CAN.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 #ifndef MBED_CAN_H
00017 #define MBED_CAN_H
00018 
00019 #include "platform/platform.h"
00020 
00021 #if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY)
00022 
00023 #include "hal/can_api.h"
00024 #include "platform/Callback.h"
00025 #include "platform/PlatformMutex.h"
00026 #include "platform/NonCopyable.h"
00027 
00028 namespace mbed {
00029 /** \addtogroup drivers */
00030 
00031 /** CANMessage class
00032  *
00033  * @note Synchronization level: Thread safe
00034  * @ingroup drivers
00035  */
00036 class CANMessage : public CAN_Message {
00037 
00038 public:
00039     /** Creates empty CAN message.
00040      */
00041     CANMessage() : CAN_Message()
00042     {
00043         len    = 8;
00044         type   = CANData;
00045         format = CANStandard;
00046         id     = 0;
00047         memset(data, 0, 8);
00048     }
00049 
00050     /** Creates CAN message with specific content.
00051      *
00052      *  @param _id      Message ID
00053      *  @param _data    Mesaage Data
00054      *  @param _len     Message Data length
00055      *  @param _type    Type of Data: Use enum CANType for valid parameter values
00056      *  @param _format  Data Format: Use enum CANFormat for valid parameter values
00057      */
00058     CANMessage(unsigned _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard)
00059     {
00060         len    = _len & 0xF;
00061         type   = _type;
00062         format = _format;
00063         id     = _id;
00064         memcpy(data, _data, _len);
00065     }
00066 
00067     /** Creates CAN remote message.
00068      *
00069      *  @param _id      Message ID
00070      *  @param _format  Data Format: Use enum CANType for valid parameter values
00071      */
00072     CANMessage(unsigned _id, CANFormat _format = CANStandard)
00073     {
00074         len    = 0;
00075         type   = CANRemote;
00076         format = _format;
00077         id     = _id;
00078         memset(data, 0, 8);
00079     }
00080 };
00081 
00082 /** A can bus client, used for communicating with can devices
00083  * @ingroup drivers
00084  */
00085 class CAN : private NonCopyable<CAN> {
00086 
00087 public:
00088     /** Creates an CAN interface connected to specific pins.
00089      *
00090      *  @param rd read from transmitter
00091      *  @param td transmit to transmitter
00092      *
00093      * Example:
00094      * @code
00095      * #include "mbed.h"
00096      *
00097      * Ticker ticker;
00098      * DigitalOut led1(LED1);
00099      * DigitalOut led2(LED2);
00100      * CAN can1(p9, p10);
00101      * CAN can2(p30, p29);
00102      *
00103      * char counter = 0;
00104      *
00105      * void send() {
00106      *     if(can1.write(CANMessage(1337, &counter, 1))) {
00107      *         printf("Message sent: %d\n", counter);
00108      *         counter++;
00109      *     }
00110      *     led1 = !led1;
00111      * }
00112      *
00113      * int main() {
00114      *     ticker.attach(&send, 1);
00115      *    CANMessage msg;
00116      *     while(1) {
00117      *         if(can2.read(msg)) {
00118      *             printf("Message received: %d\n\n", msg.data[0]);
00119      *             led2 = !led2;
00120      *         }
00121      *         wait(0.2);
00122      *     }
00123      * }
00124      * @endcode
00125      */
00126     CAN(PinName rd, PinName td);
00127 
00128     /** Initialize CAN interface and set the frequency
00129       *
00130       * @param rd the rd pin
00131       * @param td the td pin
00132       * @param hz the bus frequency in hertz
00133       */
00134     CAN(PinName rd, PinName td, int hz);
00135 
00136     virtual ~CAN();
00137 
00138     /** Set the frequency of the CAN interface
00139      *
00140      *  @param hz The bus frequency in hertz
00141      *
00142      *  @returns
00143      *    1 if successful,
00144      *    0 otherwise
00145      */
00146     int frequency(int hz);
00147 
00148     /** Write a CANMessage to the bus.
00149      *
00150      *  @param msg The CANMessage to write.
00151      *
00152      *  @returns
00153      *    0 if write failed,
00154      *    1 if write was successful
00155      */
00156     int write(CANMessage msg);
00157 
00158     /** Read a CANMessage from the bus.
00159      *
00160      *  @param msg A CANMessage to read to.
00161      *  @param handle message filter handle (0 for any message)
00162      *
00163      *  @returns
00164      *    0 if no message arrived,
00165      *    1 if message arrived
00166      */
00167     int read(CANMessage &msg, int handle = 0);
00168 
00169     /** Reset CAN interface.
00170      *
00171      * To use after error overflow.
00172      */
00173     void reset();
00174 
00175     /** Puts or removes the CAN interface into silent monitoring mode
00176      *
00177      *  @param silent boolean indicating whether to go into silent mode or not
00178      */
00179     void monitor(bool silent);
00180 
00181     enum Mode {
00182         Reset = 0,
00183         Normal,
00184         Silent,
00185         LocalTest,
00186         GlobalTest,
00187         SilentTest
00188     };
00189 
00190     /** Change CAN operation to the specified mode
00191      *
00192      *  @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
00193      *
00194      *  @returns
00195      *    0 if mode change failed or unsupported,
00196      *    1 if mode change was successful
00197      */
00198     int mode(Mode mode);
00199 
00200     /** Filter out incomming messages
00201      *
00202      *  @param id the id to filter on
00203      *  @param mask the mask applied to the id
00204      *  @param format format to filter on (Default CANAny)
00205      *  @param handle message filter handle (Optional)
00206      *
00207      *  @returns
00208      *    0 if filter change failed or unsupported,
00209      *    new filter handle if successful
00210      */
00211     int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
00212 
00213     /**  Detects read errors - Used to detect read overflow errors.
00214      *
00215      *  @returns number of read errors
00216      */
00217     unsigned char rderror();
00218 
00219     /** Detects write errors - Used to detect write overflow errors.
00220      *
00221      *  @returns number of write errors
00222      */
00223     unsigned char tderror();
00224 
00225     enum IrqType {
00226         RxIrq = 0,
00227         TxIrq,
00228         EwIrq,
00229         DoIrq,
00230         WuIrq,
00231         EpIrq,
00232         AlIrq,
00233         BeIrq,
00234         IdIrq,
00235 
00236         IrqCnt
00237     };
00238 
00239     /** Attach a function to call whenever a CAN frame received interrupt is
00240      *  generated.
00241      *
00242      *  This function locks the deep sleep while a callback is attached
00243      *
00244      *  @param func A pointer to a void function, or 0 to set as none
00245      *  @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)
00246      */
00247     void attach(Callback<void()> func, IrqType type = RxIrq);
00248 
00249     /** Attach a member function to call whenever a CAN frame received interrupt
00250      *  is generated.
00251      *
00252      *  @param obj pointer to the object to call the member function on
00253      *  @param method pointer to the member function to be called
00254      *  @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)
00255      *  @deprecated
00256      *      The attach function does not support cv-qualifiers. Replaced by
00257      *      attach(callback(obj, method), type).
00258      */
00259     template<typename T>
00260     MBED_DEPRECATED_SINCE("mbed-os-5.1",
00261                           "The attach function does not support cv-qualifiers. Replaced by "
00262                           "attach(callback(obj, method), type).")
00263     void attach(T *obj, void (T::*method)(), IrqType type = RxIrq)
00264     {
00265         // Underlying call thread safe
00266         attach(callback(obj, method), type);
00267     }
00268 
00269     /** Attach a member function to call whenever a CAN frame received interrupt
00270      *  is generated.
00271      *
00272      *  @param obj pointer to the object to call the member function on
00273      *  @param method pointer to the member function to be called
00274      *  @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)
00275      *  @deprecated
00276      *      The attach function does not support cv-qualifiers. Replaced by
00277      *      attach(callback(obj, method), type).
00278      */
00279     template<typename T>
00280     MBED_DEPRECATED_SINCE("mbed-os-5.1",
00281                           "The attach function does not support cv-qualifiers. Replaced by "
00282                           "attach(callback(obj, method), type).")
00283     void attach(T *obj, void (*method)(T *), IrqType type = RxIrq)
00284     {
00285         // Underlying call thread safe
00286         attach(callback(obj, method), type);
00287     }
00288 
00289     static void _irq_handler(uint32_t id, CanIrqType type);
00290 
00291 protected:
00292     virtual void lock();
00293     virtual void unlock();
00294     can_t               _can;
00295     Callback<void()>    _irq[IrqCnt];
00296     PlatformMutex       _mutex;
00297 };
00298 
00299 } // namespace mbed
00300 
00301 #endif
00302 
00303 #endif    // MBED_CAN_H
00304