadonotakashi 0:8fdf9a60065b 34 * @ingroup drivers
kadonotakashi 0:8fdf9a60065b 35 */
kadonotakashi 0:8fdf9a60065b 36 class CANMessage : public CAN_Message {
kadonotakashi 0:8fdf9a60065b 37
kadonotakashi 0:8fdf9a60065b 38 public:
kadonotakashi 0:8fdf9a60065b 39 /** Creates empty CAN message.
kadonotakashi 0:8fdf9a60065b 40 */
kadonotakashi 0:8fdf9a60065b 41 CANMessage() : CAN_Message()
kadonotakashi 0:8fdf9a60065b 42 {
kadonotakashi 0:8fdf9a60065b 43 len = 8;
kadonotakashi 0:8fdf9a60065b 44 type = CANData;
kadonotakashi 0:8fdf9a60065b 45 format = CANStandard;
kadonotakashi 0:8fdf9a60065b 46 id = 0;
kadonotakashi 0:8fdf9a60065b 47 memset(data, 0, 8);
kadonotakashi 0:8fdf9a60065b 48 }
kadonotakashi 0:8fdf9a60065b 49
kadonotakashi 0:8fdf9a60065b 50 /** Creates CAN message with specific content.
kadonotakashi 0:8fdf9a60065b 51 *
kadonotakashi 0:8fdf9a60065b 52 * @param _id Message ID
kadonotakashi 0:8fdf9a60065b 53 * @param _data Mesaage Data
kadonotakashi 0:8fdf9a60065b 54 * @param _len Message Data length
kadonotakashi 0:8fdf9a60065b 55 * @param _type Type of Data: Use enum CANType for valid parameter values
kadonotakashi 0:8fdf9a60065b 56 * @param _format Data Format: Use enum CANFormat for valid parameter values
kadonotakashi 0:8fdf9a60065b 57 */
kadonotakashi 0:8fdf9a60065b 58 CANMessage(unsigned _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard)
kadonotakashi 0:8fdf9a60065b 59 {
kadonotakashi 0:8fdf9a60065b 60 len = _len & 0xF;
kadonotakashi 0:8fdf9a60065b 61 type = _type;
kadonotakashi 0:8fdf9a60065b 62 format = _format;
kadonotakashi 0:8fdf9a60065b 63 id = _id;
kadonotakashi 0:8fdf9a60065b 64 memcpy(data, _data, _len);
kadonotakashi 0:8fdf9a60065b 65 }
kadonotakashi 0:8fdf9a60065b 66
kadonotakashi 0:8fdf9a60065b 67 /** Creates CAN remote message.
kadonotakashi 0:8fdf9a60065b 68 *
kadonotakashi 0:8fdf9a60065b 69 * @param _id Message ID
kadonotakashi 0:8fdf9a60065b 70 * @param _format Data Format: Use enum CANType for valid parameter values
kadonotakashi 0:8fdf9a60065b 71 */
kadonotakashi 0:8fdf9a60065b 72 CANMessage(unsigned _id, CANFormat _format = CANStandard)
kadonotakashi 0:8fdf9a60065b 73 {
kadonotakashi 0:8fdf9a60065b 74 len = 0;
kadonotakashi 0:8fdf9a60065b 75 type = CANRemote;
kadonotakashi 0:8fdf9a60065b 76 format = _format;
kadonotakashi 0:8fdf9a60065b 77 id = _id;
kadonotakashi 0:8fdf9a60065b 78 memset(data, 0, 8);
kadonotakashi 0:8fdf9a60065b 79 }
kadonotakashi 0:8fdf9a60065b 80 };
kadonotakashi 0:8fdf9a60065b 81
kadonotakashi 0:8fdf9a60065b 82 /** A can bus client, used for communicating with can devices
kadonotakashi 0:8fdf9a60065b 83 * @ingroup drivers
kadonotakashi 0:8fdf9a60065b 84 */
kadonotakashi 0:8fdf9a60065b 85 class CAN : private NonCopyable<CAN> {
kadonotakashi 0:8fdf9a60065b 86
kadonotakashi 0:8fdf9a60065b 87 public:
kadonotakashi 0:8fdf9a60065b 88 /** Creates an CAN interface connected to specific pins.
kadonotakashi 0:8fdf9a60065b 89 *
kadonotakashi 0:8fdf9a60065b 90 * @param rd read from transmitter
kadonotakashi 0:8fdf9a60065b 91 * @param td transmit to transmitter
kadonotakashi 0:8fdf9a60065b 92 *
kadonotakashi 0:8fdf9a60065b 93 * Example:
kadonotakashi 0:8fdf9a60065b 94 * @code
kadonotakashi 0:8fdf9a60065b 95 * #include "mbed.h"
kadonotakashi 0:8fdf9a60065b 96 *
kadonotakashi 0:8fdf9a60065b 97 * Ticker ticker;
kadonotakashi 0:8fdf9a60065b 98 * DigitalOut led1(LED1);
kadonotakashi 0:8fdf9a60065b 99 * DigitalOut led2(LED2);
kadonotakashi 0:8fdf9a60065b 100 * CAN can1(p9, p10);
kadonotakashi 0:8fdf9a60065b 101 * CAN can2(p30, p29);
kadonotakashi 0:8fdf9a60065b 102 *
kadonotakashi 0:8fdf9a60065b 103 * char counter = 0;
kadonotakashi 0:8fdf9a60065b 104 *
kadonotakashi 0:8fdf9a60065b 105 * void send() {
kadonotakashi 0:8fdf9a60065b 106 * if(can1.write(CANMessage(1337, &counter, 1))) {
kadonotakashi 0:8fdf9a60065b 107 * printf("Message sent: %d\n", counter);
kadonotakashi 0:8fdf9a60065b 108 * counter++;
kadonotakashi 0:8fdf9a60065b 109 * }
kadonotakashi 0:8fdf9a60065b 110 * led1 = !led1;
kadonotakashi 0:8fdf9a60065b 111 * }
kadonotakashi 0:8fdf9a60065b 112 *
kadonotakashi 0:8fdf9a60065b 113 * int main() {
kadonotakashi 0:8fdf9a60065b 114 * ticker.attach(&send, 1);
kadonotakashi 0:8fdf9a60065b 115 * CANMessage msg;
kadonotakashi 0:8fdf9a60065b 116 * while(1) {
kadonotakashi 0:8fdf9a60065b 117 * if(can2.read(msg)) {
kadonotakashi 0:8fdf9a60065b 118 * printf("Message received: %d\n\n", msg.data[0]);
kadonotakashi 0:8fdf9a60065b 119 * led2 = !led2;
kadonotakashi 0:8fdf9a60065b 120 * }
kadonotakashi 0:8fdf9a60065b 121 * wait(0.2);
kadonotakashi 0:8fdf9a60065b 122 * }
kadonotakashi 0:8fdf9a60065b 123 * }
kadonotakashi 0:8fdf9a60065b 124 * @endcode
kadonotakashi 0:8fdf9a60065b 125 */
kadonotakashi 0:8fdf9a60065b 126 CAN(PinName rd, PinName td);
kadonotakashi 0:8fdf9a60065b 127
kadonotakashi 0:8fdf9a60065b 128 /** Initialize CAN interface and set the frequency
kadonotakashi 0:8fdf9a60065b 129 *
kadonotakashi 0:8fdf9a60065b 130 * @param rd the rd pin
kadonotakashi 0:8fdf9a60065b 131 * @param td the td pin
kadonotakashi 0:8fdf9a60065b 132 * @param hz the bus frequency in hertz
kadonotakashi 0:8fdf9a60065b 133 */
kadonotakashi 0:8fdf9a60065b 134 CAN(PinName rd, PinName td, int hz);
kadonotakashi 0:8fdf9a60065b 135
kadonotakashi 0:8fdf9a60065b 136 virtual ~CAN();
kadonotakashi 0:8fdf9a60065b 137
kadonotakashi 0:8fdf9a60065b 138 /** Set the frequency of the CAN interface
kadonotakashi 0:8fdf9a60065b 139 *
kadonotakashi 0:8fdf9a60065b 140 * @param hz The bus frequency in hertz
kadonotakashi 0:8fdf9a60065b 141 *
kadonotakashi 0:8fdf9a60065b 142 * @returns
kadonotakashi 0:8fdf9a60065b 143 * 1 if successful,
kadonotakashi 0:8fdf9a60065b 144 * 0 otherwise
kadonotakashi 0:8fdf9a60065b 145 */
kadonotakashi 0:8fdf9a60065b 146 int frequency(int hz);
kadonotakashi 0:8fdf9a60065b 147
kadonotakashi 0:8fdf9a60065b 148 /** Write a CANMessage to the bus.
kadonotakashi 0:8fdf9a60065b 149 *
kadonotakashi 0:8fdf9a60065b 150 * @param msg The CANMessage to write.
kadonotakashi 0:8fdf9a60065b 151 *
kadonotakashi 0:8fdf9a60065b 152 * @returns
kadonotakashi 0:8fdf9a60065b 153 * 0 if write failed,
kadonotakashi 0:8fdf9a60065b 154 * 1 if write was successful
kadonotakashi 0:8fdf9a60065b 155 */
kadonotakashi 0:8fdf9a60065b 156 int write(CANMessage msg);
kadonotakashi 0:8fdf9a60065b 157
kadonotakashi 0:8fdf9a60065b 158 /** Read a CANMessage from the bus.
kadonotakashi 0:8fdf9a60065b 159 *
kadonotakashi 0:8fdf9a60065b 160 * @param msg A CANMessage to read to.
kadonotakashi 0:8fdf9a60065b 161 * @param handle message filter handle (0 for any message)
kadonotakashi 0:8fdf9a60065b 162 *
kadonotakashi 0:8fdf9a60065b 163 * @returns
kadonotakashi 0:8fdf9a60065b 164 * 0 if no message arrived,
kadonotakashi 0:8fdf9a60065b 165 * 1 if message arrived
kadonotakashi 0:8fdf9a60065b 166 */
kadonotakashi 0:8fdf9a60065b 167 int read(CANMessage &msg, int handle = 0);
kadonotakashi 0:8fdf9a60065b 168
kadonotakashi 0:8fdf9a60065b 169 /** Reset CAN interface.
kadonotakashi 0:8fdf9a60065b 170 *
kadonotakashi 0:8fdf9a60065b 171 * To use after error overflow.
kadonotakashi 0:8fdf9a60065b 172 */
kadonotakashi 0:8fdf9a60065b 173 void reset();
kadonotakashi 0:8fdf9a60065b 174
kadonotakashi 0:8fdf9a60065b 175 /** Puts or removes the CAN interface into silent monitoring mode
kadonotakashi 0:8fdf9a60065b 176 *
kadonotakashi 0:8fdf9a60065b 177 * @param silent boolean indicating whether to go into silent mode or not
kadonotakashi 0:8fdf9a60065b 178 */
kadonotakashi 0:8fdf9a60065b 179 void monitor(bool silent);
kadonotakashi 0:8fdf9a60065b 180
kadonotakashi 0:8fdf9a60065b 181 enum Mode {
kadonotakashi 0:8fdf9a60065b 182 Reset = 0,
kadonotakashi 0:8fdf9a60065b 183 Normal,
kadonotakashi 0:8fdf9a60065b 184 Silent,
kadonotakashi 0:8fdf9a60065b 185 LocalTest,
kadonotakashi 0:8fdf9a60065b 186 GlobalTest,
kadonotakashi 0:8fdf9a60065b 187 SilentTest
kadonotakashi 0:8fdf9a60065b 188 };
kadonotakashi 0:8fdf9a60065b 189
kadonotakashi 0:8fdf9a60065b 190 /** Change CAN operation to the specified mode
kadonotakashi 0:8fdf9a60065b 191 *
kadonotakashi 0:8fdf9a60065b 192 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
kadonotakashi 0:8fdf9a60065b 193 *
kadonotakashi 0:8fdf9a60065b 194 * @returns
kadonotakashi 0:8fdf9a60065b 195 * 0 if mode change failed or unsupported,
kadonotakashi 0:8fdf9a60065b 196 * 1 if mode change was successful
kadonotakashi 0:8fdf9a60065b 197 */
kadonotakashi 0:8fdf9a60065b 198 int mode(Mode mode);
kadonotakashi 0:8fdf9a60065b 199
kadonotakashi 0:8fdf9a60065b 200 /** Filter out incomming messages
kadonotakashi 0:8fdf9a60065b 201 *
kadonotakashi 0:8fdf9a60065b 202 * @param id the id to filter on
kadonotakashi 0:8fdf9a60065b 203 * @param mask the mask applied to the id
kadonotakashi 0:8fdf9a60065b 204 * @param format format to filter on (Default CANAny)
kadonotakashi 0:8fdf9a60065b 205 * @param handle message filter handle (Optional)
kadonotakashi 0:8fdf9a60065b 206 *
kadonotakashi 0:8fdf9a60065b 207 * @returns
kadonotakashi 0:8fdf9a60065b 208 * 0 if filter change failed or unsupported,
kadonotakashi 0:8fdf9a60065b 209 * new filter handle if successful
kadonotakashi 0:8fdf9a60065b 210 */
kadonotakashi 0:8fdf9a60065b 211 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
kadonotakashi 0:8fdf9a60065b 212
kadonotakashi 0:8fdf9a60065b 213 /** Detects read errors - Used to detect read overflow errors.
kadonotakashi 0:8fdf9a60065b 214 *
kadonotakashi 0:8fdf9a60065b 215 * @returns number of read errors
kadonotakashi 0:8fdf9a60065b 216 */
kadonotakashi 0:8fdf9a60065b 217 unsigned char rderror();
kadonotakashi 0:8fdf9a60065b 218
kadonotakashi 0:8fdf9a60065b 219 /** Detects write errors - Used to detect write overflow errors.
kadonotakashi 0:8fdf9a60065b 220 *
kadonotakashi 0:8fdf9a60065b 221 * @returns number of write errors
kadonotakashi 0:8fdf9a60065b 222 */
kadonotakashi 0:8fdf9a60065b 223 unsigned char tderror();
kadonotakashi 0:8fdf9a60065b 224
kadonotakashi 0:8fdf9a60065b 225 enum IrqType {
kadonotakashi 0:8fdf9a60065b 226 RxIrq = 0,
kadonotakashi 0:8fdf9a60065b 227 TxIrq,
kadonotakashi 0:8fdf9a60065b 228 EwIrq,
kadonotakashi 0:8fdf9a60065b 229 DoIrq,
kadonotakashi 0:8fdf9a60065b 230 WuIrq,
kadonotakashi 0:8fdf9a60065b 231 EpIrq,
kadonotakashi 0:8fdf9a60065b 232 AlIrq,
kadonotakashi 0:8fdf9a60065b 233 BeIrq,
kadonotakashi 0:8fdf9a60065b 234 IdIrq,
kadonotakashi 0:8fdf9a60065b 235
kadonotakashi 0:8fdf9a60065b 236 IrqCnt
kadonotakashi 0:8fdf9a60065b 237 };
kadonotakashi 0:8fdf9a60065b 238
kadonotakashi 0:8fdf9a60065b 239 /** Attach a function to call whenever a CAN frame received interrupt is
kadonotakashi 0:8fdf9a60065b 240 * generated.
kadonotakashi 0:8fdf9a60065b 241 *
kadonotakashi 0:8fdf9a60065b 242 * This function locks the deep sleep while a callback is attached
kadonotakashi 0:8fdf9a60065b 243 *
kadonotakashi 0:8fdf9a60065b 244 * @param func A pointer to a void function, or 0 to set as none
kadonotakashi 0:8fdf9a60065b 245 * @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)
kadonotakashi 0:8fdf9a60065b 246 */
kadonotakashi 0:8fdf9a60065b 247 void attach(Callback<void()> func, IrqType type = RxIrq);
kadonotakashi 0:8fdf9a60065b 248
kadonotakashi 0:8fdf9a60065b 249 /** Attach a member function to call whenever a CAN frame received interrupt
kadonotakashi 0:8fdf9a60065b 250 * is generated.
kadonotakashi 0:8fdf9a60065b 251 *
kadonotakashi 0:8fdf9a60065b 252 * @param obj pointer to the object to call the member function on
kadonotakashi 0:8fdf9a60065b 253 * @param method pointer to the member function to be called
kadonotakashi 0:8fdf9a60065b 254 * @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)
kadonotakashi 0:8fdf9a60065b 255 * @deprecated
kadonotakashi 0:8fdf9a60065b 256 * The attach function does not support cv-qualifiers. Replaced by
kadonotakashi 0:8fdf9a60065b 257 * attach(callback(obj, method), type).
kadonotakashi 0:8fdf9a60065b 258 */
kadonotakashi 0:8fdf9a60065b 259 template<typename T>
kadonotakashi 0:8fdf9a60065b 260 MBED_DEPRECATED_SINCE("mbed-os-5.1",
kadonotakashi 0:8fdf9a60065b 261 "The attach function does not support cv-qualifiers. Replaced by "
kadonotakashi 0:8fdf9a60065b 262 "attach(callback(obj, method), type).")
kadonotakashi 0:8fdf9a60065b 263 void attach(T *obj, void (T::*method)(), IrqType type = RxIrq)
kadonotakashi 0:8fdf9a60065b 264 {
kadonotakashi 0:8fdf9a60065b 265 // Underlying call thread safe
kadonotakashi 0:8fdf9a60065b 266 attach(callback(obj, method), type);
kadonotakashi 0:8fdf9a60065b 267 }
kadonotakashi 0:8fdf9a60065b 268
kadonotakashi 0:8fdf9a60065b 269 /** Attach a member function to call whenever a CAN frame received interrupt
kadonotakashi 0:8fdf9a60065b 270 * is generated.
kadonotakashi 0:8fdf9a60065b 271 *
kadonotakashi 0:8fdf9a60065b 272 * @param obj pointer to the object to call the member function on
kadonotakashi 0:8fdf9a60065b 273 * @param method pointer to the member function to be called
kadonotakashi 0:8fdf9a60065b 274 * @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)
kadonotakashi 0:8fdf9a60065b 275 * @deprecated
kadonotakashi 0:8fdf9a60065b 276 * The attach function does not support cv-qualifiers. Replaced by
kadonotakashi 0:8fdf9a60065b 277 * attach(callback(obj, method), type).
kadonotakashi 0:8fdf9a60065b 278 */
kadonotakashi 0:8fdf9a60065b 279 template<typename T>
kadonotakashi 0:8fdf9a60065b 280 MBED_DEPRECATED_SINCE("mbed-os-5.1",
kadonotakashi 0:8fdf9a60065b 281 "The attach function does not support cv-qualifiers. Replaced by "
kadonotakashi 0:8fdf9a60065b 282 "attach(callback(obj, method), type).")
kadonotakashi 0:8fdf9a60065b 283 void attach(T *obj, void (*method)(T *), IrqType type = RxIrq)
kadonotakashi 0:8fdf9a60065b 284 {
kadonotakashi 0:8fdf9a60065b 285 // Underlying call thread safe
kadonotakashi 0:8fdf9a60065b 286 attach(callback(obj, method), type);
kadonotakashi 0:8fdf9a60065b 287 }
kadonotakashi 0:8fdf9a60065b 288
kadonotakashi 0:8fdf9a60065b 289 static void _irq_handler(uint32_t id, CanIrqType type);
kadonotakashi 0:8fdf9a60065b 290
kadonotakashi 0:8fdf9a60065b 291 protected:
kadonotakashi 0:8fdf9a60065b 292 virtual void lock();
kadonotakashi 0:8fdf9a60065b 293 virtual void unlock();
kadonotakashi 0:8fdf9a60065b 294 can_t _can;
kadonotakashi 0:8fdf9a60065b 295 Callback<void()> _irq[IrqCnt];
kadonotakashi 0:8fdf9a60065b 296 PlatformMutex _mutex;
kadonotakashi 0:8fdf9a60065b 297 };
kadonotakashi 0:8fdf9a60065b 298
kadonotakashi 0:8fdf9a60065b 299 } // namespace mbed
kadonotakashi 0:8fdf9a60065b 300
kadonotakashi 0:8fdf9a60065b 301 #endif
kadonotakashi 0:8fdf9a60065b 302
kadonotakashi 0:8fdf9a60065b 303 #endif // MBED_CAN_H
kadonotakashi 0:8fdf9a60065b 304