CAN.h

00001 /* mbed Microcontroller Library
00002  * Copyright (c) 2006-2019 ARM Limited
00003  * SPDX-License-Identifier: Apache-2.0
00004  *
00005  * Licensed under the Apache License, Version 2.0 (the "License");
00006  * you may not use this file except in compliance with the License.
00007  * You may obtain a copy of the License at
00008  *
00009  *     http://www.apache.org/licenses/LICENSE-2.0
00010  *
00011  * Unless required by applicable law or agreed to in writing, software
00012  * distributed under the License is distributed on an "AS IS" BASIS,
00013  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00014  * See the License for the specific language governing permissions and
00015  * limitations under the License.
00016  */
00017 #ifndef MBED_CAN_H
00018 #define MBED_CAN_H
00019 
00020 #include "platform/platform.h"
00021 
00022 #if DEVICE_CAN || defined(DOXYGEN_ONLY)
00023 
00024 #include "hal/can_api.h"
00025 #include "platform/Callback.h"
00026 #include "platform/PlatformMutex.h"
00027 #include "platform/NonCopyable.h"
00028 
00029 namespace mbed {
00030 /** \defgroup drivers-public-api-can CAN
00031  * \ingroup drivers-public-api
00032  */
00033 
00034 /**
00035  * \defgroup drivers_CANMessage CANMessage class
00036  * \ingroup drivers-public-api-can
00037  * @{
00038  */
00039 
00040 /** CANMessage class
00041  *
00042  * @note Synchronization level: Thread safe
00043  */
00044 class CANMessage : public CAN_Message {
00045 
00046 public:
00047     /** Creates empty CAN message.
00048      */
00049     CANMessage() : CAN_Message()
00050     {
00051         len    = 8U;
00052         type   = CANData;
00053         format = CANStandard;
00054         id     = 0U;
00055         memset(data, 0, 8);
00056     }
00057 
00058     /** Creates CAN message with specific content.
00059      *
00060      *  @param _id      Message ID
00061      *  @param _data    Mesaage Data
00062      *  @param _len     Message Data length
00063      *  @param _type    Type of Data: Use enum CANType for valid parameter values
00064      *  @param _format  Data Format: Use enum CANFormat for valid parameter values
00065      */
00066     CANMessage(unsigned int _id, const unsigned char *_data, unsigned char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard)
00067     {
00068         len    = _len & 0xF;
00069         type   = _type;
00070         format = _format;
00071         id     = _id;
00072         memcpy(data, _data, _len);
00073     }
00074 
00075 
00076     /** Creates CAN message with specific content.
00077      *
00078      *  @param _id      Message ID
00079      *  @param _data    Mesaage Data
00080      *  @param _len     Message Data length
00081      *  @param _type    Type of Data: Use enum CANType for valid parameter values
00082      *  @param _format  Data Format: Use enum CANFormat for valid parameter values
00083      */
00084     CANMessage(unsigned int _id, const char *_data, unsigned char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard)
00085     {
00086         len    = _len & 0xF;
00087         type   = _type;
00088         format = _format;
00089         id     = _id;
00090         memcpy(data, _data, _len);
00091     }
00092 
00093     /** Creates CAN remote message.
00094      *
00095      *  @param _id      Message ID
00096      *  @param _format  Data Format: Use enum CANType for valid parameter values
00097      */
00098     CANMessage(unsigned int _id, CANFormat _format = CANStandard)
00099     {
00100         len    = 0;
00101         type   = CANRemote;
00102         format = _format;
00103         id     = _id;
00104         memset(data, 0, 8);
00105     }
00106 };
00107 
00108 /** @}*/
00109 
00110 /**
00111  * \defgroup drivers_CAN CAN class
00112  * \ingroup drivers-public-api-can
00113  * @{
00114  */
00115 
00116 /** A can bus client, used for communicating with can devices
00117  */
00118 class CAN : private NonCopyable<CAN> {
00119 
00120 public:
00121     /** Creates a CAN interface connected to specific pins.
00122      *
00123      *  @param rd read from transmitter
00124      *  @param td transmit to transmitter
00125      *
00126      * Example:
00127      * @code
00128      * #include "mbed.h"
00129      *
00130      *
00131      * Ticker ticker;
00132      * DigitalOut led1(LED1);
00133      * DigitalOut led2(LED2);
00134      * //The constructor takes in RX, and TX pin respectively.
00135      * //These pins, for this example, are defined in mbed_app.json
00136      * CAN can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD);
00137      * CAN can2(MBED_CONF_APP_CAN2_RD, MBED_CONF_APP_CAN2_TD);
00138      *
00139      * unsigned char counter = 0;
00140      *
00141      * void send() {
00142      *     if(can1.write(CANMessage(1337U, &counter, 1))) {
00143      *         printf("Message sent: %d\n", counter);
00144      *         counter++;
00145      *     }
00146      *     led1 = !led1;
00147      * }
00148      *
00149      * int main() {
00150      *     ticker.attach(&send, 1);
00151      *     CANMessage msg;
00152      *     while(1) {
00153      *         if(can2.read(msg)) {
00154      *             printf("Message received: %d\n\n", msg.data[0]);
00155      *             led2 = !led2;
00156      *         }
00157      *         wait(0.2);
00158      *     }
00159      * }
00160      *
00161      * @endcode
00162      */
00163     CAN(PinName rd, PinName td);
00164 
00165     /** Initialize CAN interface and set the frequency
00166       *
00167       * @param rd the read pin
00168       * @param td the transmit pin
00169       * @param hz the bus frequency in hertz
00170       */
00171     CAN(PinName rd, PinName td, int hz);
00172 
00173     /** Initialize CAN interface
00174       *
00175       * @param pinmap reference to structure which holds static pinmap
00176       * @param td the transmit pin
00177       * @param hz the bus frequency in hertz
00178       */
00179     CAN(const can_pinmap_t &pinmap);
00180     CAN(const can_pinmap_t &&) = delete; // prevent passing of temporary objects
00181 
00182     /** Initialize CAN interface and set the frequency
00183       *
00184       * @param pinmap reference to structure which holds static pinmap
00185       * @param td the transmit pin
00186       * @param hz the bus frequency in hertz
00187       */
00188     CAN(const can_pinmap_t &pinmap, int hz);
00189     CAN(const can_pinmap_t &&, int) = delete; // prevent passing of temporary objects
00190 
00191     virtual ~CAN();
00192 
00193     /** Set the frequency of the CAN interface
00194      *
00195      *  @param hz The bus frequency in hertz
00196      *
00197      *  @returns
00198      *    1 if successful,
00199      *    0 otherwise
00200      */
00201     int frequency(int hz);
00202 
00203     /** Write a CANMessage to the bus.
00204      *
00205      *  @param msg The CANMessage to write.
00206      *
00207      *  @returns
00208      *    0 if write failed,
00209      *    1 if write was successful
00210      */
00211     int write(CANMessage msg);
00212 
00213     /** Read a CANMessage from the bus.
00214      *
00215      *  @param msg A CANMessage to read to.
00216      *  @param handle message filter handle (0 for any message)
00217      *
00218      *  @returns
00219      *    0 if no message arrived,
00220      *    1 if message arrived
00221      */
00222     int read(CANMessage &msg, int handle = 0);
00223 
00224     /** Reset CAN interface.
00225      *
00226      * To use after error overflow.
00227      */
00228     void reset();
00229 
00230     /** Puts or removes the CAN interface into silent monitoring mode
00231      *
00232      *  @param silent boolean indicating whether to go into silent mode or not
00233      */
00234     void monitor(bool silent);
00235 
00236     enum Mode {
00237         Reset = 0,
00238         Normal,
00239         Silent,
00240         LocalTest,
00241         GlobalTest,
00242         SilentTest
00243     };
00244 
00245     /** Change CAN operation to the specified mode
00246      *
00247      *  @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
00248      *
00249      *  @returns
00250      *    0 if mode change failed or unsupported,
00251      *    1 if mode change was successful
00252      */
00253     int mode(Mode mode);
00254 
00255     /** Filter out incoming messages
00256      *
00257      *  @param id the id to filter on
00258      *  @param mask the mask applied to the id
00259      *  @param format format to filter on (Default CANAny)
00260      *  @param handle message filter handle (Optional)
00261      *
00262      *  @returns
00263      *    0 if filter change failed or unsupported,
00264      *    new filter handle if successful
00265      */
00266     int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
00267 
00268     /**  Detects read errors - Used to detect read overflow errors.
00269      *
00270      *  @returns number of read errors
00271      */
00272     unsigned char rderror();
00273 
00274     /** Detects write errors - Used to detect write overflow errors.
00275      *
00276      *  @returns number of write errors
00277      */
00278     unsigned char tderror();
00279 
00280     enum IrqType {
00281         RxIrq = 0,
00282         TxIrq,
00283         EwIrq,
00284         DoIrq,
00285         WuIrq,
00286         EpIrq,
00287         AlIrq,
00288         BeIrq,
00289         IdIrq,
00290 
00291         IrqCnt
00292     };
00293 
00294     /** Attach a function to call whenever a CAN frame received interrupt is
00295      *  generated.
00296      *
00297      *  This function locks the deep sleep while a callback is attached
00298      *
00299      *  @param func A pointer to a void function, or 0 to set as none
00300      *  @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)
00301      */
00302     void attach(Callback<void()> func, IrqType type = RxIrq);
00303 
00304     /** Attach a member function to call whenever a CAN frame received interrupt
00305      *  is generated.
00306      *
00307      *  @param obj pointer to the object to call the member function on
00308      *  @param method pointer to the member function to be called
00309      *  @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)
00310      *  @deprecated
00311      *      The attach function does not support cv-qualifiers. Replaced by
00312      *      attach(callback(obj, method), type).
00313      */
00314     template<typename T>
00315     MBED_DEPRECATED_SINCE("mbed-os-5.1",
00316                           "The attach function does not support cv-qualifiers. Replaced by "
00317                           "attach(callback(obj, method), type).")
00318     void attach(T *obj, void (T::*method)(), IrqType type = RxIrq)
00319     {
00320         // Underlying call thread safe
00321         attach(callback(obj, method), type);
00322     }
00323 
00324     /** Attach a member function to call whenever a CAN frame received interrupt
00325      *  is generated.
00326      *
00327      *  @param obj pointer to the object to call the member function on
00328      *  @param method pointer to the member function to be called
00329      *  @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)
00330      *  @deprecated
00331      *      The attach function does not support cv-qualifiers. Replaced by
00332      *      attach(callback(obj, method), type).
00333      */
00334     template<typename T>
00335     MBED_DEPRECATED_SINCE("mbed-os-5.1",
00336                           "The attach function does not support cv-qualifiers. Replaced by "
00337                           "attach(callback(obj, method), type).")
00338     void attach(T *obj, void (*method)(T *), IrqType type = RxIrq)
00339     {
00340         // Underlying call thread safe
00341         attach(callback(obj, method), type);
00342     }
00343 
00344     static void _irq_handler(uint32_t id, CanIrqType type);
00345 
00346 #if !defined(DOXYGEN_ONLY)
00347 protected:
00348     virtual void lock();
00349     virtual void unlock();
00350 
00351     can_t               _can;
00352     Callback<void()>    _irq[IrqCnt];
00353     PlatformMutex       _mutex;
00354 #endif
00355 };
00356 
00357 /** @}*/
00358 
00359 } // namespace mbed
00360 
00361 #endif
00362 
00363 #endif    // MBED_CAN_H