Mark Turner / mbed

mbed library for slider v2

Dependents:   kl46z_slider_v2

CAN.h@0:b7116bd48af6, 2016-09-14 (annotated)

Committer:
mturner5
Date:
Wed Sep 14 07:04:27 2016 +0000
Revision:
0:b7116bd48af6
Tried to use the timer.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mturner5 0:b7116bd48af6 1 /* mbed Microcontroller Library
mturner5 0:b7116bd48af6 2 * Copyright (c) 2006-2013 ARM Limited
mturner5 0:b7116bd48af6 3 *
mturner5 0:b7116bd48af6 4 * Licensed under the Apache License, Version 2.0 (the "License");
mturner5 0:b7116bd48af6 5 * you may not use this file except in compliance with the License.
mturner5 0:b7116bd48af6 6 * You may obtain a copy of the License at
mturner5 0:b7116bd48af6 7 *
mturner5 0:b7116bd48af6 8 * http://www.apache.org/licenses/LICENSE-2.0
mturner5 0:b7116bd48af6 9 *
mturner5 0:b7116bd48af6 10 * Unless required by applicable law or agreed to in writing, software
mturner5 0:b7116bd48af6 11 * distributed under the License is distributed on an "AS IS" BASIS,
mturner5 0:b7116bd48af6 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
mturner5 0:b7116bd48af6 13 * See the License for the specific language governing permissions and
mturner5 0:b7116bd48af6 14 * limitations under the License.
mturner5 0:b7116bd48af6 15 */
mturner5 0:b7116bd48af6 16 #ifndef MBED_CAN_H
mturner5 0:b7116bd48af6 17 #define MBED_CAN_H
mturner5 0:b7116bd48af6 18
mturner5 0:b7116bd48af6 19 #include "platform.h"
mturner5 0:b7116bd48af6 20
mturner5 0:b7116bd48af6 21 #if DEVICE_CAN
mturner5 0:b7116bd48af6 22
mturner5 0:b7116bd48af6 23 #include "can_api.h"
mturner5 0:b7116bd48af6 24 #include "can_helper.h"
mturner5 0:b7116bd48af6 25 #include "Callback.h"
mturner5 0:b7116bd48af6 26 #include "PlatformMutex.h"
mturner5 0:b7116bd48af6 27
mturner5 0:b7116bd48af6 28 namespace mbed {
mturner5 0:b7116bd48af6 29
mturner5 0:b7116bd48af6 30 /** CANMessage class
mturner5 0:b7116bd48af6 31 *
mturner5 0:b7116bd48af6 32 * @Note Synchronization level: Thread safe
mturner5 0:b7116bd48af6 33 */
mturner5 0:b7116bd48af6 34 class CANMessage : public CAN_Message {
mturner5 0:b7116bd48af6 35
mturner5 0:b7116bd48af6 36 public:
mturner5 0:b7116bd48af6 37 /** Creates empty CAN message.
mturner5 0:b7116bd48af6 38 */
mturner5 0:b7116bd48af6 39 CANMessage() : CAN_Message() {
mturner5 0:b7116bd48af6 40 len = 8;
mturner5 0:b7116bd48af6 41 type = CANData;
mturner5 0:b7116bd48af6 42 format = CANStandard;
mturner5 0:b7116bd48af6 43 id = 0;
mturner5 0:b7116bd48af6 44 memset(data, 0, 8);
mturner5 0:b7116bd48af6 45 }
mturner5 0:b7116bd48af6 46
mturner5 0:b7116bd48af6 47 /** Creates CAN message with specific content.
mturner5 0:b7116bd48af6 48 */
mturner5 0:b7116bd48af6 49 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
mturner5 0:b7116bd48af6 50 len = _len & 0xF;
mturner5 0:b7116bd48af6 51 type = _type;
mturner5 0:b7116bd48af6 52 format = _format;
mturner5 0:b7116bd48af6 53 id = _id;
mturner5 0:b7116bd48af6 54 memcpy(data, _data, _len);
mturner5 0:b7116bd48af6 55 }
mturner5 0:b7116bd48af6 56
mturner5 0:b7116bd48af6 57 /** Creates CAN remote message.
mturner5 0:b7116bd48af6 58 */
mturner5 0:b7116bd48af6 59 CANMessage(int _id, CANFormat _format = CANStandard) {
mturner5 0:b7116bd48af6 60 len = 0;
mturner5 0:b7116bd48af6 61 type = CANRemote;
mturner5 0:b7116bd48af6 62 format = _format;
mturner5 0:b7116bd48af6 63 id = _id;
mturner5 0:b7116bd48af6 64 memset(data, 0, 8);
mturner5 0:b7116bd48af6 65 }
mturner5 0:b7116bd48af6 66 };
mturner5 0:b7116bd48af6 67
mturner5 0:b7116bd48af6 68 /** A can bus client, used for communicating with can devices
mturner5 0:b7116bd48af6 69 */
mturner5 0:b7116bd48af6 70 class CAN {
mturner5 0:b7116bd48af6 71
mturner5 0:b7116bd48af6 72 public:
mturner5 0:b7116bd48af6 73 /** Creates an CAN interface connected to specific pins.
mturner5 0:b7116bd48af6 74 *
mturner5 0:b7116bd48af6 75 * @param rd read from transmitter
mturner5 0:b7116bd48af6 76 * @param td transmit to transmitter
mturner5 0:b7116bd48af6 77 *
mturner5 0:b7116bd48af6 78 * Example:
mturner5 0:b7116bd48af6 79 * @code
mturner5 0:b7116bd48af6 80 * #include "mbed.h"
mturner5 0:b7116bd48af6 81 *
mturner5 0:b7116bd48af6 82 * Ticker ticker;
mturner5 0:b7116bd48af6 83 * DigitalOut led1(LED1);
mturner5 0:b7116bd48af6 84 * DigitalOut led2(LED2);
mturner5 0:b7116bd48af6 85 * CAN can1(p9, p10);
mturner5 0:b7116bd48af6 86 * CAN can2(p30, p29);
mturner5 0:b7116bd48af6 87 *
mturner5 0:b7116bd48af6 88 * char counter = 0;
mturner5 0:b7116bd48af6 89 *
mturner5 0:b7116bd48af6 90 * void send() {
mturner5 0:b7116bd48af6 91 * if(can1.write(CANMessage(1337, &counter, 1))) {
mturner5 0:b7116bd48af6 92 * printf("Message sent: %d\n", counter);
mturner5 0:b7116bd48af6 93 * counter++;
mturner5 0:b7116bd48af6 94 * }
mturner5 0:b7116bd48af6 95 * led1 = !led1;
mturner5 0:b7116bd48af6 96 * }
mturner5 0:b7116bd48af6 97 *
mturner5 0:b7116bd48af6 98 * int main() {
mturner5 0:b7116bd48af6 99 * ticker.attach(&send, 1);
mturner5 0:b7116bd48af6 100 * CANMessage msg;
mturner5 0:b7116bd48af6 101 * while(1) {
mturner5 0:b7116bd48af6 102 * if(can2.read(msg)) {
mturner5 0:b7116bd48af6 103 * printf("Message received: %d\n\n", msg.data[0]);
mturner5 0:b7116bd48af6 104 * led2 = !led2;
mturner5 0:b7116bd48af6 105 * }
mturner5 0:b7116bd48af6 106 * wait(0.2);
mturner5 0:b7116bd48af6 107 * }
mturner5 0:b7116bd48af6 108 * }
mturner5 0:b7116bd48af6 109 * @endcode
mturner5 0:b7116bd48af6 110 */
mturner5 0:b7116bd48af6 111 CAN(PinName rd, PinName td);
mturner5 0:b7116bd48af6 112 virtual ~CAN();
mturner5 0:b7116bd48af6 113
mturner5 0:b7116bd48af6 114 /** Set the frequency of the CAN interface
mturner5 0:b7116bd48af6 115 *
mturner5 0:b7116bd48af6 116 * @param hz The bus frequency in hertz
mturner5 0:b7116bd48af6 117 *
mturner5 0:b7116bd48af6 118 * @returns
mturner5 0:b7116bd48af6 119 * 1 if successful,
mturner5 0:b7116bd48af6 120 * 0 otherwise
mturner5 0:b7116bd48af6 121 */
mturner5 0:b7116bd48af6 122 int frequency(int hz);
mturner5 0:b7116bd48af6 123
mturner5 0:b7116bd48af6 124 /** Write a CANMessage to the bus.
mturner5 0:b7116bd48af6 125 *
mturner5 0:b7116bd48af6 126 * @param msg The CANMessage to write.
mturner5 0:b7116bd48af6 127 *
mturner5 0:b7116bd48af6 128 * @returns
mturner5 0:b7116bd48af6 129 * 0 if write failed,
mturner5 0:b7116bd48af6 130 * 1 if write was successful
mturner5 0:b7116bd48af6 131 */
mturner5 0:b7116bd48af6 132 int write(CANMessage msg);
mturner5 0:b7116bd48af6 133
mturner5 0:b7116bd48af6 134 /** Read a CANMessage from the bus.
mturner5 0:b7116bd48af6 135 *
mturner5 0:b7116bd48af6 136 * @param msg A CANMessage to read to.
mturner5 0:b7116bd48af6 137 * @param handle message filter handle (0 for any message)
mturner5 0:b7116bd48af6 138 *
mturner5 0:b7116bd48af6 139 * @returns
mturner5 0:b7116bd48af6 140 * 0 if no message arrived,
mturner5 0:b7116bd48af6 141 * 1 if message arrived
mturner5 0:b7116bd48af6 142 */
mturner5 0:b7116bd48af6 143 int read(CANMessage &msg, int handle = 0);
mturner5 0:b7116bd48af6 144
mturner5 0:b7116bd48af6 145 /** Reset CAN interface.
mturner5 0:b7116bd48af6 146 *
mturner5 0:b7116bd48af6 147 * To use after error overflow.
mturner5 0:b7116bd48af6 148 */
mturner5 0:b7116bd48af6 149 void reset();
mturner5 0:b7116bd48af6 150
mturner5 0:b7116bd48af6 151 /** Puts or removes the CAN interface into silent monitoring mode
mturner5 0:b7116bd48af6 152 *
mturner5 0:b7116bd48af6 153 * @param silent boolean indicating whether to go into silent mode or not
mturner5 0:b7116bd48af6 154 */
mturner5 0:b7116bd48af6 155 void monitor(bool silent);
mturner5 0:b7116bd48af6 156
mturner5 0:b7116bd48af6 157 enum Mode {
mturner5 0:b7116bd48af6 158 Reset = 0,
mturner5 0:b7116bd48af6 159 Normal,
mturner5 0:b7116bd48af6 160 Silent,
mturner5 0:b7116bd48af6 161 LocalTest,
mturner5 0:b7116bd48af6 162 GlobalTest,
mturner5 0:b7116bd48af6 163 SilentTest
mturner5 0:b7116bd48af6 164 };
mturner5 0:b7116bd48af6 165
mturner5 0:b7116bd48af6 166 /** Change CAN operation to the specified mode
mturner5 0:b7116bd48af6 167 *
mturner5 0:b7116bd48af6 168 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
mturner5 0:b7116bd48af6 169 *
mturner5 0:b7116bd48af6 170 * @returns
mturner5 0:b7116bd48af6 171 * 0 if mode change failed or unsupported,
mturner5 0:b7116bd48af6 172 * 1 if mode change was successful
mturner5 0:b7116bd48af6 173 */
mturner5 0:b7116bd48af6 174 int mode(Mode mode);
mturner5 0:b7116bd48af6 175
mturner5 0:b7116bd48af6 176 /** Filter out incomming messages
mturner5 0:b7116bd48af6 177 *
mturner5 0:b7116bd48af6 178 * @param id the id to filter on
mturner5 0:b7116bd48af6 179 * @param mask the mask applied to the id
mturner5 0:b7116bd48af6 180 * @param format format to filter on (Default CANAny)
mturner5 0:b7116bd48af6 181 * @param handle message filter handle (Optional)
mturner5 0:b7116bd48af6 182 *
mturner5 0:b7116bd48af6 183 * @returns
mturner5 0:b7116bd48af6 184 * 0 if filter change failed or unsupported,
mturner5 0:b7116bd48af6 185 * new filter handle if successful
mturner5 0:b7116bd48af6 186 */
mturner5 0:b7116bd48af6 187 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
mturner5 0:b7116bd48af6 188
mturner5 0:b7116bd48af6 189 /** Returns number of read errors to detect read overflow errors.
mturner5 0:b7116bd48af6 190 */
mturner5 0:b7116bd48af6 191 unsigned char rderror();
mturner5 0:b7116bd48af6 192
mturner5 0:b7116bd48af6 193 /** Returns number of write errors to detect write overflow errors.
mturner5 0:b7116bd48af6 194 */
mturner5 0:b7116bd48af6 195 unsigned char tderror();
mturner5 0:b7116bd48af6 196
mturner5 0:b7116bd48af6 197 enum IrqType {
mturner5 0:b7116bd48af6 198 RxIrq = 0,
mturner5 0:b7116bd48af6 199 TxIrq,
mturner5 0:b7116bd48af6 200 EwIrq,
mturner5 0:b7116bd48af6 201 DoIrq,
mturner5 0:b7116bd48af6 202 WuIrq,
mturner5 0:b7116bd48af6 203 EpIrq,
mturner5 0:b7116bd48af6 204 AlIrq,
mturner5 0:b7116bd48af6 205 BeIrq,
mturner5 0:b7116bd48af6 206 IdIrq
mturner5 0:b7116bd48af6 207 };
mturner5 0:b7116bd48af6 208
mturner5 0:b7116bd48af6 209 /** Attach a function to call whenever a CAN frame received interrupt is
mturner5 0:b7116bd48af6 210 * generated.
mturner5 0:b7116bd48af6 211 *
mturner5 0:b7116bd48af6 212 * @param func A pointer to a void function, or 0 to set as none
mturner5 0:b7116bd48af6 213 * @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)
mturner5 0:b7116bd48af6 214 */
mturner5 0:b7116bd48af6 215 void attach(Callback<void()> func, IrqType type=RxIrq);
mturner5 0:b7116bd48af6 216
mturner5 0:b7116bd48af6 217 /** Attach a member function to call whenever a CAN frame received interrupt
mturner5 0:b7116bd48af6 218 * is generated.
mturner5 0:b7116bd48af6 219 *
mturner5 0:b7116bd48af6 220 * @param obj pointer to the object to call the member function on
mturner5 0:b7116bd48af6 221 * @param method pointer to the member function to be called
mturner5 0:b7116bd48af6 222 * @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)
mturner5 0:b7116bd48af6 223 */
mturner5 0:b7116bd48af6 224 template<typename T>
mturner5 0:b7116bd48af6 225 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
mturner5 0:b7116bd48af6 226 // Underlying call thread safe
mturner5 0:b7116bd48af6 227 attach(Callback<void()>(obj, method), type);
mturner5 0:b7116bd48af6 228 }
mturner5 0:b7116bd48af6 229
mturner5 0:b7116bd48af6 230 /** Attach a member function to call whenever a CAN frame received interrupt
mturner5 0:b7116bd48af6 231 * is generated.
mturner5 0:b7116bd48af6 232 *
mturner5 0:b7116bd48af6 233 * @param obj pointer to the object to call the member function on
mturner5 0:b7116bd48af6 234 * @param method pointer to the member function to be called
mturner5 0:b7116bd48af6 235 * @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)
mturner5 0:b7116bd48af6 236 */
mturner5 0:b7116bd48af6 237 template<typename T>
mturner5 0:b7116bd48af6 238 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
mturner5 0:b7116bd48af6 239 // Underlying call thread safe
mturner5 0:b7116bd48af6 240 attach(Callback<void()>(obj, method), type);
mturner5 0:b7116bd48af6 241 }
mturner5 0:b7116bd48af6 242
mturner5 0:b7116bd48af6 243 static void _irq_handler(uint32_t id, CanIrqType type);
mturner5 0:b7116bd48af6 244
mturner5 0:b7116bd48af6 245 protected:
mturner5 0:b7116bd48af6 246 virtual void lock();
mturner5 0:b7116bd48af6 247 virtual void unlock();
mturner5 0:b7116bd48af6 248 can_t _can;
mturner5 0:b7116bd48af6 249 Callback<void()> _irq[9];
mturner5 0:b7116bd48af6 250 PlatformMutex _mutex;
mturner5 0:b7116bd48af6 251 };
mturner5 0:b7116bd48af6 252
mturner5 0:b7116bd48af6 253 } // namespace mbed
mturner5 0:b7116bd48af6 254
mturner5 0:b7116bd48af6 255 #endif
mturner5 0:b7116bd48af6 256
mturner5 0:b7116bd48af6 257 #endif // MBED_CAN_H