K AKAGAWA / Mbed 2 deprecated F446_rosserial_V7_EncoderVersion_101

Kenshiro_program_sw

Dependencies:   mbed QEI ros_lib_kinetic USBDevice

CAN.h@1:979cc2a56e7e, 2019-05-17 (annotated)

Committer:
ksingyuunyuu
Date:
Fri May 17 07:40:50 2019 +0000
Revision:
1:979cc2a56e7e
20190517;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ksingyuunyuu 1:979cc2a56e7e 1 /* mbed Microcontroller Library
ksingyuunyuu 1:979cc2a56e7e 2 * Copyright (c) 2006-2013 ARM Limited
ksingyuunyuu 1:979cc2a56e7e 3 *
ksingyuunyuu 1:979cc2a56e7e 4 * Licensed under the Apache License, Version 2.0 (the "License");
ksingyuunyuu 1:979cc2a56e7e 5 * you may not use this file except in compliance with the License.
ksingyuunyuu 1:979cc2a56e7e 6 * You may obtain a copy of the License at
ksingyuunyuu 1:979cc2a56e7e 7 *
ksingyuunyuu 1:979cc2a56e7e 8 * http://www.apache.org/licenses/LICENSE-2.0
ksingyuunyuu 1:979cc2a56e7e 9 *
ksingyuunyuu 1:979cc2a56e7e 10 * Unless required by applicable law or agreed to in writing, software
ksingyuunyuu 1:979cc2a56e7e 11 * distributed under the License is distributed on an "AS IS" BASIS,
ksingyuunyuu 1:979cc2a56e7e 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ksingyuunyuu 1:979cc2a56e7e 13 * See the License for the specific language governing permissions and
ksingyuunyuu 1:979cc2a56e7e 14 * limitations under the License.
ksingyuunyuu 1:979cc2a56e7e 15 */
ksingyuunyuu 1:979cc2a56e7e 16 #ifndef MBED_CAN_H
ksingyuunyuu 1:979cc2a56e7e 17 #define MBED_CAN_H
ksingyuunyuu 1:979cc2a56e7e 18
ksingyuunyuu 1:979cc2a56e7e 19 #include "platform.h"
ksingyuunyuu 1:979cc2a56e7e 20
ksingyuunyuu 1:979cc2a56e7e 21 #if DEVICE_CAN
ksingyuunyuu 1:979cc2a56e7e 22
ksingyuunyuu 1:979cc2a56e7e 23 #include "can_api.h"
ksingyuunyuu 1:979cc2a56e7e 24 #include "can_helper.h"
ksingyuunyuu 1:979cc2a56e7e 25 #include "FunctionPointer.h"
ksingyuunyuu 1:979cc2a56e7e 26
ksingyuunyuu 1:979cc2a56e7e 27 namespace mbed {
ksingyuunyuu 1:979cc2a56e7e 28
ksingyuunyuu 1:979cc2a56e7e 29 /** CANMessage class
ksingyuunyuu 1:979cc2a56e7e 30 */
ksingyuunyuu 1:979cc2a56e7e 31 class CANMessage : public CAN_Message {
ksingyuunyuu 1:979cc2a56e7e 32
ksingyuunyuu 1:979cc2a56e7e 33 public:
ksingyuunyuu 1:979cc2a56e7e 34 /** Creates empty CAN message.
ksingyuunyuu 1:979cc2a56e7e 35 */
ksingyuunyuu 1:979cc2a56e7e 36 CANMessage() : CAN_Message() {
ksingyuunyuu 1:979cc2a56e7e 37 len = 8;
ksingyuunyuu 1:979cc2a56e7e 38 type = CANData;
ksingyuunyuu 1:979cc2a56e7e 39 format = CANStandard;
ksingyuunyuu 1:979cc2a56e7e 40 id = 0;
ksingyuunyuu 1:979cc2a56e7e 41 memset(data, 0, 8);
ksingyuunyuu 1:979cc2a56e7e 42 }
ksingyuunyuu 1:979cc2a56e7e 43
ksingyuunyuu 1:979cc2a56e7e 44 /** Creates CAN message with specific content.
ksingyuunyuu 1:979cc2a56e7e 45 */
ksingyuunyuu 1:979cc2a56e7e 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
ksingyuunyuu 1:979cc2a56e7e 47 len = _len & 0xF;
ksingyuunyuu 1:979cc2a56e7e 48 type = _type;
ksingyuunyuu 1:979cc2a56e7e 49 format = _format;
ksingyuunyuu 1:979cc2a56e7e 50 id = _id;
ksingyuunyuu 1:979cc2a56e7e 51 memcpy(data, _data, _len);
ksingyuunyuu 1:979cc2a56e7e 52 }
ksingyuunyuu 1:979cc2a56e7e 53
ksingyuunyuu 1:979cc2a56e7e 54 /** Creates CAN remote message.
ksingyuunyuu 1:979cc2a56e7e 55 */
ksingyuunyuu 1:979cc2a56e7e 56 CANMessage(int _id, CANFormat _format = CANStandard) {
ksingyuunyuu 1:979cc2a56e7e 57 len = 0;
ksingyuunyuu 1:979cc2a56e7e 58 type = CANRemote;
ksingyuunyuu 1:979cc2a56e7e 59 format = _format;
ksingyuunyuu 1:979cc2a56e7e 60 id = _id;
ksingyuunyuu 1:979cc2a56e7e 61 memset(data, 0, 8);
ksingyuunyuu 1:979cc2a56e7e 62 }
ksingyuunyuu 1:979cc2a56e7e 63 };
ksingyuunyuu 1:979cc2a56e7e 64
ksingyuunyuu 1:979cc2a56e7e 65 /** A can bus client, used for communicating with can devices
ksingyuunyuu 1:979cc2a56e7e 66 */
ksingyuunyuu 1:979cc2a56e7e 67 class CAN {
ksingyuunyuu 1:979cc2a56e7e 68
ksingyuunyuu 1:979cc2a56e7e 69 public:
ksingyuunyuu 1:979cc2a56e7e 70 /** Creates an CAN interface connected to specific pins.
ksingyuunyuu 1:979cc2a56e7e 71 *
ksingyuunyuu 1:979cc2a56e7e 72 * @param rd read from transmitter
ksingyuunyuu 1:979cc2a56e7e 73 * @param td transmit to transmitter
ksingyuunyuu 1:979cc2a56e7e 74 *
ksingyuunyuu 1:979cc2a56e7e 75 * Example:
ksingyuunyuu 1:979cc2a56e7e 76 * @code
ksingyuunyuu 1:979cc2a56e7e 77 * #include "mbed.h"
ksingyuunyuu 1:979cc2a56e7e 78 *
ksingyuunyuu 1:979cc2a56e7e 79 * Ticker ticker;
ksingyuunyuu 1:979cc2a56e7e 80 * DigitalOut led1(LED1);
ksingyuunyuu 1:979cc2a56e7e 81 * DigitalOut led2(LED2);
ksingyuunyuu 1:979cc2a56e7e 82 * CAN can1(p9, p10);
ksingyuunyuu 1:979cc2a56e7e 83 * CAN can2(p30, p29);
ksingyuunyuu 1:979cc2a56e7e 84 *
ksingyuunyuu 1:979cc2a56e7e 85 * char counter = 0;
ksingyuunyuu 1:979cc2a56e7e 86 *
ksingyuunyuu 1:979cc2a56e7e 87 * void send() {
ksingyuunyuu 1:979cc2a56e7e 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
ksingyuunyuu 1:979cc2a56e7e 89 * printf("Message sent: %d\n", counter);
ksingyuunyuu 1:979cc2a56e7e 90 * counter++;
ksingyuunyuu 1:979cc2a56e7e 91 * }
ksingyuunyuu 1:979cc2a56e7e 92 * led1 = !led1;
ksingyuunyuu 1:979cc2a56e7e 93 * }
ksingyuunyuu 1:979cc2a56e7e 94 *
ksingyuunyuu 1:979cc2a56e7e 95 * int main() {
ksingyuunyuu 1:979cc2a56e7e 96 * ticker.attach(&send, 1);
ksingyuunyuu 1:979cc2a56e7e 97 * CANMessage msg;
ksingyuunyuu 1:979cc2a56e7e 98 * while(1) {
ksingyuunyuu 1:979cc2a56e7e 99 * if(can2.read(msg)) {
ksingyuunyuu 1:979cc2a56e7e 100 * printf("Message received: %d\n\n", msg.data[0]);
ksingyuunyuu 1:979cc2a56e7e 101 * led2 = !led2;
ksingyuunyuu 1:979cc2a56e7e 102 * }
ksingyuunyuu 1:979cc2a56e7e 103 * wait(0.2);
ksingyuunyuu 1:979cc2a56e7e 104 * }
ksingyuunyuu 1:979cc2a56e7e 105 * }
ksingyuunyuu 1:979cc2a56e7e 106 * @endcode
ksingyuunyuu 1:979cc2a56e7e 107 */
ksingyuunyuu 1:979cc2a56e7e 108 CAN(PinName rd, PinName td);
ksingyuunyuu 1:979cc2a56e7e 109 virtual ~CAN();
ksingyuunyuu 1:979cc2a56e7e 110
ksingyuunyuu 1:979cc2a56e7e 111 /** Set the frequency of the CAN interface
ksingyuunyuu 1:979cc2a56e7e 112 *
ksingyuunyuu 1:979cc2a56e7e 113 * @param hz The bus frequency in hertz
ksingyuunyuu 1:979cc2a56e7e 114 *
ksingyuunyuu 1:979cc2a56e7e 115 * @returns
ksingyuunyuu 1:979cc2a56e7e 116 * 1 if successful,
ksingyuunyuu 1:979cc2a56e7e 117 * 0 otherwise
ksingyuunyuu 1:979cc2a56e7e 118 */
ksingyuunyuu 1:979cc2a56e7e 119 int frequency(int hz);
ksingyuunyuu 1:979cc2a56e7e 120
ksingyuunyuu 1:979cc2a56e7e 121 /** Write a CANMessage to the bus.
ksingyuunyuu 1:979cc2a56e7e 122 *
ksingyuunyuu 1:979cc2a56e7e 123 * @param msg The CANMessage to write.
ksingyuunyuu 1:979cc2a56e7e 124 *
ksingyuunyuu 1:979cc2a56e7e 125 * @returns
ksingyuunyuu 1:979cc2a56e7e 126 * 0 if write failed,
ksingyuunyuu 1:979cc2a56e7e 127 * 1 if write was successful
ksingyuunyuu 1:979cc2a56e7e 128 */
ksingyuunyuu 1:979cc2a56e7e 129 int write(CANMessage msg);
ksingyuunyuu 1:979cc2a56e7e 130
ksingyuunyuu 1:979cc2a56e7e 131 /** Read a CANMessage from the bus.
ksingyuunyuu 1:979cc2a56e7e 132 *
ksingyuunyuu 1:979cc2a56e7e 133 * @param msg A CANMessage to read to.
ksingyuunyuu 1:979cc2a56e7e 134 * @param handle message filter handle (0 for any message)
ksingyuunyuu 1:979cc2a56e7e 135 *
ksingyuunyuu 1:979cc2a56e7e 136 * @returns
ksingyuunyuu 1:979cc2a56e7e 137 * 0 if no message arrived,
ksingyuunyuu 1:979cc2a56e7e 138 * 1 if message arrived
ksingyuunyuu 1:979cc2a56e7e 139 */
ksingyuunyuu 1:979cc2a56e7e 140 int read(CANMessage &msg, int handle = 0);
ksingyuunyuu 1:979cc2a56e7e 141
ksingyuunyuu 1:979cc2a56e7e 142 /** Reset CAN interface.
ksingyuunyuu 1:979cc2a56e7e 143 *
ksingyuunyuu 1:979cc2a56e7e 144 * To use after error overflow.
ksingyuunyuu 1:979cc2a56e7e 145 */
ksingyuunyuu 1:979cc2a56e7e 146 void reset();
ksingyuunyuu 1:979cc2a56e7e 147
ksingyuunyuu 1:979cc2a56e7e 148 /** Puts or removes the CAN interface into silent monitoring mode
ksingyuunyuu 1:979cc2a56e7e 149 *
ksingyuunyuu 1:979cc2a56e7e 150 * @param silent boolean indicating whether to go into silent mode or not
ksingyuunyuu 1:979cc2a56e7e 151 */
ksingyuunyuu 1:979cc2a56e7e 152 void monitor(bool silent);
ksingyuunyuu 1:979cc2a56e7e 153
ksingyuunyuu 1:979cc2a56e7e 154 enum Mode {
ksingyuunyuu 1:979cc2a56e7e 155 Reset = 0,
ksingyuunyuu 1:979cc2a56e7e 156 Normal,
ksingyuunyuu 1:979cc2a56e7e 157 Silent,
ksingyuunyuu 1:979cc2a56e7e 158 LocalTest,
ksingyuunyuu 1:979cc2a56e7e 159 GlobalTest,
ksingyuunyuu 1:979cc2a56e7e 160 SilentTest
ksingyuunyuu 1:979cc2a56e7e 161 };
ksingyuunyuu 1:979cc2a56e7e 162
ksingyuunyuu 1:979cc2a56e7e 163 /** Change CAN operation to the specified mode
ksingyuunyuu 1:979cc2a56e7e 164 *
ksingyuunyuu 1:979cc2a56e7e 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
ksingyuunyuu 1:979cc2a56e7e 166 *
ksingyuunyuu 1:979cc2a56e7e 167 * @returns
ksingyuunyuu 1:979cc2a56e7e 168 * 0 if mode change failed or unsupported,
ksingyuunyuu 1:979cc2a56e7e 169 * 1 if mode change was successful
ksingyuunyuu 1:979cc2a56e7e 170 */
ksingyuunyuu 1:979cc2a56e7e 171 int mode(Mode mode);
ksingyuunyuu 1:979cc2a56e7e 172
ksingyuunyuu 1:979cc2a56e7e 173 /** Filter out incomming messages
ksingyuunyuu 1:979cc2a56e7e 174 *
ksingyuunyuu 1:979cc2a56e7e 175 * @param id the id to filter on
ksingyuunyuu 1:979cc2a56e7e 176 * @param mask the mask applied to the id
ksingyuunyuu 1:979cc2a56e7e 177 * @param format format to filter on (Default CANAny)
ksingyuunyuu 1:979cc2a56e7e 178 * @param handle message filter handle (Optional)
ksingyuunyuu 1:979cc2a56e7e 179 *
ksingyuunyuu 1:979cc2a56e7e 180 * @returns
ksingyuunyuu 1:979cc2a56e7e 181 * 0 if filter change failed or unsupported,
ksingyuunyuu 1:979cc2a56e7e 182 * new filter handle if successful
ksingyuunyuu 1:979cc2a56e7e 183 */
ksingyuunyuu 1:979cc2a56e7e 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
ksingyuunyuu 1:979cc2a56e7e 185
ksingyuunyuu 1:979cc2a56e7e 186 /** Returns number of read errors to detect read overflow errors.
ksingyuunyuu 1:979cc2a56e7e 187 */
ksingyuunyuu 1:979cc2a56e7e 188 unsigned char rderror();
ksingyuunyuu 1:979cc2a56e7e 189
ksingyuunyuu 1:979cc2a56e7e 190 /** Returns number of write errors to detect write overflow errors.
ksingyuunyuu 1:979cc2a56e7e 191 */
ksingyuunyuu 1:979cc2a56e7e 192 unsigned char tderror();
ksingyuunyuu 1:979cc2a56e7e 193
ksingyuunyuu 1:979cc2a56e7e 194 enum IrqType {
ksingyuunyuu 1:979cc2a56e7e 195 RxIrq = 0,
ksingyuunyuu 1:979cc2a56e7e 196 TxIrq,
ksingyuunyuu 1:979cc2a56e7e 197 EwIrq,
ksingyuunyuu 1:979cc2a56e7e 198 DoIrq,
ksingyuunyuu 1:979cc2a56e7e 199 WuIrq,
ksingyuunyuu 1:979cc2a56e7e 200 EpIrq,
ksingyuunyuu 1:979cc2a56e7e 201 AlIrq,
ksingyuunyuu 1:979cc2a56e7e 202 BeIrq,
ksingyuunyuu 1:979cc2a56e7e 203 IdIrq
ksingyuunyuu 1:979cc2a56e7e 204 };
ksingyuunyuu 1:979cc2a56e7e 205
ksingyuunyuu 1:979cc2a56e7e 206 /** Attach a function to call whenever a CAN frame received interrupt is
ksingyuunyuu 1:979cc2a56e7e 207 * generated.
ksingyuunyuu 1:979cc2a56e7e 208 *
ksingyuunyuu 1:979cc2a56e7e 209 * @param fptr A pointer to a void function, or 0 to set as none
ksingyuunyuu 1:979cc2a56e7e 210 * @param event 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)
ksingyuunyuu 1:979cc2a56e7e 211 */
ksingyuunyuu 1:979cc2a56e7e 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
ksingyuunyuu 1:979cc2a56e7e 213
ksingyuunyuu 1:979cc2a56e7e 214 /** Attach a member function to call whenever a CAN frame received interrupt
ksingyuunyuu 1:979cc2a56e7e 215 * is generated.
ksingyuunyuu 1:979cc2a56e7e 216 *
ksingyuunyuu 1:979cc2a56e7e 217 * @param tptr pointer to the object to call the member function on
ksingyuunyuu 1:979cc2a56e7e 218 * @param mptr pointer to the member function to be called
ksingyuunyuu 1:979cc2a56e7e 219 * @param event 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)
ksingyuunyuu 1:979cc2a56e7e 220 */
ksingyuunyuu 1:979cc2a56e7e 221 template<typename T>
ksingyuunyuu 1:979cc2a56e7e 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
ksingyuunyuu 1:979cc2a56e7e 223 if((mptr != NULL) && (tptr != NULL)) {
ksingyuunyuu 1:979cc2a56e7e 224 _irq[type].attach(tptr, mptr);
ksingyuunyuu 1:979cc2a56e7e 225 can_irq_set(&_can, (CanIrqType)type, 1);
ksingyuunyuu 1:979cc2a56e7e 226 }
ksingyuunyuu 1:979cc2a56e7e 227 else {
ksingyuunyuu 1:979cc2a56e7e 228 can_irq_set(&_can, (CanIrqType)type, 0);
ksingyuunyuu 1:979cc2a56e7e 229 }
ksingyuunyuu 1:979cc2a56e7e 230 }
ksingyuunyuu 1:979cc2a56e7e 231
ksingyuunyuu 1:979cc2a56e7e 232 static void _irq_handler(uint32_t id, CanIrqType type);
ksingyuunyuu 1:979cc2a56e7e 233
ksingyuunyuu 1:979cc2a56e7e 234 protected:
ksingyuunyuu 1:979cc2a56e7e 235 can_t _can;
ksingyuunyuu 1:979cc2a56e7e 236 FunctionPointer _irq[9];
ksingyuunyuu 1:979cc2a56e7e 237 };
ksingyuunyuu 1:979cc2a56e7e 238
ksingyuunyuu 1:979cc2a56e7e 239 } // namespace mbed
ksingyuunyuu 1:979cc2a56e7e 240
ksingyuunyuu 1:979cc2a56e7e 241 #endif
ksingyuunyuu 1:979cc2a56e7e 242
ksingyuunyuu 1:979cc2a56e7e 243 #endif // MBED_CAN_H