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@170:e95d10626187, 2018-09-06 (annotated)

Committer:
AnnaBridge
Date:
Thu Sep 06 13:39:34 2018 +0100
Revision:
170:e95d10626187
Parent:
156:ff21514d8981
Child:
171:3a7713b1edbc
mbed library. Release version 163

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 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 170:e95d10626187 58 CANMessage(int _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 170:e95d10626187 72 CANMessage(int _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 156:ff21514d8981 88 /** Creates an 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 156:ff21514d8981 97 * Ticker ticker;
AnnaBridge 156:ff21514d8981 98 * DigitalOut led1(LED1);
AnnaBridge 156:ff21514d8981 99 * DigitalOut led2(LED2);
AnnaBridge 156:ff21514d8981 100 * CAN can1(p9, p10);
AnnaBridge 156:ff21514d8981 101 * CAN can2(p30, p29);
AnnaBridge 156:ff21514d8981 102 *
AnnaBridge 156:ff21514d8981 103 * char counter = 0;
AnnaBridge 156:ff21514d8981 104 *
AnnaBridge 156:ff21514d8981 105 * void send() {
AnnaBridge 156:ff21514d8981 106 * if(can1.write(CANMessage(1337, &counter, 1))) {
AnnaBridge 156:ff21514d8981 107 * printf("Message sent: %d\n", counter);
AnnaBridge 156:ff21514d8981 108 * counter++;
AnnaBridge 156:ff21514d8981 109 * }
AnnaBridge 156:ff21514d8981 110 * led1 = !led1;
AnnaBridge 156:ff21514d8981 111 * }
AnnaBridge 156:ff21514d8981 112 *
AnnaBridge 156:ff21514d8981 113 * int main() {
AnnaBridge 156:ff21514d8981 114 * ticker.attach(&send, 1);
AnnaBridge 156:ff21514d8981 115 * CANMessage msg;
AnnaBridge 156:ff21514d8981 116 * while(1) {
AnnaBridge 156:ff21514d8981 117 * if(can2.read(msg)) {
AnnaBridge 156:ff21514d8981 118 * printf("Message received: %d\n\n", msg.data[0]);
AnnaBridge 156:ff21514d8981 119 * led2 = !led2;
AnnaBridge 156:ff21514d8981 120 * }
AnnaBridge 156:ff21514d8981 121 * wait(0.2);
AnnaBridge 156:ff21514d8981 122 * }
AnnaBridge 156:ff21514d8981 123 * }
AnnaBridge 156:ff21514d8981 124 * @endcode
AnnaBridge 156:ff21514d8981 125 */
AnnaBridge 156:ff21514d8981 126 CAN(PinName rd, PinName td);
AnnaBridge 156:ff21514d8981 127
AnnaBridge 156:ff21514d8981 128 /** Initialize CAN interface and set the frequency
AnnaBridge 156:ff21514d8981 129 *
AnnaBridge 156:ff21514d8981 130 * @param rd the rd pin
AnnaBridge 156:ff21514d8981 131 * @param td the td pin
AnnaBridge 156:ff21514d8981 132 * @param hz the bus frequency in hertz
AnnaBridge 156:ff21514d8981 133 */
AnnaBridge 156:ff21514d8981 134 CAN(PinName rd, PinName td, int hz);
AnnaBridge 156:ff21514d8981 135
AnnaBridge 156:ff21514d8981 136 virtual ~CAN();
AnnaBridge 156:ff21514d8981 137
AnnaBridge 156:ff21514d8981 138 /** Set the frequency of the CAN interface
AnnaBridge 156:ff21514d8981 139 *
AnnaBridge 156:ff21514d8981 140 * @param hz The bus frequency in hertz
AnnaBridge 156:ff21514d8981 141 *
AnnaBridge 156:ff21514d8981 142 * @returns
AnnaBridge 156:ff21514d8981 143 * 1 if successful,
AnnaBridge 156:ff21514d8981 144 * 0 otherwise
AnnaBridge 156:ff21514d8981 145 */
AnnaBridge 156:ff21514d8981 146 int frequency(int hz);
AnnaBridge 156:ff21514d8981 147
AnnaBridge 156:ff21514d8981 148 /** Write a CANMessage to the bus.
AnnaBridge 156:ff21514d8981 149 *
AnnaBridge 156:ff21514d8981 150 * @param msg The CANMessage to write.
AnnaBridge 156:ff21514d8981 151 *
AnnaBridge 156:ff21514d8981 152 * @returns
AnnaBridge 156:ff21514d8981 153 * 0 if write failed,
AnnaBridge 156:ff21514d8981 154 * 1 if write was successful
AnnaBridge 156:ff21514d8981 155 */
AnnaBridge 156:ff21514d8981 156 int write(CANMessage msg);
AnnaBridge 156:ff21514d8981 157
AnnaBridge 156:ff21514d8981 158 /** Read a CANMessage from the bus.
AnnaBridge 156:ff21514d8981 159 *
AnnaBridge 156:ff21514d8981 160 * @param msg A CANMessage to read to.
AnnaBridge 156:ff21514d8981 161 * @param handle message filter handle (0 for any message)
AnnaBridge 156:ff21514d8981 162 *
AnnaBridge 156:ff21514d8981 163 * @returns
AnnaBridge 156:ff21514d8981 164 * 0 if no message arrived,
AnnaBridge 156:ff21514d8981 165 * 1 if message arrived
AnnaBridge 156:ff21514d8981 166 */
AnnaBridge 156:ff21514d8981 167 int read(CANMessage &msg, int handle = 0);
AnnaBridge 156:ff21514d8981 168
AnnaBridge 156:ff21514d8981 169 /** Reset CAN interface.
AnnaBridge 156:ff21514d8981 170 *
AnnaBridge 156:ff21514d8981 171 * To use after error overflow.
AnnaBridge 156:ff21514d8981 172 */
AnnaBridge 156:ff21514d8981 173 void reset();
AnnaBridge 156:ff21514d8981 174
AnnaBridge 156:ff21514d8981 175 /** Puts or removes the CAN interface into silent monitoring mode
AnnaBridge 156:ff21514d8981 176 *
AnnaBridge 156:ff21514d8981 177 * @param silent boolean indicating whether to go into silent mode or not
AnnaBridge 156:ff21514d8981 178 */
AnnaBridge 156:ff21514d8981 179 void monitor(bool silent);
AnnaBridge 156:ff21514d8981 180
AnnaBridge 156:ff21514d8981 181 enum Mode {
AnnaBridge 156:ff21514d8981 182 Reset = 0,
AnnaBridge 156:ff21514d8981 183 Normal,
AnnaBridge 156:ff21514d8981 184 Silent,
AnnaBridge 156:ff21514d8981 185 LocalTest,
AnnaBridge 156:ff21514d8981 186 GlobalTest,
AnnaBridge 156:ff21514d8981 187 SilentTest
AnnaBridge 156:ff21514d8981 188 };
AnnaBridge 156:ff21514d8981 189
AnnaBridge 156:ff21514d8981 190 /** Change CAN operation to the specified mode
AnnaBridge 156:ff21514d8981 191 *
AnnaBridge 156:ff21514d8981 192 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
AnnaBridge 156:ff21514d8981 193 *
AnnaBridge 156:ff21514d8981 194 * @returns
AnnaBridge 156:ff21514d8981 195 * 0 if mode change failed or unsupported,
AnnaBridge 156:ff21514d8981 196 * 1 if mode change was successful
AnnaBridge 156:ff21514d8981 197 */
AnnaBridge 156:ff21514d8981 198 int mode(Mode mode);
AnnaBridge 156:ff21514d8981 199
AnnaBridge 156:ff21514d8981 200 /** Filter out incomming messages
AnnaBridge 156:ff21514d8981 201 *
AnnaBridge 156:ff21514d8981 202 * @param id the id to filter on
AnnaBridge 156:ff21514d8981 203 * @param mask the mask applied to the id
AnnaBridge 156:ff21514d8981 204 * @param format format to filter on (Default CANAny)
AnnaBridge 156:ff21514d8981 205 * @param handle message filter handle (Optional)
AnnaBridge 156:ff21514d8981 206 *
AnnaBridge 156:ff21514d8981 207 * @returns
AnnaBridge 156:ff21514d8981 208 * 0 if filter change failed or unsupported,
AnnaBridge 156:ff21514d8981 209 * new filter handle if successful
AnnaBridge 156:ff21514d8981 210 */
AnnaBridge 156:ff21514d8981 211 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
AnnaBridge 156:ff21514d8981 212
AnnaBridge 156:ff21514d8981 213 /** Detects read errors - Used to detect read overflow errors.
AnnaBridge 156:ff21514d8981 214 *
AnnaBridge 156:ff21514d8981 215 * @returns number of read errors
AnnaBridge 156:ff21514d8981 216 */
AnnaBridge 156:ff21514d8981 217 unsigned char rderror();
AnnaBridge 156:ff21514d8981 218
AnnaBridge 156:ff21514d8981 219 /** Detects write errors - Used to detect write overflow errors.
AnnaBridge 156:ff21514d8981 220 *
AnnaBridge 156:ff21514d8981 221 * @returns number of write errors
AnnaBridge 156:ff21514d8981 222 */
AnnaBridge 156:ff21514d8981 223 unsigned char tderror();
AnnaBridge 156:ff21514d8981 224
AnnaBridge 156:ff21514d8981 225 enum IrqType {
AnnaBridge 156:ff21514d8981 226 RxIrq = 0,
AnnaBridge 156:ff21514d8981 227 TxIrq,
AnnaBridge 156:ff21514d8981 228 EwIrq,
AnnaBridge 156:ff21514d8981 229 DoIrq,
AnnaBridge 156:ff21514d8981 230 WuIrq,
AnnaBridge 156:ff21514d8981 231 EpIrq,
AnnaBridge 156:ff21514d8981 232 AlIrq,
AnnaBridge 156:ff21514d8981 233 BeIrq,
AnnaBridge 156:ff21514d8981 234 IdIrq,
AnnaBridge 156:ff21514d8981 235
AnnaBridge 156:ff21514d8981 236 IrqCnt
AnnaBridge 156:ff21514d8981 237 };
AnnaBridge 156:ff21514d8981 238
AnnaBridge 156:ff21514d8981 239 /** Attach a function to call whenever a CAN frame received interrupt is
AnnaBridge 156:ff21514d8981 240 * generated.
AnnaBridge 170:e95d10626187 241 *
AnnaBridge 156:ff21514d8981 242 * This function locks the deep sleep while a callback is attached
AnnaBridge 170:e95d10626187 243 *
AnnaBridge 156:ff21514d8981 244 * @param func A pointer to a void function, or 0 to set as none
AnnaBridge 156:ff21514d8981 245 * @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 246 */
AnnaBridge 170:e95d10626187 247 void attach(Callback<void()> func, IrqType type = RxIrq);
AnnaBridge 156:ff21514d8981 248
AnnaBridge 170:e95d10626187 249 /** Attach a member function to call whenever a CAN frame received interrupt
AnnaBridge 170:e95d10626187 250 * is generated.
AnnaBridge 170:e95d10626187 251 *
AnnaBridge 170:e95d10626187 252 * @param obj pointer to the object to call the member function on
AnnaBridge 170:e95d10626187 253 * @param method pointer to the member function to be called
AnnaBridge 170:e95d10626187 254 * @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 255 * @deprecated
AnnaBridge 170:e95d10626187 256 * The attach function does not support cv-qualifiers. Replaced by
AnnaBridge 170:e95d10626187 257 * attach(callback(obj, method), type).
AnnaBridge 170:e95d10626187 258 */
AnnaBridge 156:ff21514d8981 259 template<typename T>
AnnaBridge 156:ff21514d8981 260 MBED_DEPRECATED_SINCE("mbed-os-5.1",
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 void attach(T *obj, void (T::*method)(), IrqType type = RxIrq)
AnnaBridge 170:e95d10626187 264 {
AnnaBridge 156:ff21514d8981 265 // Underlying call thread safe
AnnaBridge 156:ff21514d8981 266 attach(callback(obj, method), type);
AnnaBridge 156:ff21514d8981 267 }
AnnaBridge 156:ff21514d8981 268
AnnaBridge 170:e95d10626187 269 /** Attach a member function to call whenever a CAN frame received interrupt
AnnaBridge 170:e95d10626187 270 * is generated.
AnnaBridge 170:e95d10626187 271 *
AnnaBridge 170:e95d10626187 272 * @param obj pointer to the object to call the member function on
AnnaBridge 170:e95d10626187 273 * @param method pointer to the member function to be called
AnnaBridge 170:e95d10626187 274 * @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 275 * @deprecated
AnnaBridge 170:e95d10626187 276 * The attach function does not support cv-qualifiers. Replaced by
AnnaBridge 170:e95d10626187 277 * attach(callback(obj, method), type).
AnnaBridge 170:e95d10626187 278 */
AnnaBridge 156:ff21514d8981 279 template<typename T>
AnnaBridge 156:ff21514d8981 280 MBED_DEPRECATED_SINCE("mbed-os-5.1",
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 void attach(T *obj, void (*method)(T *), IrqType type = RxIrq)
AnnaBridge 170:e95d10626187 284 {
AnnaBridge 156:ff21514d8981 285 // Underlying call thread safe
AnnaBridge 156:ff21514d8981 286 attach(callback(obj, method), type);
AnnaBridge 156:ff21514d8981 287 }
AnnaBridge 156:ff21514d8981 288
AnnaBridge 156:ff21514d8981 289 static void _irq_handler(uint32_t id, CanIrqType type);
AnnaBridge 156:ff21514d8981 290
AnnaBridge 156:ff21514d8981 291 protected:
AnnaBridge 156:ff21514d8981 292 virtual void lock();
AnnaBridge 156:ff21514d8981 293 virtual void unlock();
AnnaBridge 156:ff21514d8981 294 can_t _can;
AnnaBridge 156:ff21514d8981 295 Callback<void()> _irq[IrqCnt];
AnnaBridge 156:ff21514d8981 296 PlatformMutex _mutex;
AnnaBridge 156:ff21514d8981 297 };
AnnaBridge 156:ff21514d8981 298
AnnaBridge 156:ff21514d8981 299 } // namespace mbed
AnnaBridge 156:ff21514d8981 300
AnnaBridge 156:ff21514d8981 301 #endif
AnnaBridge 156:ff21514d8981 302
AnnaBridge 156:ff21514d8981 303 #endif // MBED_CAN_H
AnnaBridge 156:ff21514d8981 304