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mbed 2
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drivers/CAN.h@171:3a7713b1edbc, 2018-11-08 (annotated)
- Committer:
- AnnaBridge
- Date:
- Thu Nov 08 11:45:42 2018 +0000
- Revision:
- 171:3a7713b1edbc
- Parent:
- 170:e95d10626187
- Child:
- 172:65be27845400
mbed library. Release version 164
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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AnnaBridge | 156:ff21514d8981 | 1 | /* mbed Microcontroller Library |
AnnaBridge | 156:ff21514d8981 | 2 | * Copyright (c) 2006-2013 ARM Limited |
AnnaBridge | 156:ff21514d8981 | 3 | * |
AnnaBridge | 156:ff21514d8981 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
AnnaBridge | 156:ff21514d8981 | 5 | * you may not use this file except in compliance with the License. |
AnnaBridge | 156:ff21514d8981 | 6 | * You may obtain a copy of the License at |
AnnaBridge | 156:ff21514d8981 | 7 | * |
AnnaBridge | 156:ff21514d8981 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
AnnaBridge | 156:ff21514d8981 | 9 | * |
AnnaBridge | 156:ff21514d8981 | 10 | * Unless required by applicable law or agreed to in writing, software |
AnnaBridge | 156:ff21514d8981 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
AnnaBridge | 156:ff21514d8981 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
AnnaBridge | 156:ff21514d8981 | 13 | * See the License for the specific language governing permissions and |
AnnaBridge | 156:ff21514d8981 | 14 | * limitations under the License. |
AnnaBridge | 156:ff21514d8981 | 15 | */ |
AnnaBridge | 156:ff21514d8981 | 16 | #ifndef MBED_CAN_H |
AnnaBridge | 156:ff21514d8981 | 17 | #define MBED_CAN_H |
AnnaBridge | 156:ff21514d8981 | 18 | |
AnnaBridge | 156:ff21514d8981 | 19 | #include "platform/platform.h" |
AnnaBridge | 156:ff21514d8981 | 20 | |
AnnaBridge | 156:ff21514d8981 | 21 | #if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY) |
AnnaBridge | 156:ff21514d8981 | 22 | |
AnnaBridge | 156:ff21514d8981 | 23 | #include "hal/can_api.h" |
AnnaBridge | 156:ff21514d8981 | 24 | #include "platform/Callback.h" |
AnnaBridge | 156:ff21514d8981 | 25 | #include "platform/PlatformMutex.h" |
AnnaBridge | 156:ff21514d8981 | 26 | #include "platform/NonCopyable.h" |
AnnaBridge | 156:ff21514d8981 | 27 | |
AnnaBridge | 156:ff21514d8981 | 28 | namespace mbed { |
AnnaBridge | 156:ff21514d8981 | 29 | /** \addtogroup drivers */ |
AnnaBridge | 156:ff21514d8981 | 30 | |
AnnaBridge | 156:ff21514d8981 | 31 | /** CANMessage class |
AnnaBridge | 156:ff21514d8981 | 32 | * |
AnnaBridge | 156:ff21514d8981 | 33 | * @note Synchronization level: Thread safe |
AnnaBridge | 156:ff21514d8981 | 34 | * @ingroup drivers |
AnnaBridge | 156:ff21514d8981 | 35 | */ |
AnnaBridge | 156:ff21514d8981 | 36 | class CANMessage : public CAN_Message { |
AnnaBridge | 156:ff21514d8981 | 37 | |
AnnaBridge | 156:ff21514d8981 | 38 | public: |
AnnaBridge | 156:ff21514d8981 | 39 | /** Creates empty CAN message. |
AnnaBridge | 156:ff21514d8981 | 40 | */ |
AnnaBridge | 170:e95d10626187 | 41 | CANMessage() : CAN_Message() |
AnnaBridge | 170:e95d10626187 | 42 | { |
AnnaBridge | 156:ff21514d8981 | 43 | len = 8; |
AnnaBridge | 156:ff21514d8981 | 44 | type = CANData; |
AnnaBridge | 156:ff21514d8981 | 45 | format = CANStandard; |
AnnaBridge | 156:ff21514d8981 | 46 | id = 0; |
AnnaBridge | 156:ff21514d8981 | 47 | memset(data, 0, 8); |
AnnaBridge | 156:ff21514d8981 | 48 | } |
AnnaBridge | 156:ff21514d8981 | 49 | |
AnnaBridge | 156:ff21514d8981 | 50 | /** Creates CAN message with specific content. |
AnnaBridge | 156:ff21514d8981 | 51 | * |
AnnaBridge | 156:ff21514d8981 | 52 | * @param _id Message ID |
AnnaBridge | 156:ff21514d8981 | 53 | * @param _data Mesaage Data |
AnnaBridge | 156:ff21514d8981 | 54 | * @param _len Message Data length |
AnnaBridge | 156:ff21514d8981 | 55 | * @param _type Type of Data: Use enum CANType for valid parameter values |
AnnaBridge | 156:ff21514d8981 | 56 | * @param _format Data Format: Use enum CANFormat for valid parameter values |
AnnaBridge | 156:ff21514d8981 | 57 | */ |
AnnaBridge | 171:3a7713b1edbc | 58 | CANMessage(unsigned _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) |
AnnaBridge | 170:e95d10626187 | 59 | { |
AnnaBridge | 170:e95d10626187 | 60 | len = _len & 0xF; |
AnnaBridge | 170:e95d10626187 | 61 | type = _type; |
AnnaBridge | 170:e95d10626187 | 62 | format = _format; |
AnnaBridge | 170:e95d10626187 | 63 | id = _id; |
AnnaBridge | 170:e95d10626187 | 64 | memcpy(data, _data, _len); |
AnnaBridge | 156:ff21514d8981 | 65 | } |
AnnaBridge | 156:ff21514d8981 | 66 | |
AnnaBridge | 156:ff21514d8981 | 67 | /** Creates CAN remote message. |
AnnaBridge | 156:ff21514d8981 | 68 | * |
AnnaBridge | 156:ff21514d8981 | 69 | * @param _id Message ID |
AnnaBridge | 156:ff21514d8981 | 70 | * @param _format Data Format: Use enum CANType for valid parameter values |
AnnaBridge | 156:ff21514d8981 | 71 | */ |
AnnaBridge | 171:3a7713b1edbc | 72 | CANMessage(unsigned _id, CANFormat _format = CANStandard) |
AnnaBridge | 170:e95d10626187 | 73 | { |
AnnaBridge | 170:e95d10626187 | 74 | len = 0; |
AnnaBridge | 170:e95d10626187 | 75 | type = CANRemote; |
AnnaBridge | 170:e95d10626187 | 76 | format = _format; |
AnnaBridge | 170:e95d10626187 | 77 | id = _id; |
AnnaBridge | 170:e95d10626187 | 78 | memset(data, 0, 8); |
AnnaBridge | 156:ff21514d8981 | 79 | } |
AnnaBridge | 156:ff21514d8981 | 80 | }; |
AnnaBridge | 156:ff21514d8981 | 81 | |
AnnaBridge | 156:ff21514d8981 | 82 | /** A can bus client, used for communicating with can devices |
AnnaBridge | 156:ff21514d8981 | 83 | * @ingroup drivers |
AnnaBridge | 156:ff21514d8981 | 84 | */ |
AnnaBridge | 156:ff21514d8981 | 85 | class CAN : private NonCopyable<CAN> { |
AnnaBridge | 156:ff21514d8981 | 86 | |
AnnaBridge | 156:ff21514d8981 | 87 | public: |
AnnaBridge | 171:3a7713b1edbc | 88 | /** Creates a CAN interface connected to specific pins. |
AnnaBridge | 156:ff21514d8981 | 89 | * |
AnnaBridge | 156:ff21514d8981 | 90 | * @param rd read from transmitter |
AnnaBridge | 156:ff21514d8981 | 91 | * @param td transmit to transmitter |
AnnaBridge | 156:ff21514d8981 | 92 | * |
AnnaBridge | 156:ff21514d8981 | 93 | * Example: |
AnnaBridge | 156:ff21514d8981 | 94 | * @code |
AnnaBridge | 156:ff21514d8981 | 95 | * #include "mbed.h" |
AnnaBridge | 156:ff21514d8981 | 96 | * |
AnnaBridge | 171:3a7713b1edbc | 97 | * |
AnnaBridge | 156:ff21514d8981 | 98 | * Ticker ticker; |
AnnaBridge | 156:ff21514d8981 | 99 | * DigitalOut led1(LED1); |
AnnaBridge | 156:ff21514d8981 | 100 | * DigitalOut led2(LED2); |
AnnaBridge | 171:3a7713b1edbc | 101 | * //The constructor takes in RX, and TX pin respectively. |
AnnaBridge | 171:3a7713b1edbc | 102 | * //These pins, for this example, are defined in mbed_app.json |
AnnaBridge | 171:3a7713b1edbc | 103 | * CAN can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD); |
AnnaBridge | 171:3a7713b1edbc | 104 | * CAN can2(MBED_CONF_APP_CAN2_RD, MBED_CONF_APP_CAN2_TD); |
AnnaBridge | 156:ff21514d8981 | 105 | * |
AnnaBridge | 156:ff21514d8981 | 106 | * char counter = 0; |
AnnaBridge | 156:ff21514d8981 | 107 | * |
AnnaBridge | 156:ff21514d8981 | 108 | * void send() { |
AnnaBridge | 156:ff21514d8981 | 109 | * if(can1.write(CANMessage(1337, &counter, 1))) { |
AnnaBridge | 156:ff21514d8981 | 110 | * printf("Message sent: %d\n", counter); |
AnnaBridge | 156:ff21514d8981 | 111 | * counter++; |
AnnaBridge | 156:ff21514d8981 | 112 | * } |
AnnaBridge | 156:ff21514d8981 | 113 | * led1 = !led1; |
AnnaBridge | 156:ff21514d8981 | 114 | * } |
AnnaBridge | 156:ff21514d8981 | 115 | * |
AnnaBridge | 156:ff21514d8981 | 116 | * int main() { |
AnnaBridge | 156:ff21514d8981 | 117 | * ticker.attach(&send, 1); |
AnnaBridge | 156:ff21514d8981 | 118 | * CANMessage msg; |
AnnaBridge | 156:ff21514d8981 | 119 | * while(1) { |
AnnaBridge | 156:ff21514d8981 | 120 | * if(can2.read(msg)) { |
AnnaBridge | 156:ff21514d8981 | 121 | * printf("Message received: %d\n\n", msg.data[0]); |
AnnaBridge | 156:ff21514d8981 | 122 | * led2 = !led2; |
AnnaBridge | 156:ff21514d8981 | 123 | * } |
AnnaBridge | 156:ff21514d8981 | 124 | * wait(0.2); |
AnnaBridge | 156:ff21514d8981 | 125 | * } |
AnnaBridge | 156:ff21514d8981 | 126 | * } |
AnnaBridge | 171:3a7713b1edbc | 127 | * |
AnnaBridge | 156:ff21514d8981 | 128 | * @endcode |
AnnaBridge | 156:ff21514d8981 | 129 | */ |
AnnaBridge | 156:ff21514d8981 | 130 | CAN(PinName rd, PinName td); |
AnnaBridge | 156:ff21514d8981 | 131 | |
AnnaBridge | 156:ff21514d8981 | 132 | /** Initialize CAN interface and set the frequency |
AnnaBridge | 156:ff21514d8981 | 133 | * |
AnnaBridge | 171:3a7713b1edbc | 134 | * @param rd the read pin |
AnnaBridge | 171:3a7713b1edbc | 135 | * @param td the transmit pin |
AnnaBridge | 156:ff21514d8981 | 136 | * @param hz the bus frequency in hertz |
AnnaBridge | 156:ff21514d8981 | 137 | */ |
AnnaBridge | 156:ff21514d8981 | 138 | CAN(PinName rd, PinName td, int hz); |
AnnaBridge | 156:ff21514d8981 | 139 | |
AnnaBridge | 156:ff21514d8981 | 140 | virtual ~CAN(); |
AnnaBridge | 156:ff21514d8981 | 141 | |
AnnaBridge | 156:ff21514d8981 | 142 | /** Set the frequency of the CAN interface |
AnnaBridge | 156:ff21514d8981 | 143 | * |
AnnaBridge | 156:ff21514d8981 | 144 | * @param hz The bus frequency in hertz |
AnnaBridge | 156:ff21514d8981 | 145 | * |
AnnaBridge | 156:ff21514d8981 | 146 | * @returns |
AnnaBridge | 156:ff21514d8981 | 147 | * 1 if successful, |
AnnaBridge | 156:ff21514d8981 | 148 | * 0 otherwise |
AnnaBridge | 156:ff21514d8981 | 149 | */ |
AnnaBridge | 156:ff21514d8981 | 150 | int frequency(int hz); |
AnnaBridge | 156:ff21514d8981 | 151 | |
AnnaBridge | 156:ff21514d8981 | 152 | /** Write a CANMessage to the bus. |
AnnaBridge | 156:ff21514d8981 | 153 | * |
AnnaBridge | 156:ff21514d8981 | 154 | * @param msg The CANMessage to write. |
AnnaBridge | 156:ff21514d8981 | 155 | * |
AnnaBridge | 156:ff21514d8981 | 156 | * @returns |
AnnaBridge | 156:ff21514d8981 | 157 | * 0 if write failed, |
AnnaBridge | 156:ff21514d8981 | 158 | * 1 if write was successful |
AnnaBridge | 156:ff21514d8981 | 159 | */ |
AnnaBridge | 156:ff21514d8981 | 160 | int write(CANMessage msg); |
AnnaBridge | 156:ff21514d8981 | 161 | |
AnnaBridge | 156:ff21514d8981 | 162 | /** Read a CANMessage from the bus. |
AnnaBridge | 156:ff21514d8981 | 163 | * |
AnnaBridge | 156:ff21514d8981 | 164 | * @param msg A CANMessage to read to. |
AnnaBridge | 156:ff21514d8981 | 165 | * @param handle message filter handle (0 for any message) |
AnnaBridge | 156:ff21514d8981 | 166 | * |
AnnaBridge | 156:ff21514d8981 | 167 | * @returns |
AnnaBridge | 156:ff21514d8981 | 168 | * 0 if no message arrived, |
AnnaBridge | 156:ff21514d8981 | 169 | * 1 if message arrived |
AnnaBridge | 156:ff21514d8981 | 170 | */ |
AnnaBridge | 156:ff21514d8981 | 171 | int read(CANMessage &msg, int handle = 0); |
AnnaBridge | 156:ff21514d8981 | 172 | |
AnnaBridge | 156:ff21514d8981 | 173 | /** Reset CAN interface. |
AnnaBridge | 156:ff21514d8981 | 174 | * |
AnnaBridge | 156:ff21514d8981 | 175 | * To use after error overflow. |
AnnaBridge | 156:ff21514d8981 | 176 | */ |
AnnaBridge | 156:ff21514d8981 | 177 | void reset(); |
AnnaBridge | 156:ff21514d8981 | 178 | |
AnnaBridge | 156:ff21514d8981 | 179 | /** Puts or removes the CAN interface into silent monitoring mode |
AnnaBridge | 156:ff21514d8981 | 180 | * |
AnnaBridge | 156:ff21514d8981 | 181 | * @param silent boolean indicating whether to go into silent mode or not |
AnnaBridge | 156:ff21514d8981 | 182 | */ |
AnnaBridge | 156:ff21514d8981 | 183 | void monitor(bool silent); |
AnnaBridge | 156:ff21514d8981 | 184 | |
AnnaBridge | 156:ff21514d8981 | 185 | enum Mode { |
AnnaBridge | 156:ff21514d8981 | 186 | Reset = 0, |
AnnaBridge | 156:ff21514d8981 | 187 | Normal, |
AnnaBridge | 156:ff21514d8981 | 188 | Silent, |
AnnaBridge | 156:ff21514d8981 | 189 | LocalTest, |
AnnaBridge | 156:ff21514d8981 | 190 | GlobalTest, |
AnnaBridge | 156:ff21514d8981 | 191 | SilentTest |
AnnaBridge | 156:ff21514d8981 | 192 | }; |
AnnaBridge | 156:ff21514d8981 | 193 | |
AnnaBridge | 156:ff21514d8981 | 194 | /** Change CAN operation to the specified mode |
AnnaBridge | 156:ff21514d8981 | 195 | * |
AnnaBridge | 156:ff21514d8981 | 196 | * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest) |
AnnaBridge | 156:ff21514d8981 | 197 | * |
AnnaBridge | 156:ff21514d8981 | 198 | * @returns |
AnnaBridge | 156:ff21514d8981 | 199 | * 0 if mode change failed or unsupported, |
AnnaBridge | 156:ff21514d8981 | 200 | * 1 if mode change was successful |
AnnaBridge | 156:ff21514d8981 | 201 | */ |
AnnaBridge | 156:ff21514d8981 | 202 | int mode(Mode mode); |
AnnaBridge | 156:ff21514d8981 | 203 | |
AnnaBridge | 171:3a7713b1edbc | 204 | /** Filter out incoming messages |
AnnaBridge | 156:ff21514d8981 | 205 | * |
AnnaBridge | 156:ff21514d8981 | 206 | * @param id the id to filter on |
AnnaBridge | 156:ff21514d8981 | 207 | * @param mask the mask applied to the id |
AnnaBridge | 156:ff21514d8981 | 208 | * @param format format to filter on (Default CANAny) |
AnnaBridge | 156:ff21514d8981 | 209 | * @param handle message filter handle (Optional) |
AnnaBridge | 156:ff21514d8981 | 210 | * |
AnnaBridge | 156:ff21514d8981 | 211 | * @returns |
AnnaBridge | 156:ff21514d8981 | 212 | * 0 if filter change failed or unsupported, |
AnnaBridge | 156:ff21514d8981 | 213 | * new filter handle if successful |
AnnaBridge | 156:ff21514d8981 | 214 | */ |
AnnaBridge | 156:ff21514d8981 | 215 | int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0); |
AnnaBridge | 156:ff21514d8981 | 216 | |
AnnaBridge | 156:ff21514d8981 | 217 | /** Detects read errors - Used to detect read overflow errors. |
AnnaBridge | 156:ff21514d8981 | 218 | * |
AnnaBridge | 156:ff21514d8981 | 219 | * @returns number of read errors |
AnnaBridge | 156:ff21514d8981 | 220 | */ |
AnnaBridge | 156:ff21514d8981 | 221 | unsigned char rderror(); |
AnnaBridge | 156:ff21514d8981 | 222 | |
AnnaBridge | 156:ff21514d8981 | 223 | /** Detects write errors - Used to detect write overflow errors. |
AnnaBridge | 156:ff21514d8981 | 224 | * |
AnnaBridge | 156:ff21514d8981 | 225 | * @returns number of write errors |
AnnaBridge | 156:ff21514d8981 | 226 | */ |
AnnaBridge | 156:ff21514d8981 | 227 | unsigned char tderror(); |
AnnaBridge | 156:ff21514d8981 | 228 | |
AnnaBridge | 156:ff21514d8981 | 229 | enum IrqType { |
AnnaBridge | 156:ff21514d8981 | 230 | RxIrq = 0, |
AnnaBridge | 156:ff21514d8981 | 231 | TxIrq, |
AnnaBridge | 156:ff21514d8981 | 232 | EwIrq, |
AnnaBridge | 156:ff21514d8981 | 233 | DoIrq, |
AnnaBridge | 156:ff21514d8981 | 234 | WuIrq, |
AnnaBridge | 156:ff21514d8981 | 235 | EpIrq, |
AnnaBridge | 156:ff21514d8981 | 236 | AlIrq, |
AnnaBridge | 156:ff21514d8981 | 237 | BeIrq, |
AnnaBridge | 156:ff21514d8981 | 238 | IdIrq, |
AnnaBridge | 156:ff21514d8981 | 239 | |
AnnaBridge | 156:ff21514d8981 | 240 | IrqCnt |
AnnaBridge | 156:ff21514d8981 | 241 | }; |
AnnaBridge | 156:ff21514d8981 | 242 | |
AnnaBridge | 156:ff21514d8981 | 243 | /** Attach a function to call whenever a CAN frame received interrupt is |
AnnaBridge | 156:ff21514d8981 | 244 | * generated. |
AnnaBridge | 170:e95d10626187 | 245 | * |
AnnaBridge | 156:ff21514d8981 | 246 | * This function locks the deep sleep while a callback is attached |
AnnaBridge | 170:e95d10626187 | 247 | * |
AnnaBridge | 156:ff21514d8981 | 248 | * @param func A pointer to a void function, or 0 to set as none |
AnnaBridge | 156:ff21514d8981 | 249 | * @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) |
AnnaBridge | 156:ff21514d8981 | 250 | */ |
AnnaBridge | 170:e95d10626187 | 251 | void attach(Callback<void()> func, IrqType type = RxIrq); |
AnnaBridge | 156:ff21514d8981 | 252 | |
AnnaBridge | 170:e95d10626187 | 253 | /** Attach a member function to call whenever a CAN frame received interrupt |
AnnaBridge | 170:e95d10626187 | 254 | * is generated. |
AnnaBridge | 170:e95d10626187 | 255 | * |
AnnaBridge | 170:e95d10626187 | 256 | * @param obj pointer to the object to call the member function on |
AnnaBridge | 170:e95d10626187 | 257 | * @param method pointer to the member function to be called |
AnnaBridge | 170:e95d10626187 | 258 | * @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) |
AnnaBridge | 170:e95d10626187 | 259 | * @deprecated |
AnnaBridge | 170:e95d10626187 | 260 | * The attach function does not support cv-qualifiers. Replaced by |
AnnaBridge | 170:e95d10626187 | 261 | * attach(callback(obj, method), type). |
AnnaBridge | 170:e95d10626187 | 262 | */ |
AnnaBridge | 156:ff21514d8981 | 263 | template<typename T> |
AnnaBridge | 156:ff21514d8981 | 264 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
AnnaBridge | 170:e95d10626187 | 265 | "The attach function does not support cv-qualifiers. Replaced by " |
AnnaBridge | 170:e95d10626187 | 266 | "attach(callback(obj, method), type).") |
AnnaBridge | 170:e95d10626187 | 267 | void attach(T *obj, void (T::*method)(), IrqType type = RxIrq) |
AnnaBridge | 170:e95d10626187 | 268 | { |
AnnaBridge | 156:ff21514d8981 | 269 | // Underlying call thread safe |
AnnaBridge | 156:ff21514d8981 | 270 | attach(callback(obj, method), type); |
AnnaBridge | 156:ff21514d8981 | 271 | } |
AnnaBridge | 156:ff21514d8981 | 272 | |
AnnaBridge | 170:e95d10626187 | 273 | /** Attach a member function to call whenever a CAN frame received interrupt |
AnnaBridge | 170:e95d10626187 | 274 | * is generated. |
AnnaBridge | 170:e95d10626187 | 275 | * |
AnnaBridge | 170:e95d10626187 | 276 | * @param obj pointer to the object to call the member function on |
AnnaBridge | 170:e95d10626187 | 277 | * @param method pointer to the member function to be called |
AnnaBridge | 170:e95d10626187 | 278 | * @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) |
AnnaBridge | 170:e95d10626187 | 279 | * @deprecated |
AnnaBridge | 170:e95d10626187 | 280 | * The attach function does not support cv-qualifiers. Replaced by |
AnnaBridge | 170:e95d10626187 | 281 | * attach(callback(obj, method), type). |
AnnaBridge | 170:e95d10626187 | 282 | */ |
AnnaBridge | 156:ff21514d8981 | 283 | template<typename T> |
AnnaBridge | 156:ff21514d8981 | 284 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
AnnaBridge | 170:e95d10626187 | 285 | "The attach function does not support cv-qualifiers. Replaced by " |
AnnaBridge | 170:e95d10626187 | 286 | "attach(callback(obj, method), type).") |
AnnaBridge | 170:e95d10626187 | 287 | void attach(T *obj, void (*method)(T *), IrqType type = RxIrq) |
AnnaBridge | 170:e95d10626187 | 288 | { |
AnnaBridge | 156:ff21514d8981 | 289 | // Underlying call thread safe |
AnnaBridge | 156:ff21514d8981 | 290 | attach(callback(obj, method), type); |
AnnaBridge | 156:ff21514d8981 | 291 | } |
AnnaBridge | 156:ff21514d8981 | 292 | |
AnnaBridge | 156:ff21514d8981 | 293 | static void _irq_handler(uint32_t id, CanIrqType type); |
AnnaBridge | 156:ff21514d8981 | 294 | |
AnnaBridge | 171:3a7713b1edbc | 295 | #if !defined(DOXYGEN_ONLY) |
AnnaBridge | 156:ff21514d8981 | 296 | protected: |
AnnaBridge | 156:ff21514d8981 | 297 | virtual void lock(); |
AnnaBridge | 156:ff21514d8981 | 298 | virtual void unlock(); |
AnnaBridge | 156:ff21514d8981 | 299 | can_t _can; |
AnnaBridge | 156:ff21514d8981 | 300 | Callback<void()> _irq[IrqCnt]; |
AnnaBridge | 156:ff21514d8981 | 301 | PlatformMutex _mutex; |
AnnaBridge | 171:3a7713b1edbc | 302 | #endif |
AnnaBridge | 156:ff21514d8981 | 303 | }; |
AnnaBridge | 156:ff21514d8981 | 304 | |
AnnaBridge | 156:ff21514d8981 | 305 | } // namespace mbed |
AnnaBridge | 156:ff21514d8981 | 306 | |
AnnaBridge | 156:ff21514d8981 | 307 | #endif |
AnnaBridge | 156:ff21514d8981 | 308 | |
AnnaBridge | 156:ff21514d8981 | 309 | #endif // MBED_CAN_H |
AnnaBridge | 156:ff21514d8981 | 310 |