mbed official / mbed

The official Mbed 2 C/C++ SDK provides the software platform and libraries to build your applications.

Dependents:   hello SerialTestv11 SerialTestv12 Sierpinski ... more

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@172:65be27845400, 2019-02-20 (annotated)

Committer:
AnnaBridge
Date:
Wed Feb 20 20:53:29 2019 +0000
Revision:
172:65be27845400
Parent:
171:3a7713b1edbc 
mbed library release version 165

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 172:65be27845400 3 * SPDX-License-Identifier: Apache-2.0
AnnaBridge 156:ff21514d8981 4 *
AnnaBridge 156:ff21514d8981 5 * Licensed under the Apache License, Version 2.0 (the "License");
AnnaBridge 156:ff21514d8981 6 * you may not use this file except in compliance with the License.
AnnaBridge 156:ff21514d8981 7 * You may obtain a copy of the License at
AnnaBridge 156:ff21514d8981 8 *
AnnaBridge 156:ff21514d8981 9 * http://www.apache.org/licenses/LICENSE-2.0
AnnaBridge 156:ff21514d8981 10 *
AnnaBridge 156:ff21514d8981 11 * Unless required by applicable law or agreed to in writing, software
AnnaBridge 156:ff21514d8981 12 * distributed under the License is distributed on an "AS IS" BASIS,
AnnaBridge 156:ff21514d8981 13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
AnnaBridge 156:ff21514d8981 14 * See the License for the specific language governing permissions and
AnnaBridge 156:ff21514d8981 15 * limitations under the License.
AnnaBridge 156:ff21514d8981 16 */
AnnaBridge 156:ff21514d8981 17 #ifndef MBED_CAN_H
AnnaBridge 156:ff21514d8981 18 #define MBED_CAN_H
AnnaBridge 156:ff21514d8981 19
AnnaBridge 156:ff21514d8981 20 #include "platform/platform.h"
AnnaBridge 156:ff21514d8981 21
AnnaBridge 172:65be27845400 22 #if DEVICE_CAN || defined(DOXYGEN_ONLY)
AnnaBridge 156:ff21514d8981 23
AnnaBridge 156:ff21514d8981 24 #include "hal/can_api.h"
AnnaBridge 156:ff21514d8981 25 #include "platform/Callback.h"
AnnaBridge 156:ff21514d8981 26 #include "platform/PlatformMutex.h"
AnnaBridge 156:ff21514d8981 27 #include "platform/NonCopyable.h"
AnnaBridge 156:ff21514d8981 28
AnnaBridge 156:ff21514d8981 29 namespace mbed {
AnnaBridge 156:ff21514d8981 30 /** \addtogroup drivers */
AnnaBridge 156:ff21514d8981 31
AnnaBridge 156:ff21514d8981 32 /** CANMessage class
AnnaBridge 156:ff21514d8981 33 *
AnnaBridge 156:ff21514d8981 34 * @note Synchronization level: Thread safe
AnnaBridge 156:ff21514d8981 35 * @ingroup drivers
AnnaBridge 156:ff21514d8981 36 */
AnnaBridge 156:ff21514d8981 37 class CANMessage : public CAN_Message {
AnnaBridge 156:ff21514d8981 38
AnnaBridge 156:ff21514d8981 39 public:
AnnaBridge 156:ff21514d8981 40 /** Creates empty CAN message.
AnnaBridge 156:ff21514d8981 41 */
AnnaBridge 170:e95d10626187 42 CANMessage() : CAN_Message()
AnnaBridge 170:e95d10626187 43 {
AnnaBridge 156:ff21514d8981 44 len = 8;
AnnaBridge 156:ff21514d8981 45 type = CANData;
AnnaBridge 156:ff21514d8981 46 format = CANStandard;
AnnaBridge 156:ff21514d8981 47 id = 0;
AnnaBridge 156:ff21514d8981 48 memset(data, 0, 8);
AnnaBridge 156:ff21514d8981 49 }
AnnaBridge 156:ff21514d8981 50
AnnaBridge 156:ff21514d8981 51 /** Creates CAN message with specific content.
AnnaBridge 156:ff21514d8981 52 *
AnnaBridge 156:ff21514d8981 53 * @param _id Message ID
AnnaBridge 156:ff21514d8981 54 * @param _data Mesaage Data
AnnaBridge 156:ff21514d8981 55 * @param _len Message Data length
AnnaBridge 156:ff21514d8981 56 * @param _type Type of Data: Use enum CANType for valid parameter values
AnnaBridge 156:ff21514d8981 57 * @param _format Data Format: Use enum CANFormat for valid parameter values
AnnaBridge 156:ff21514d8981 58 */
AnnaBridge 171:3a7713b1edbc 59 CANMessage(unsigned _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard)
AnnaBridge 170:e95d10626187 60 {
AnnaBridge 170:e95d10626187 61 len = _len & 0xF;
AnnaBridge 170:e95d10626187 62 type = _type;
AnnaBridge 170:e95d10626187 63 format = _format;
AnnaBridge 170:e95d10626187 64 id = _id;
AnnaBridge 170:e95d10626187 65 memcpy(data, _data, _len);
AnnaBridge 156:ff21514d8981 66 }
AnnaBridge 156:ff21514d8981 67
AnnaBridge 156:ff21514d8981 68 /** Creates CAN remote message.
AnnaBridge 156:ff21514d8981 69 *
AnnaBridge 156:ff21514d8981 70 * @param _id Message ID
AnnaBridge 156:ff21514d8981 71 * @param _format Data Format: Use enum CANType for valid parameter values
AnnaBridge 156:ff21514d8981 72 */
AnnaBridge 171:3a7713b1edbc 73 CANMessage(unsigned _id, CANFormat _format = CANStandard)
AnnaBridge 170:e95d10626187 74 {
AnnaBridge 170:e95d10626187 75 len = 0;
AnnaBridge 170:e95d10626187 76 type = CANRemote;
AnnaBridge 170:e95d10626187 77 format = _format;
AnnaBridge 170:e95d10626187 78 id = _id;
AnnaBridge 170:e95d10626187 79 memset(data, 0, 8);
AnnaBridge 156:ff21514d8981 80 }
AnnaBridge 156:ff21514d8981 81 };
AnnaBridge 156:ff21514d8981 82
AnnaBridge 156:ff21514d8981 83 /** A can bus client, used for communicating with can devices
AnnaBridge 156:ff21514d8981 84 * @ingroup drivers
AnnaBridge 156:ff21514d8981 85 */
AnnaBridge 156:ff21514d8981 86 class CAN : private NonCopyable<CAN> {
AnnaBridge 156:ff21514d8981 87
AnnaBridge 156:ff21514d8981 88 public:
AnnaBridge 171:3a7713b1edbc 89 /** Creates a CAN interface connected to specific pins.
AnnaBridge 156:ff21514d8981 90 *
AnnaBridge 156:ff21514d8981 91 * @param rd read from transmitter
AnnaBridge 156:ff21514d8981 92 * @param td transmit to transmitter
AnnaBridge 156:ff21514d8981 93 *
AnnaBridge 156:ff21514d8981 94 * Example:
AnnaBridge 156:ff21514d8981 95 * @code
AnnaBridge 156:ff21514d8981 96 * #include "mbed.h"
AnnaBridge 156:ff21514d8981 97 *
AnnaBridge 171:3a7713b1edbc 98 *
AnnaBridge 156:ff21514d8981 99 * Ticker ticker;
AnnaBridge 156:ff21514d8981 100 * DigitalOut led1(LED1);
AnnaBridge 156:ff21514d8981 101 * DigitalOut led2(LED2);
AnnaBridge 171:3a7713b1edbc 102 * //The constructor takes in RX, and TX pin respectively.
AnnaBridge 171:3a7713b1edbc 103 * //These pins, for this example, are defined in mbed_app.json
AnnaBridge 171:3a7713b1edbc 104 * CAN can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD);
AnnaBridge 171:3a7713b1edbc 105 * CAN can2(MBED_CONF_APP_CAN2_RD, MBED_CONF_APP_CAN2_TD);
AnnaBridge 156:ff21514d8981 106 *
AnnaBridge 156:ff21514d8981 107 * char counter = 0;
AnnaBridge 156:ff21514d8981 108 *
AnnaBridge 156:ff21514d8981 109 * void send() {
AnnaBridge 156:ff21514d8981 110 * if(can1.write(CANMessage(1337, &counter, 1))) {
AnnaBridge 156:ff21514d8981 111 * printf("Message sent: %d\n", counter);
AnnaBridge 156:ff21514d8981 112 * counter++;
AnnaBridge 156:ff21514d8981 113 * }
AnnaBridge 156:ff21514d8981 114 * led1 = !led1;
AnnaBridge 156:ff21514d8981 115 * }
AnnaBridge 156:ff21514d8981 116 *
AnnaBridge 156:ff21514d8981 117 * int main() {
AnnaBridge 156:ff21514d8981 118 * ticker.attach(&send, 1);
AnnaBridge 156:ff21514d8981 119 * CANMessage msg;
AnnaBridge 156:ff21514d8981 120 * while(1) {
AnnaBridge 156:ff21514d8981 121 * if(can2.read(msg)) {
AnnaBridge 156:ff21514d8981 122 * printf("Message received: %d\n\n", msg.data[0]);
AnnaBridge 156:ff21514d8981 123 * led2 = !led2;
AnnaBridge 156:ff21514d8981 124 * }
AnnaBridge 156:ff21514d8981 125 * wait(0.2);
AnnaBridge 156:ff21514d8981 126 * }
AnnaBridge 156:ff21514d8981 127 * }
AnnaBridge 172:65be27845400 128 *
AnnaBridge 156:ff21514d8981 129 * @endcode
AnnaBridge 156:ff21514d8981 130 */
AnnaBridge 156:ff21514d8981 131 CAN(PinName rd, PinName td);
AnnaBridge 156:ff21514d8981 132
AnnaBridge 156:ff21514d8981 133 /** Initialize CAN interface and set the frequency
AnnaBridge 156:ff21514d8981 134 *
AnnaBridge 171:3a7713b1edbc 135 * @param rd the read pin
AnnaBridge 171:3a7713b1edbc 136 * @param td the transmit pin
AnnaBridge 156:ff21514d8981 137 * @param hz the bus frequency in hertz
AnnaBridge 156:ff21514d8981 138 */
AnnaBridge 156:ff21514d8981 139 CAN(PinName rd, PinName td, int hz);
AnnaBridge 156:ff21514d8981 140
AnnaBridge 156:ff21514d8981 141 virtual ~CAN();
AnnaBridge 156:ff21514d8981 142
AnnaBridge 156:ff21514d8981 143 /** Set the frequency of the CAN interface
AnnaBridge 156:ff21514d8981 144 *
AnnaBridge 156:ff21514d8981 145 * @param hz The bus frequency in hertz
AnnaBridge 156:ff21514d8981 146 *
AnnaBridge 156:ff21514d8981 147 * @returns
AnnaBridge 156:ff21514d8981 148 * 1 if successful,
AnnaBridge 156:ff21514d8981 149 * 0 otherwise
AnnaBridge 156:ff21514d8981 150 */
AnnaBridge 156:ff21514d8981 151 int frequency(int hz);
AnnaBridge 156:ff21514d8981 152
AnnaBridge 156:ff21514d8981 153 /** Write a CANMessage to the bus.
AnnaBridge 156:ff21514d8981 154 *
AnnaBridge 156:ff21514d8981 155 * @param msg The CANMessage to write.
AnnaBridge 156:ff21514d8981 156 *
AnnaBridge 156:ff21514d8981 157 * @returns
AnnaBridge 156:ff21514d8981 158 * 0 if write failed,
AnnaBridge 156:ff21514d8981 159 * 1 if write was successful
AnnaBridge 156:ff21514d8981 160 */
AnnaBridge 156:ff21514d8981 161 int write(CANMessage msg);
AnnaBridge 156:ff21514d8981 162
AnnaBridge 156:ff21514d8981 163 /** Read a CANMessage from the bus.
AnnaBridge 156:ff21514d8981 164 *
AnnaBridge 156:ff21514d8981 165 * @param msg A CANMessage to read to.
AnnaBridge 156:ff21514d8981 166 * @param handle message filter handle (0 for any message)
AnnaBridge 156:ff21514d8981 167 *
AnnaBridge 156:ff21514d8981 168 * @returns
AnnaBridge 156:ff21514d8981 169 * 0 if no message arrived,
AnnaBridge 156:ff21514d8981 170 * 1 if message arrived
AnnaBridge 156:ff21514d8981 171 */
AnnaBridge 156:ff21514d8981 172 int read(CANMessage &msg, int handle = 0);
AnnaBridge 156:ff21514d8981 173
AnnaBridge 156:ff21514d8981 174 /** Reset CAN interface.
AnnaBridge 156:ff21514d8981 175 *
AnnaBridge 156:ff21514d8981 176 * To use after error overflow.
AnnaBridge 156:ff21514d8981 177 */
AnnaBridge 156:ff21514d8981 178 void reset();
AnnaBridge 156:ff21514d8981 179
AnnaBridge 156:ff21514d8981 180 /** Puts or removes the CAN interface into silent monitoring mode
AnnaBridge 156:ff21514d8981 181 *
AnnaBridge 156:ff21514d8981 182 * @param silent boolean indicating whether to go into silent mode or not
AnnaBridge 156:ff21514d8981 183 */
AnnaBridge 156:ff21514d8981 184 void monitor(bool silent);
AnnaBridge 156:ff21514d8981 185
AnnaBridge 156:ff21514d8981 186 enum Mode {
AnnaBridge 156:ff21514d8981 187 Reset = 0,
AnnaBridge 156:ff21514d8981 188 Normal,
AnnaBridge 156:ff21514d8981 189 Silent,
AnnaBridge 156:ff21514d8981 190 LocalTest,
AnnaBridge 156:ff21514d8981 191 GlobalTest,
AnnaBridge 156:ff21514d8981 192 SilentTest
AnnaBridge 156:ff21514d8981 193 };
AnnaBridge 156:ff21514d8981 194
AnnaBridge 156:ff21514d8981 195 /** Change CAN operation to the specified mode
AnnaBridge 156:ff21514d8981 196 *
AnnaBridge 156:ff21514d8981 197 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
AnnaBridge 156:ff21514d8981 198 *
AnnaBridge 156:ff21514d8981 199 * @returns
AnnaBridge 156:ff21514d8981 200 * 0 if mode change failed or unsupported,
AnnaBridge 156:ff21514d8981 201 * 1 if mode change was successful
AnnaBridge 156:ff21514d8981 202 */
AnnaBridge 156:ff21514d8981 203 int mode(Mode mode);
AnnaBridge 156:ff21514d8981 204
AnnaBridge 171:3a7713b1edbc 205 /** Filter out incoming messages
AnnaBridge 156:ff21514d8981 206 *
AnnaBridge 156:ff21514d8981 207 * @param id the id to filter on
AnnaBridge 156:ff21514d8981 208 * @param mask the mask applied to the id
AnnaBridge 156:ff21514d8981 209 * @param format format to filter on (Default CANAny)
AnnaBridge 156:ff21514d8981 210 * @param handle message filter handle (Optional)
AnnaBridge 156:ff21514d8981 211 *
AnnaBridge 156:ff21514d8981 212 * @returns
AnnaBridge 156:ff21514d8981 213 * 0 if filter change failed or unsupported,
AnnaBridge 156:ff21514d8981 214 * new filter handle if successful
AnnaBridge 156:ff21514d8981 215 */
AnnaBridge 156:ff21514d8981 216 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
AnnaBridge 156:ff21514d8981 217
AnnaBridge 156:ff21514d8981 218 /** Detects read errors - Used to detect read overflow errors.
AnnaBridge 156:ff21514d8981 219 *
AnnaBridge 156:ff21514d8981 220 * @returns number of read errors
AnnaBridge 156:ff21514d8981 221 */
AnnaBridge 156:ff21514d8981 222 unsigned char rderror();
AnnaBridge 156:ff21514d8981 223
AnnaBridge 156:ff21514d8981 224 /** Detects write errors - Used to detect write overflow errors.
AnnaBridge 156:ff21514d8981 225 *
AnnaBridge 156:ff21514d8981 226 * @returns number of write errors
AnnaBridge 156:ff21514d8981 227 */
AnnaBridge 156:ff21514d8981 228 unsigned char tderror();
AnnaBridge 156:ff21514d8981 229
AnnaBridge 156:ff21514d8981 230 enum IrqType {
AnnaBridge 156:ff21514d8981 231 RxIrq = 0,
AnnaBridge 156:ff21514d8981 232 TxIrq,
AnnaBridge 156:ff21514d8981 233 EwIrq,
AnnaBridge 156:ff21514d8981 234 DoIrq,
AnnaBridge 156:ff21514d8981 235 WuIrq,
AnnaBridge 156:ff21514d8981 236 EpIrq,
AnnaBridge 156:ff21514d8981 237 AlIrq,
AnnaBridge 156:ff21514d8981 238 BeIrq,
AnnaBridge 156:ff21514d8981 239 IdIrq,
AnnaBridge 156:ff21514d8981 240
AnnaBridge 156:ff21514d8981 241 IrqCnt
AnnaBridge 156:ff21514d8981 242 };
AnnaBridge 156:ff21514d8981 243
AnnaBridge 156:ff21514d8981 244 /** Attach a function to call whenever a CAN frame received interrupt is
AnnaBridge 156:ff21514d8981 245 * generated.
AnnaBridge 170:e95d10626187 246 *
AnnaBridge 156:ff21514d8981 247 * This function locks the deep sleep while a callback is attached
AnnaBridge 170:e95d10626187 248 *
AnnaBridge 156:ff21514d8981 249 * @param func A pointer to a void function, or 0 to set as none
AnnaBridge 156:ff21514d8981 250 * @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 251 */
AnnaBridge 170:e95d10626187 252 void attach(Callback<void()> func, IrqType type = RxIrq);
AnnaBridge 156:ff21514d8981 253
AnnaBridge 170:e95d10626187 254 /** Attach a member function to call whenever a CAN frame received interrupt
AnnaBridge 170:e95d10626187 255 * is generated.
AnnaBridge 170:e95d10626187 256 *
AnnaBridge 170:e95d10626187 257 * @param obj pointer to the object to call the member function on
AnnaBridge 170:e95d10626187 258 * @param method pointer to the member function to be called
AnnaBridge 170:e95d10626187 259 * @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 260 * @deprecated
AnnaBridge 170:e95d10626187 261 * The attach function does not support cv-qualifiers. Replaced by
AnnaBridge 170:e95d10626187 262 * attach(callback(obj, method), type).
AnnaBridge 170:e95d10626187 263 */
AnnaBridge 156:ff21514d8981 264 template<typename T>
AnnaBridge 156:ff21514d8981 265 MBED_DEPRECATED_SINCE("mbed-os-5.1",
AnnaBridge 170:e95d10626187 266 "The attach function does not support cv-qualifiers. Replaced by "
AnnaBridge 170:e95d10626187 267 "attach(callback(obj, method), type).")
AnnaBridge 170:e95d10626187 268 void attach(T *obj, void (T::*method)(), IrqType type = RxIrq)
AnnaBridge 170:e95d10626187 269 {
AnnaBridge 156:ff21514d8981 270 // Underlying call thread safe
AnnaBridge 156:ff21514d8981 271 attach(callback(obj, method), type);
AnnaBridge 156:ff21514d8981 272 }
AnnaBridge 156:ff21514d8981 273
AnnaBridge 170:e95d10626187 274 /** Attach a member function to call whenever a CAN frame received interrupt
AnnaBridge 170:e95d10626187 275 * is generated.
AnnaBridge 170:e95d10626187 276 *
AnnaBridge 170:e95d10626187 277 * @param obj pointer to the object to call the member function on
AnnaBridge 170:e95d10626187 278 * @param method pointer to the member function to be called
AnnaBridge 170:e95d10626187 279 * @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 280 * @deprecated
AnnaBridge 170:e95d10626187 281 * The attach function does not support cv-qualifiers. Replaced by
AnnaBridge 170:e95d10626187 282 * attach(callback(obj, method), type).
AnnaBridge 170:e95d10626187 283 */
AnnaBridge 156:ff21514d8981 284 template<typename T>
AnnaBridge 156:ff21514d8981 285 MBED_DEPRECATED_SINCE("mbed-os-5.1",
AnnaBridge 170:e95d10626187 286 "The attach function does not support cv-qualifiers. Replaced by "
AnnaBridge 170:e95d10626187 287 "attach(callback(obj, method), type).")
AnnaBridge 170:e95d10626187 288 void attach(T *obj, void (*method)(T *), IrqType type = RxIrq)
AnnaBridge 170:e95d10626187 289 {
AnnaBridge 156:ff21514d8981 290 // Underlying call thread safe
AnnaBridge 156:ff21514d8981 291 attach(callback(obj, method), type);
AnnaBridge 156:ff21514d8981 292 }
AnnaBridge 156:ff21514d8981 293
AnnaBridge 156:ff21514d8981 294 static void _irq_handler(uint32_t id, CanIrqType type);
AnnaBridge 156:ff21514d8981 295
AnnaBridge 171:3a7713b1edbc 296 #if !defined(DOXYGEN_ONLY)
AnnaBridge 156:ff21514d8981 297 protected:
AnnaBridge 156:ff21514d8981 298 virtual void lock();
AnnaBridge 156:ff21514d8981 299 virtual void unlock();
AnnaBridge 156:ff21514d8981 300 can_t _can;
AnnaBridge 156:ff21514d8981 301 Callback<void()> _irq[IrqCnt];
AnnaBridge 156:ff21514d8981 302 PlatformMutex _mutex;
AnnaBridge 171:3a7713b1edbc 303 #endif
AnnaBridge 156:ff21514d8981 304 };
AnnaBridge 156:ff21514d8981 305
AnnaBridge 156:ff21514d8981 306 } // namespace mbed
AnnaBridge 156:ff21514d8981 307
AnnaBridge 156:ff21514d8981 308 #endif
AnnaBridge 156:ff21514d8981 309
AnnaBridge 156:ff21514d8981 310 #endif // MBED_CAN_H
AnnaBridge 156:ff21514d8981 311