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mbed_src_STM32F7/api/CAN.h@0:aa3fc5ad02f7, 2019-06-04 (annotated)

Committer:
phungductung
Date:
Tue Jun 04 09:08:29 2019 +0000
Revision:
0:aa3fc5ad02f7
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phungductung 0:aa3fc5ad02f7 1 /* mbed Microcontroller Library
phungductung 0:aa3fc5ad02f7 2 * Copyright (c) 2006-2013 ARM Limited
phungductung 0:aa3fc5ad02f7 3 *
phungductung 0:aa3fc5ad02f7 4 * Licensed under the Apache License, Version 2.0 (the "License");
phungductung 0:aa3fc5ad02f7 5 * you may not use this file except in compliance with the License.
phungductung 0:aa3fc5ad02f7 6 * You may obtain a copy of the License at
phungductung 0:aa3fc5ad02f7 7 *
phungductung 0:aa3fc5ad02f7 8 * http://www.apache.org/licenses/LICENSE-2.0
phungductung 0:aa3fc5ad02f7 9 *
phungductung 0:aa3fc5ad02f7 10 * Unless required by applicable law or agreed to in writing, software
phungductung 0:aa3fc5ad02f7 11 * distributed under the License is distributed on an "AS IS" BASIS,
phungductung 0:aa3fc5ad02f7 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
phungductung 0:aa3fc5ad02f7 13 * See the License for the specific language governing permissions and
phungductung 0:aa3fc5ad02f7 14 * limitations under the License.
phungductung 0:aa3fc5ad02f7 15 */
phungductung 0:aa3fc5ad02f7 16 #ifndef MBED_CAN_H
phungductung 0:aa3fc5ad02f7 17 #define MBED_CAN_H
phungductung 0:aa3fc5ad02f7 18
phungductung 0:aa3fc5ad02f7 19 #include "platform.h"
phungductung 0:aa3fc5ad02f7 20
phungductung 0:aa3fc5ad02f7 21 #if DEVICE_CAN
phungductung 0:aa3fc5ad02f7 22
phungductung 0:aa3fc5ad02f7 23 #include "can_api.h"
phungductung 0:aa3fc5ad02f7 24 #include "can_helper.h"
phungductung 0:aa3fc5ad02f7 25 #include "FunctionPointer.h"
phungductung 0:aa3fc5ad02f7 26
phungductung 0:aa3fc5ad02f7 27 namespace mbed {
phungductung 0:aa3fc5ad02f7 28
phungductung 0:aa3fc5ad02f7 29 /** CANMessage class
phungductung 0:aa3fc5ad02f7 30 */
phungductung 0:aa3fc5ad02f7 31 class CANMessage : public CAN_Message {
phungductung 0:aa3fc5ad02f7 32
phungductung 0:aa3fc5ad02f7 33 public:
phungductung 0:aa3fc5ad02f7 34 /** Creates empty CAN message.
phungductung 0:aa3fc5ad02f7 35 */
phungductung 0:aa3fc5ad02f7 36 CANMessage() : CAN_Message() {
phungductung 0:aa3fc5ad02f7 37 len = 8;
phungductung 0:aa3fc5ad02f7 38 type = CANData;
phungductung 0:aa3fc5ad02f7 39 format = CANStandard;
phungductung 0:aa3fc5ad02f7 40 id = 0;
phungductung 0:aa3fc5ad02f7 41 memset(data, 0, 8);
phungductung 0:aa3fc5ad02f7 42 }
phungductung 0:aa3fc5ad02f7 43
phungductung 0:aa3fc5ad02f7 44 /** Creates CAN message with specific content.
phungductung 0:aa3fc5ad02f7 45 */
phungductung 0:aa3fc5ad02f7 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
phungductung 0:aa3fc5ad02f7 47 len = _len & 0xF;
phungductung 0:aa3fc5ad02f7 48 type = _type;
phungductung 0:aa3fc5ad02f7 49 format = _format;
phungductung 0:aa3fc5ad02f7 50 id = _id;
phungductung 0:aa3fc5ad02f7 51 memcpy(data, _data, _len);
phungductung 0:aa3fc5ad02f7 52 }
phungductung 0:aa3fc5ad02f7 53
phungductung 0:aa3fc5ad02f7 54 /** Creates CAN remote message.
phungductung 0:aa3fc5ad02f7 55 */
phungductung 0:aa3fc5ad02f7 56 CANMessage(int _id, CANFormat _format = CANStandard) {
phungductung 0:aa3fc5ad02f7 57 len = 0;
phungductung 0:aa3fc5ad02f7 58 type = CANRemote;
phungductung 0:aa3fc5ad02f7 59 format = _format;
phungductung 0:aa3fc5ad02f7 60 id = _id;
phungductung 0:aa3fc5ad02f7 61 memset(data, 0, 8);
phungductung 0:aa3fc5ad02f7 62 }
phungductung 0:aa3fc5ad02f7 63 };
phungductung 0:aa3fc5ad02f7 64
phungductung 0:aa3fc5ad02f7 65 /** A can bus client, used for communicating with can devices
phungductung 0:aa3fc5ad02f7 66 */
phungductung 0:aa3fc5ad02f7 67 class CAN {
phungductung 0:aa3fc5ad02f7 68
phungductung 0:aa3fc5ad02f7 69 public:
phungductung 0:aa3fc5ad02f7 70 /** Creates an CAN interface connected to specific pins.
phungductung 0:aa3fc5ad02f7 71 *
phungductung 0:aa3fc5ad02f7 72 * @param rd read from transmitter
phungductung 0:aa3fc5ad02f7 73 * @param td transmit to transmitter
phungductung 0:aa3fc5ad02f7 74 *
phungductung 0:aa3fc5ad02f7 75 * Example:
phungductung 0:aa3fc5ad02f7 76 * @code
phungductung 0:aa3fc5ad02f7 77 * #include "mbed.h"
phungductung 0:aa3fc5ad02f7 78 *
phungductung 0:aa3fc5ad02f7 79 * Ticker ticker;
phungductung 0:aa3fc5ad02f7 80 * DigitalOut led1(LED1);
phungductung 0:aa3fc5ad02f7 81 * DigitalOut led2(LED2);
phungductung 0:aa3fc5ad02f7 82 * CAN can1(p9, p10);
phungductung 0:aa3fc5ad02f7 83 * CAN can2(p30, p29);
phungductung 0:aa3fc5ad02f7 84 *
phungductung 0:aa3fc5ad02f7 85 * char counter = 0;
phungductung 0:aa3fc5ad02f7 86 *
phungductung 0:aa3fc5ad02f7 87 * void send() {
phungductung 0:aa3fc5ad02f7 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
phungductung 0:aa3fc5ad02f7 89 * printf("Message sent: %d\n", counter);
phungductung 0:aa3fc5ad02f7 90 * counter++;
phungductung 0:aa3fc5ad02f7 91 * }
phungductung 0:aa3fc5ad02f7 92 * led1 = !led1;
phungductung 0:aa3fc5ad02f7 93 * }
phungductung 0:aa3fc5ad02f7 94 *
phungductung 0:aa3fc5ad02f7 95 * int main() {
phungductung 0:aa3fc5ad02f7 96 * ticker.attach(&send, 1);
phungductung 0:aa3fc5ad02f7 97 * CANMessage msg;
phungductung 0:aa3fc5ad02f7 98 * while(1) {
phungductung 0:aa3fc5ad02f7 99 * if(can2.read(msg)) {
phungductung 0:aa3fc5ad02f7 100 * printf("Message received: %d\n\n", msg.data[0]);
phungductung 0:aa3fc5ad02f7 101 * led2 = !led2;
phungductung 0:aa3fc5ad02f7 102 * }
phungductung 0:aa3fc5ad02f7 103 * wait(0.2);
phungductung 0:aa3fc5ad02f7 104 * }
phungductung 0:aa3fc5ad02f7 105 * }
phungductung 0:aa3fc5ad02f7 106 * @endcode
phungductung 0:aa3fc5ad02f7 107 */
phungductung 0:aa3fc5ad02f7 108 CAN(PinName rd, PinName td);
phungductung 0:aa3fc5ad02f7 109 virtual ~CAN();
phungductung 0:aa3fc5ad02f7 110
phungductung 0:aa3fc5ad02f7 111 /** Set the frequency of the CAN interface
phungductung 0:aa3fc5ad02f7 112 *
phungductung 0:aa3fc5ad02f7 113 * @param hz The bus frequency in hertz
phungductung 0:aa3fc5ad02f7 114 *
phungductung 0:aa3fc5ad02f7 115 * @returns
phungductung 0:aa3fc5ad02f7 116 * 1 if successful,
phungductung 0:aa3fc5ad02f7 117 * 0 otherwise
phungductung 0:aa3fc5ad02f7 118 */
phungductung 0:aa3fc5ad02f7 119 int frequency(int hz);
phungductung 0:aa3fc5ad02f7 120
phungductung 0:aa3fc5ad02f7 121 /** Write a CANMessage to the bus.
phungductung 0:aa3fc5ad02f7 122 *
phungductung 0:aa3fc5ad02f7 123 * @param msg The CANMessage to write.
phungductung 0:aa3fc5ad02f7 124 *
phungductung 0:aa3fc5ad02f7 125 * @returns
phungductung 0:aa3fc5ad02f7 126 * 0 if write failed,
phungductung 0:aa3fc5ad02f7 127 * 1 if write was successful
phungductung 0:aa3fc5ad02f7 128 */
phungductung 0:aa3fc5ad02f7 129 int write(CANMessage msg);
phungductung 0:aa3fc5ad02f7 130
phungductung 0:aa3fc5ad02f7 131 /** Read a CANMessage from the bus.
phungductung 0:aa3fc5ad02f7 132 *
phungductung 0:aa3fc5ad02f7 133 * @param msg A CANMessage to read to.
phungductung 0:aa3fc5ad02f7 134 * @param handle message filter handle (0 for any message)
phungductung 0:aa3fc5ad02f7 135 *
phungductung 0:aa3fc5ad02f7 136 * @returns
phungductung 0:aa3fc5ad02f7 137 * 0 if no message arrived,
phungductung 0:aa3fc5ad02f7 138 * 1 if message arrived
phungductung 0:aa3fc5ad02f7 139 */
phungductung 0:aa3fc5ad02f7 140 int read(CANMessage &msg, int handle = 0);
phungductung 0:aa3fc5ad02f7 141
phungductung 0:aa3fc5ad02f7 142 /** Reset CAN interface.
phungductung 0:aa3fc5ad02f7 143 *
phungductung 0:aa3fc5ad02f7 144 * To use after error overflow.
phungductung 0:aa3fc5ad02f7 145 */
phungductung 0:aa3fc5ad02f7 146 void reset();
phungductung 0:aa3fc5ad02f7 147
phungductung 0:aa3fc5ad02f7 148 /** Puts or removes the CAN interface into silent monitoring mode
phungductung 0:aa3fc5ad02f7 149 *
phungductung 0:aa3fc5ad02f7 150 * @param silent boolean indicating whether to go into silent mode or not
phungductung 0:aa3fc5ad02f7 151 */
phungductung 0:aa3fc5ad02f7 152 void monitor(bool silent);
phungductung 0:aa3fc5ad02f7 153
phungductung 0:aa3fc5ad02f7 154 enum Mode {
phungductung 0:aa3fc5ad02f7 155 Reset = 0,
phungductung 0:aa3fc5ad02f7 156 Normal,
phungductung 0:aa3fc5ad02f7 157 Silent,
phungductung 0:aa3fc5ad02f7 158 LocalTest,
phungductung 0:aa3fc5ad02f7 159 GlobalTest,
phungductung 0:aa3fc5ad02f7 160 SilentTest
phungductung 0:aa3fc5ad02f7 161 };
phungductung 0:aa3fc5ad02f7 162
phungductung 0:aa3fc5ad02f7 163 /** Change CAN operation to the specified mode
phungductung 0:aa3fc5ad02f7 164 *
phungductung 0:aa3fc5ad02f7 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
phungductung 0:aa3fc5ad02f7 166 *
phungductung 0:aa3fc5ad02f7 167 * @returns
phungductung 0:aa3fc5ad02f7 168 * 0 if mode change failed or unsupported,
phungductung 0:aa3fc5ad02f7 169 * 1 if mode change was successful
phungductung 0:aa3fc5ad02f7 170 */
phungductung 0:aa3fc5ad02f7 171 int mode(Mode mode);
phungductung 0:aa3fc5ad02f7 172
phungductung 0:aa3fc5ad02f7 173 /** Filter out incomming messages
phungductung 0:aa3fc5ad02f7 174 *
phungductung 0:aa3fc5ad02f7 175 * @param id the id to filter on
phungductung 0:aa3fc5ad02f7 176 * @param mask the mask applied to the id
phungductung 0:aa3fc5ad02f7 177 * @param format format to filter on (Default CANAny)
phungductung 0:aa3fc5ad02f7 178 * @param handle message filter handle (Optional)
phungductung 0:aa3fc5ad02f7 179 *
phungductung 0:aa3fc5ad02f7 180 * @returns
phungductung 0:aa3fc5ad02f7 181 * 0 if filter change failed or unsupported,
phungductung 0:aa3fc5ad02f7 182 * new filter handle if successful
phungductung 0:aa3fc5ad02f7 183 */
phungductung 0:aa3fc5ad02f7 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
phungductung 0:aa3fc5ad02f7 185
phungductung 0:aa3fc5ad02f7 186 /** Returns number of read errors to detect read overflow errors.
phungductung 0:aa3fc5ad02f7 187 */
phungductung 0:aa3fc5ad02f7 188 unsigned char rderror();
phungductung 0:aa3fc5ad02f7 189
phungductung 0:aa3fc5ad02f7 190 /** Returns number of write errors to detect write overflow errors.
phungductung 0:aa3fc5ad02f7 191 */
phungductung 0:aa3fc5ad02f7 192 unsigned char tderror();
phungductung 0:aa3fc5ad02f7 193
phungductung 0:aa3fc5ad02f7 194 enum IrqType {
phungductung 0:aa3fc5ad02f7 195 RxIrq = 0,
phungductung 0:aa3fc5ad02f7 196 TxIrq,
phungductung 0:aa3fc5ad02f7 197 EwIrq,
phungductung 0:aa3fc5ad02f7 198 DoIrq,
phungductung 0:aa3fc5ad02f7 199 WuIrq,
phungductung 0:aa3fc5ad02f7 200 EpIrq,
phungductung 0:aa3fc5ad02f7 201 AlIrq,
phungductung 0:aa3fc5ad02f7 202 BeIrq,
phungductung 0:aa3fc5ad02f7 203 IdIrq
phungductung 0:aa3fc5ad02f7 204 };
phungductung 0:aa3fc5ad02f7 205
phungductung 0:aa3fc5ad02f7 206 /** Attach a function to call whenever a CAN frame received interrupt is
phungductung 0:aa3fc5ad02f7 207 * generated.
phungductung 0:aa3fc5ad02f7 208 *
phungductung 0:aa3fc5ad02f7 209 * @param fptr A pointer to a void function, or 0 to set as none
phungductung 0:aa3fc5ad02f7 210 * @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)
phungductung 0:aa3fc5ad02f7 211 */
phungductung 0:aa3fc5ad02f7 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
phungductung 0:aa3fc5ad02f7 213
phungductung 0:aa3fc5ad02f7 214 /** Attach a member function to call whenever a CAN frame received interrupt
phungductung 0:aa3fc5ad02f7 215 * is generated.
phungductung 0:aa3fc5ad02f7 216 *
phungductung 0:aa3fc5ad02f7 217 * @param tptr pointer to the object to call the member function on
phungductung 0:aa3fc5ad02f7 218 * @param mptr pointer to the member function to be called
phungductung 0:aa3fc5ad02f7 219 * @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)
phungductung 0:aa3fc5ad02f7 220 */
phungductung 0:aa3fc5ad02f7 221 template<typename T>
phungductung 0:aa3fc5ad02f7 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
phungductung 0:aa3fc5ad02f7 223 if((mptr != NULL) && (tptr != NULL)) {
phungductung 0:aa3fc5ad02f7 224 _irq[type].attach(tptr, mptr);
phungductung 0:aa3fc5ad02f7 225 can_irq_set(&_can, (CanIrqType)type, 1);
phungductung 0:aa3fc5ad02f7 226 }
phungductung 0:aa3fc5ad02f7 227 else {
phungductung 0:aa3fc5ad02f7 228 can_irq_set(&_can, (CanIrqType)type, 0);
phungductung 0:aa3fc5ad02f7 229 }
phungductung 0:aa3fc5ad02f7 230 }
phungductung 0:aa3fc5ad02f7 231
phungductung 0:aa3fc5ad02f7 232 static void _irq_handler(uint32_t id, CanIrqType type);
phungductung 0:aa3fc5ad02f7 233
phungductung 0:aa3fc5ad02f7 234 protected:
phungductung 0:aa3fc5ad02f7 235 can_t _can;
phungductung 0:aa3fc5ad02f7 236 FunctionPointer _irq[9];
phungductung 0:aa3fc5ad02f7 237 };
phungductung 0:aa3fc5ad02f7 238
phungductung 0:aa3fc5ad02f7 239 } // namespace mbed
phungductung 0:aa3fc5ad02f7 240
phungductung 0:aa3fc5ad02f7 241 #endif
phungductung 0:aa3fc5ad02f7 242
phungductung 0:aa3fc5ad02f7 243 #endif // MBED_CAN_H