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mbed 2

This is the mbed 2 library. If you'd like to learn about Mbed OS please see the mbed-os docs.

drivers/CAN.h@160:5571c4ff569f, 2018-01-17 (annotated)

Committer:
Anna Bridge
Date:
Wed Jan 17 16:13:02 2018 +0000
Revision:
160:5571c4ff569f
Parent:
156:ff21514d8981
Child:
170:e95d10626187
mbed library. Release version 158

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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 156:ff21514d8981 41 CANMessage() : CAN_Message() {
AnnaBridge 156:ff21514d8981 42 len = 8;
AnnaBridge 156:ff21514d8981 43 type = CANData;
AnnaBridge 156:ff21514d8981 44 format = CANStandard;
AnnaBridge 156:ff21514d8981 45 id = 0;
AnnaBridge 156:ff21514d8981 46 memset(data, 0, 8);
AnnaBridge 156:ff21514d8981 47 }
AnnaBridge 156:ff21514d8981 48
AnnaBridge 156:ff21514d8981 49 /** Creates CAN message with specific content.
AnnaBridge 156:ff21514d8981 50 *
AnnaBridge 156:ff21514d8981 51 * @param _id Message ID
AnnaBridge 156:ff21514d8981 52 * @param _data Mesaage Data
AnnaBridge 156:ff21514d8981 53 * @param _len Message Data length
AnnaBridge 156:ff21514d8981 54 * @param _type Type of Data: Use enum CANType for valid parameter values
AnnaBridge 156:ff21514d8981 55 * @param _format Data Format: Use enum CANFormat for valid parameter values
AnnaBridge 156:ff21514d8981 56 */
AnnaBridge 156:ff21514d8981 57 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
AnnaBridge 156:ff21514d8981 58 len = _len & 0xF;
AnnaBridge 156:ff21514d8981 59 type = _type;
AnnaBridge 156:ff21514d8981 60 format = _format;
AnnaBridge 156:ff21514d8981 61 id = _id;
AnnaBridge 156:ff21514d8981 62 memcpy(data, _data, _len);
AnnaBridge 156:ff21514d8981 63 }
AnnaBridge 156:ff21514d8981 64
AnnaBridge 156:ff21514d8981 65 /** Creates CAN remote message.
AnnaBridge 156:ff21514d8981 66 *
AnnaBridge 156:ff21514d8981 67 * @param _id Message ID
AnnaBridge 156:ff21514d8981 68 * @param _format Data Format: Use enum CANType for valid parameter values
AnnaBridge 156:ff21514d8981 69 */
AnnaBridge 156:ff21514d8981 70 CANMessage(int _id, CANFormat _format = CANStandard) {
AnnaBridge 156:ff21514d8981 71 len = 0;
AnnaBridge 156:ff21514d8981 72 type = CANRemote;
AnnaBridge 156:ff21514d8981 73 format = _format;
AnnaBridge 156:ff21514d8981 74 id = _id;
AnnaBridge 156:ff21514d8981 75 memset(data, 0, 8);
AnnaBridge 156:ff21514d8981 76 }
AnnaBridge 156:ff21514d8981 77 };
AnnaBridge 156:ff21514d8981 78
AnnaBridge 156:ff21514d8981 79 /** A can bus client, used for communicating with can devices
AnnaBridge 156:ff21514d8981 80 * @ingroup drivers
AnnaBridge 156:ff21514d8981 81 */
AnnaBridge 156:ff21514d8981 82 class CAN : private NonCopyable<CAN> {
AnnaBridge 156:ff21514d8981 83
AnnaBridge 156:ff21514d8981 84 public:
AnnaBridge 156:ff21514d8981 85 /** Creates an CAN interface connected to specific pins.
AnnaBridge 156:ff21514d8981 86 *
AnnaBridge 156:ff21514d8981 87 * @param rd read from transmitter
AnnaBridge 156:ff21514d8981 88 * @param td transmit to transmitter
AnnaBridge 156:ff21514d8981 89 *
AnnaBridge 156:ff21514d8981 90 * Example:
AnnaBridge 156:ff21514d8981 91 * @code
AnnaBridge 156:ff21514d8981 92 * #include "mbed.h"
AnnaBridge 156:ff21514d8981 93 *
AnnaBridge 156:ff21514d8981 94 * Ticker ticker;
AnnaBridge 156:ff21514d8981 95 * DigitalOut led1(LED1);
AnnaBridge 156:ff21514d8981 96 * DigitalOut led2(LED2);
AnnaBridge 156:ff21514d8981 97 * CAN can1(p9, p10);
AnnaBridge 156:ff21514d8981 98 * CAN can2(p30, p29);
AnnaBridge 156:ff21514d8981 99 *
AnnaBridge 156:ff21514d8981 100 * char counter = 0;
AnnaBridge 156:ff21514d8981 101 *
AnnaBridge 156:ff21514d8981 102 * void send() {
AnnaBridge 156:ff21514d8981 103 * if(can1.write(CANMessage(1337, &counter, 1))) {
AnnaBridge 156:ff21514d8981 104 * printf("Message sent: %d\n", counter);
AnnaBridge 156:ff21514d8981 105 * counter++;
AnnaBridge 156:ff21514d8981 106 * }
AnnaBridge 156:ff21514d8981 107 * led1 = !led1;
AnnaBridge 156:ff21514d8981 108 * }
AnnaBridge 156:ff21514d8981 109 *
AnnaBridge 156:ff21514d8981 110 * int main() {
AnnaBridge 156:ff21514d8981 111 * ticker.attach(&send, 1);
AnnaBridge 156:ff21514d8981 112 * CANMessage msg;
AnnaBridge 156:ff21514d8981 113 * while(1) {
AnnaBridge 156:ff21514d8981 114 * if(can2.read(msg)) {
AnnaBridge 156:ff21514d8981 115 * printf("Message received: %d\n\n", msg.data[0]);
AnnaBridge 156:ff21514d8981 116 * led2 = !led2;
AnnaBridge 156:ff21514d8981 117 * }
AnnaBridge 156:ff21514d8981 118 * wait(0.2);
AnnaBridge 156:ff21514d8981 119 * }
AnnaBridge 156:ff21514d8981 120 * }
AnnaBridge 156:ff21514d8981 121 * @endcode
AnnaBridge 156:ff21514d8981 122 */
AnnaBridge 156:ff21514d8981 123 CAN(PinName rd, PinName td);
AnnaBridge 156:ff21514d8981 124
AnnaBridge 156:ff21514d8981 125 /** Initialize CAN interface and set the frequency
AnnaBridge 156:ff21514d8981 126 *
AnnaBridge 156:ff21514d8981 127 * @param rd the rd pin
AnnaBridge 156:ff21514d8981 128 * @param td the td pin
AnnaBridge 156:ff21514d8981 129 * @param hz the bus frequency in hertz
AnnaBridge 156:ff21514d8981 130 */
AnnaBridge 156:ff21514d8981 131 CAN(PinName rd, PinName td, int hz);
AnnaBridge 156:ff21514d8981 132
AnnaBridge 156:ff21514d8981 133 virtual ~CAN();
AnnaBridge 156:ff21514d8981 134
AnnaBridge 156:ff21514d8981 135 /** Set the frequency of the CAN interface
AnnaBridge 156:ff21514d8981 136 *
AnnaBridge 156:ff21514d8981 137 * @param hz The bus frequency in hertz
AnnaBridge 156:ff21514d8981 138 *
AnnaBridge 156:ff21514d8981 139 * @returns
AnnaBridge 156:ff21514d8981 140 * 1 if successful,
AnnaBridge 156:ff21514d8981 141 * 0 otherwise
AnnaBridge 156:ff21514d8981 142 */
AnnaBridge 156:ff21514d8981 143 int frequency(int hz);
AnnaBridge 156:ff21514d8981 144
AnnaBridge 156:ff21514d8981 145 /** Write a CANMessage to the bus.
AnnaBridge 156:ff21514d8981 146 *
AnnaBridge 156:ff21514d8981 147 * @param msg The CANMessage to write.
AnnaBridge 156:ff21514d8981 148 *
AnnaBridge 156:ff21514d8981 149 * @returns
AnnaBridge 156:ff21514d8981 150 * 0 if write failed,
AnnaBridge 156:ff21514d8981 151 * 1 if write was successful
AnnaBridge 156:ff21514d8981 152 */
AnnaBridge 156:ff21514d8981 153 int write(CANMessage msg);
AnnaBridge 156:ff21514d8981 154
AnnaBridge 156:ff21514d8981 155 /** Read a CANMessage from the bus.
AnnaBridge 156:ff21514d8981 156 *
AnnaBridge 156:ff21514d8981 157 * @param msg A CANMessage to read to.
AnnaBridge 156:ff21514d8981 158 * @param handle message filter handle (0 for any message)
AnnaBridge 156:ff21514d8981 159 *
AnnaBridge 156:ff21514d8981 160 * @returns
AnnaBridge 156:ff21514d8981 161 * 0 if no message arrived,
AnnaBridge 156:ff21514d8981 162 * 1 if message arrived
AnnaBridge 156:ff21514d8981 163 */
AnnaBridge 156:ff21514d8981 164 int read(CANMessage &msg, int handle = 0);
AnnaBridge 156:ff21514d8981 165
AnnaBridge 156:ff21514d8981 166 /** Reset CAN interface.
AnnaBridge 156:ff21514d8981 167 *
AnnaBridge 156:ff21514d8981 168 * To use after error overflow.
AnnaBridge 156:ff21514d8981 169 */
AnnaBridge 156:ff21514d8981 170 void reset();
AnnaBridge 156:ff21514d8981 171
AnnaBridge 156:ff21514d8981 172 /** Puts or removes the CAN interface into silent monitoring mode
AnnaBridge 156:ff21514d8981 173 *
AnnaBridge 156:ff21514d8981 174 * @param silent boolean indicating whether to go into silent mode or not
AnnaBridge 156:ff21514d8981 175 */
AnnaBridge 156:ff21514d8981 176 void monitor(bool silent);
AnnaBridge 156:ff21514d8981 177
AnnaBridge 156:ff21514d8981 178 enum Mode {
AnnaBridge 156:ff21514d8981 179 Reset = 0,
AnnaBridge 156:ff21514d8981 180 Normal,
AnnaBridge 156:ff21514d8981 181 Silent,
AnnaBridge 156:ff21514d8981 182 LocalTest,
AnnaBridge 156:ff21514d8981 183 GlobalTest,
AnnaBridge 156:ff21514d8981 184 SilentTest
AnnaBridge 156:ff21514d8981 185 };
AnnaBridge 156:ff21514d8981 186
AnnaBridge 156:ff21514d8981 187 /** Change CAN operation to the specified mode
AnnaBridge 156:ff21514d8981 188 *
AnnaBridge 156:ff21514d8981 189 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
AnnaBridge 156:ff21514d8981 190 *
AnnaBridge 156:ff21514d8981 191 * @returns
AnnaBridge 156:ff21514d8981 192 * 0 if mode change failed or unsupported,
AnnaBridge 156:ff21514d8981 193 * 1 if mode change was successful
AnnaBridge 156:ff21514d8981 194 */
AnnaBridge 156:ff21514d8981 195 int mode(Mode mode);
AnnaBridge 156:ff21514d8981 196
AnnaBridge 156:ff21514d8981 197 /** Filter out incomming messages
AnnaBridge 156:ff21514d8981 198 *
AnnaBridge 156:ff21514d8981 199 * @param id the id to filter on
AnnaBridge 156:ff21514d8981 200 * @param mask the mask applied to the id
AnnaBridge 156:ff21514d8981 201 * @param format format to filter on (Default CANAny)
AnnaBridge 156:ff21514d8981 202 * @param handle message filter handle (Optional)
AnnaBridge 156:ff21514d8981 203 *
AnnaBridge 156:ff21514d8981 204 * @returns
AnnaBridge 156:ff21514d8981 205 * 0 if filter change failed or unsupported,
AnnaBridge 156:ff21514d8981 206 * new filter handle if successful
AnnaBridge 156:ff21514d8981 207 */
AnnaBridge 156:ff21514d8981 208 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
AnnaBridge 156:ff21514d8981 209
AnnaBridge 156:ff21514d8981 210 /** Detects read errors - Used to detect read overflow errors.
AnnaBridge 156:ff21514d8981 211 *
AnnaBridge 156:ff21514d8981 212 * @returns number of read errors
AnnaBridge 156:ff21514d8981 213 */
AnnaBridge 156:ff21514d8981 214 unsigned char rderror();
AnnaBridge 156:ff21514d8981 215
AnnaBridge 156:ff21514d8981 216 /** Detects write errors - Used to detect write overflow errors.
AnnaBridge 156:ff21514d8981 217 *
AnnaBridge 156:ff21514d8981 218 * @returns number of write errors
AnnaBridge 156:ff21514d8981 219 */
AnnaBridge 156:ff21514d8981 220 unsigned char tderror();
AnnaBridge 156:ff21514d8981 221
AnnaBridge 156:ff21514d8981 222 enum IrqType {
AnnaBridge 156:ff21514d8981 223 RxIrq = 0,
AnnaBridge 156:ff21514d8981 224 TxIrq,
AnnaBridge 156:ff21514d8981 225 EwIrq,
AnnaBridge 156:ff21514d8981 226 DoIrq,
AnnaBridge 156:ff21514d8981 227 WuIrq,
AnnaBridge 156:ff21514d8981 228 EpIrq,
AnnaBridge 156:ff21514d8981 229 AlIrq,
AnnaBridge 156:ff21514d8981 230 BeIrq,
AnnaBridge 156:ff21514d8981 231 IdIrq,
AnnaBridge 156:ff21514d8981 232
AnnaBridge 156:ff21514d8981 233 IrqCnt
AnnaBridge 156:ff21514d8981 234 };
AnnaBridge 156:ff21514d8981 235
AnnaBridge 156:ff21514d8981 236 /** Attach a function to call whenever a CAN frame received interrupt is
AnnaBridge 156:ff21514d8981 237 * generated.
AnnaBridge 156:ff21514d8981 238 *
AnnaBridge 156:ff21514d8981 239 * This function locks the deep sleep while a callback is attached
AnnaBridge 156:ff21514d8981 240 *
AnnaBridge 156:ff21514d8981 241 * @param func A pointer to a void function, or 0 to set as none
AnnaBridge 156:ff21514d8981 242 * @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 243 */
AnnaBridge 156:ff21514d8981 244 void attach(Callback<void()> func, IrqType type=RxIrq);
AnnaBridge 156:ff21514d8981 245
AnnaBridge 156:ff21514d8981 246 /** Attach a member function to call whenever a CAN frame received interrupt
AnnaBridge 156:ff21514d8981 247 * is generated.
AnnaBridge 156:ff21514d8981 248 *
AnnaBridge 156:ff21514d8981 249 * @param obj pointer to the object to call the member function on
AnnaBridge 156:ff21514d8981 250 * @param method pointer to the member function to be called
AnnaBridge 156:ff21514d8981 251 * @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 156:ff21514d8981 252 * @deprecated
AnnaBridge 156:ff21514d8981 253 * The attach function does not support cv-qualifiers. Replaced by
AnnaBridge 156:ff21514d8981 254 * attach(callback(obj, method), type).
AnnaBridge 156:ff21514d8981 255 */
AnnaBridge 156:ff21514d8981 256 template<typename T>
AnnaBridge 156:ff21514d8981 257 MBED_DEPRECATED_SINCE("mbed-os-5.1",
AnnaBridge 156:ff21514d8981 258 "The attach function does not support cv-qualifiers. Replaced by "
AnnaBridge 156:ff21514d8981 259 "attach(callback(obj, method), type).")
AnnaBridge 156:ff21514d8981 260 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
AnnaBridge 156:ff21514d8981 261 // Underlying call thread safe
AnnaBridge 156:ff21514d8981 262 attach(callback(obj, method), type);
AnnaBridge 156:ff21514d8981 263 }
AnnaBridge 156:ff21514d8981 264
AnnaBridge 156:ff21514d8981 265 /** Attach a member function to call whenever a CAN frame received interrupt
AnnaBridge 156:ff21514d8981 266 * is generated.
AnnaBridge 156:ff21514d8981 267 *
AnnaBridge 156:ff21514d8981 268 * @param obj pointer to the object to call the member function on
AnnaBridge 156:ff21514d8981 269 * @param method pointer to the member function to be called
AnnaBridge 156:ff21514d8981 270 * @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 156:ff21514d8981 271 * @deprecated
AnnaBridge 156:ff21514d8981 272 * The attach function does not support cv-qualifiers. Replaced by
AnnaBridge 156:ff21514d8981 273 * attach(callback(obj, method), type).
AnnaBridge 156:ff21514d8981 274 */
AnnaBridge 156:ff21514d8981 275 template<typename T>
AnnaBridge 156:ff21514d8981 276 MBED_DEPRECATED_SINCE("mbed-os-5.1",
AnnaBridge 156:ff21514d8981 277 "The attach function does not support cv-qualifiers. Replaced by "
AnnaBridge 156:ff21514d8981 278 "attach(callback(obj, method), type).")
AnnaBridge 156:ff21514d8981 279 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
AnnaBridge 156:ff21514d8981 280 // Underlying call thread safe
AnnaBridge 156:ff21514d8981 281 attach(callback(obj, method), type);
AnnaBridge 156:ff21514d8981 282 }
AnnaBridge 156:ff21514d8981 283
AnnaBridge 156:ff21514d8981 284 static void _irq_handler(uint32_t id, CanIrqType type);
AnnaBridge 156:ff21514d8981 285
AnnaBridge 156:ff21514d8981 286 protected:
AnnaBridge 156:ff21514d8981 287 virtual void lock();
AnnaBridge 156:ff21514d8981 288 virtual void unlock();
AnnaBridge 156:ff21514d8981 289 can_t _can;
AnnaBridge 156:ff21514d8981 290 Callback<void()> _irq[IrqCnt];
AnnaBridge 156:ff21514d8981 291 PlatformMutex _mutex;
AnnaBridge 156:ff21514d8981 292 };
AnnaBridge 156:ff21514d8981 293
AnnaBridge 156:ff21514d8981 294 } // namespace mbed
AnnaBridge 156:ff21514d8981 295
AnnaBridge 156:ff21514d8981 296 #endif
AnnaBridge 156:ff21514d8981 297
AnnaBridge 156:ff21514d8981 298 #endif // MBED_CAN_H
AnnaBridge 156:ff21514d8981 299