Diff: drivers/CAN.h

Revision:

0:5b88d5760320

Child:

1:9db0e321a9f4

diff -r 000000000000 -r 5b88d5760320 drivers/CAN.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/CAN.h	Tue Dec 17 23:23:45 2019 +0000
@@ -0,0 +1,329 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef MBED_CAN_H
+#define MBED_CAN_H
+
+#include "platform/platform.h"
+
+#if DEVICE_CAN || defined(DOXYGEN_ONLY)
+
+#include "hal/can_api.h"
+#include "platform/Callback.h"
+#include "platform/PlatformMutex.h"
+#include "platform/NonCopyable.h"
+
+namespace mbed {
+/** \addtogroup drivers */
+
+/** CANMessage class
+ *
+ * @note Synchronization level: Thread safe
+ * @ingroup drivers
+ */
+class CANMessage : public CAN_Message {
+
+public:
+    /** Creates empty CAN message.
+     */
+    CANMessage() : CAN_Message()
+    {
+        len    = 8U;
+        type   = CANData;
+        format = CANStandard;
+        id     = 0U;
+        memset(data, 0, 8);
+    }
+
+    /** Creates CAN message with specific content.
+     *
+     *  @param _id      Message ID
+     *  @param _data    Mesaage Data
+     *  @param _len     Message Data length
+     *  @param _type    Type of Data: Use enum CANType for valid parameter values
+     *  @param _format  Data Format: Use enum CANFormat for valid parameter values
+     */
+    CANMessage(unsigned int _id, const unsigned char *_data, unsigned char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard)
+    {
+        len    = _len & 0xF;
+        type   = _type;
+        format = _format;
+        id     = _id;
+        memcpy(data, _data, _len);
+    }
+
+
+    /** Creates CAN message with specific content.
+     *
+     *  @param _id      Message ID
+     *  @param _data    Mesaage Data
+     *  @param _len     Message Data length
+     *  @param _type    Type of Data: Use enum CANType for valid parameter values
+     *  @param _format  Data Format: Use enum CANFormat for valid parameter values
+     */
+    CANMessage(unsigned int _id, const char *_data, unsigned char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard)
+    {
+        len    = _len & 0xF;
+        type   = _type;
+        format = _format;
+        id     = _id;
+        memcpy(data, _data, _len);
+    }
+
+    /** Creates CAN remote message.
+     *
+     *  @param _id      Message ID
+     *  @param _format  Data Format: Use enum CANType for valid parameter values
+     */
+    CANMessage(unsigned int _id, CANFormat _format = CANStandard)
+    {
+        len    = 0;
+        type   = CANRemote;
+        format = _format;
+        id     = _id;
+        memset(data, 0, 8);
+    }
+};
+
+/** A can bus client, used for communicating with can devices
+ * @ingroup drivers
+ */
+class CAN : private NonCopyable<CAN> {
+
+public:
+    /** Creates a CAN interface connected to specific pins.
+     *
+     *  @param rd read from transmitter
+     *  @param td transmit to transmitter
+     *
+     * Example:
+     * @code
+     * #include "mbed.h"
+     *
+     *
+     * Ticker ticker;
+     * DigitalOut led1(LED1);
+     * DigitalOut led2(LED2);
+     * //The constructor takes in RX, and TX pin respectively.
+     * //These pins, for this example, are defined in mbed_app.json
+     * CAN can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD);
+     * CAN can2(MBED_CONF_APP_CAN2_RD, MBED_CONF_APP_CAN2_TD);
+     *
+     * unsigned char counter = 0;
+     *
+     * void send() {
+     *     if(can1.write(CANMessage(1337U, &counter, 1))) {
+     *         printf("Message sent: %d\n", counter);
+     *         counter++;
+     *     }
+     *     led1 = !led1;
+     * }
+     *
+     * int main() {
+     *     ticker.attach(&send, 1);
+     *     CANMessage msg;
+     *     while(1) {
+     *         if(can2.read(msg)) {
+     *             printf("Message received: %d\n\n", msg.data[0]);
+     *             led2 = !led2;
+     *         }
+     *         wait(0.2);
+     *     }
+     * }
+     *
+     * @endcode
+     */
+    CAN(PinName rd, PinName td);
+
+    /** Initialize CAN interface and set the frequency
+      *
+      * @param rd the read pin
+      * @param td the transmit pin
+      * @param hz the bus frequency in hertz
+      */
+    CAN(PinName rd, PinName td, int hz);
+
+    virtual ~CAN();
+
+    /** Set the frequency of the CAN interface
+     *
+     *  @param hz The bus frequency in hertz
+     *
+     *  @returns
+     *    1 if successful,
+     *    0 otherwise
+     */
+    int frequency(int hz);
+
+    /** Write a CANMessage to the bus.
+     *
+     *  @param msg The CANMessage to write.
+     *
+     *  @returns
+     *    0 if write failed,
+     *    1 if write was successful
+     */
+    int write(CANMessage msg);
+
+    /** Read a CANMessage from the bus.
+     *
+     *  @param msg A CANMessage to read to.
+     *  @param handle message filter handle (0 for any message)
+     *
+     *  @returns
+     *    0 if no message arrived,
+     *    1 if message arrived
+     */
+    int read(CANMessage &msg, int handle = 0);
+
+    /** Reset CAN interface.
+     *
+     * To use after error overflow.
+     */
+    void reset();
+
+    /** Puts or removes the CAN interface into silent monitoring mode
+     *
+     *  @param silent boolean indicating whether to go into silent mode or not
+     */
+    void monitor(bool silent);
+
+    enum Mode {
+        Reset = 0,
+        Normal,
+        Silent,
+        LocalTest,
+        GlobalTest,
+        SilentTest
+    };
+
+    /** Change CAN operation to the specified mode
+     *
+     *  @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
+     *
+     *  @returns
+     *    0 if mode change failed or unsupported,
+     *    1 if mode change was successful
+     */
+    int mode(Mode mode);
+
+    /** Filter out incoming messages
+     *
+     *  @param id the id to filter on
+     *  @param mask the mask applied to the id
+     *  @param format format to filter on (Default CANAny)
+     *  @param handle message filter handle (Optional)
+     *
+     *  @returns
+     *    0 if filter change failed or unsupported,
+     *    new filter handle if successful
+     */
+    int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
+
+    /**  Detects read errors - Used to detect read overflow errors.
+     *
+     *  @returns number of read errors
+     */
+    unsigned char rderror();
+
+    /** Detects write errors - Used to detect write overflow errors.
+     *
+     *  @returns number of write errors
+     */
+    unsigned char tderror();
+
+    enum IrqType {
+        RxIrq = 0,
+        TxIrq,
+        EwIrq,
+        DoIrq,
+        WuIrq,
+        EpIrq,
+        AlIrq,
+        BeIrq,
+        IdIrq,
+
+        IrqCnt
+    };
+
+    /** Attach a function to call whenever a CAN frame received interrupt is
+     *  generated.
+     *
+     *  This function locks the deep sleep while a callback is attached
+     *
+     *  @param func A pointer to a void function, or 0 to set as none
+     *  @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)
+     */
+    void attach(Callback<void()> func, IrqType type = RxIrq);
+
+    /** Attach a member function to call whenever a CAN frame received interrupt
+     *  is generated.
+     *
+     *  @param obj pointer to the object to call the member function on
+     *  @param method pointer to the member function to be called
+     *  @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)
+     *  @deprecated
+     *      The attach function does not support cv-qualifiers. Replaced by
+     *      attach(callback(obj, method), type).
+     */
+    template<typename T>
+    MBED_DEPRECATED_SINCE("mbed-os-5.1",
+                          "The attach function does not support cv-qualifiers. Replaced by "
+                          "attach(callback(obj, method), type).")
+    void attach(T *obj, void (T::*method)(), IrqType type = RxIrq)
+    {
+        // Underlying call thread safe
+        attach(callback(obj, method), type);
+    }
+
+    /** Attach a member function to call whenever a CAN frame received interrupt
+     *  is generated.
+     *
+     *  @param obj pointer to the object to call the member function on
+     *  @param method pointer to the member function to be called
+     *  @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)
+     *  @deprecated
+     *      The attach function does not support cv-qualifiers. Replaced by
+     *      attach(callback(obj, method), type).
+     */
+    template<typename T>
+    MBED_DEPRECATED_SINCE("mbed-os-5.1",
+                          "The attach function does not support cv-qualifiers. Replaced by "
+                          "attach(callback(obj, method), type).")
+    void attach(T *obj, void (*method)(T *), IrqType type = RxIrq)
+    {
+        // Underlying call thread safe
+        attach(callback(obj, method), type);
+    }
+
+    static void _irq_handler(uint32_t id, CanIrqType type);
+
+#if !defined(DOXYGEN_ONLY)
+protected:
+    virtual void lock();
+    virtual void unlock();
+    can_t               _can;
+    Callback<void()>    _irq[IrqCnt];
+    PlatformMutex       _mutex;
+#endif
+};
+
+} // namespace mbed
+
+#endif
+
+#endif    // MBED_CAN_H
+