Paul Paterson / CANnucleo

Working fork to test F0 application

Dependents:   ppCANOpen_Example

Fork of CANnucleo by Zoltan Hudak

CAN.cpp@8:5c90d6b9a382, 2015-10-30 (annotated)

Committer:
hudakz
Date:
Fri Oct 30 23:55:13 2015 +0000
Revision:
8:5c90d6b9a382
Parent:
6:c5a40d5fd9f1
Child:
9:e9224f2c6d37
filter() function modified and commented

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:e29bc8e0dddd 1 /* mbed Microcontroller Library
hudakz 0:e29bc8e0dddd 2 * Copyright (c) 2006-2013 ARM Limited
hudakz 0:e29bc8e0dddd 3 *
hudakz 0:e29bc8e0dddd 4 * Licensed under the Apache License, Version 2.0 (the "License");
hudakz 0:e29bc8e0dddd 5 * you may not use this file except in compliance with the License.
hudakz 0:e29bc8e0dddd 6 * You may obtain a copy of the License at
hudakz 0:e29bc8e0dddd 7 *
hudakz 0:e29bc8e0dddd 8 * http://www.apache.org/licenses/LICENSE-2.0
hudakz 0:e29bc8e0dddd 9 *
hudakz 0:e29bc8e0dddd 10 * Unless required by applicable law or agreed to in writing, software
hudakz 0:e29bc8e0dddd 11 * distributed under the License is distributed on an "AS IS" BASIS,
hudakz 0:e29bc8e0dddd 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
hudakz 0:e29bc8e0dddd 13 * See the License for the specific language governing permissions and
hudakz 0:e29bc8e0dddd 14 * limitations under the License.
hudakz 0:e29bc8e0dddd 15 *
hudakz 0:e29bc8e0dddd 16 * Modified by Zoltan Hudak <hudakz@inbox.com>
hudakz 0:e29bc8e0dddd 17 *
hudakz 0:e29bc8e0dddd 18 */
hudakz 0:e29bc8e0dddd 19 #include "CAN.h"
hudakz 0:e29bc8e0dddd 20 //#if DEVICE_CAN
hudakz 0:e29bc8e0dddd 21 #include "cmsis.h"
hudakz 0:e29bc8e0dddd 22
hudakz 0:e29bc8e0dddd 23 namespace mbed
hudakz 0:e29bc8e0dddd 24 {
hudakz 0:e29bc8e0dddd 25
hudakz 0:e29bc8e0dddd 26 /**
hudakz 6:c5a40d5fd9f1 27 * @brief Constructor
hudakz 6:c5a40d5fd9f1 28 * @note Constructs an instance of CAN class
hudakz 6:c5a40d5fd9f1 29 * @param rxPin: CAN Rx pin name
hudakz 6:c5a40d5fd9f1 30 * @param txPin: CAN Tx pin name
hudakz 6:c5a40d5fd9f1 31 * @param abom: Automatic recovery from bus-off state (defaults to enabled)
hudakz 0:e29bc8e0dddd 32 * @retval
hudakz 0:e29bc8e0dddd 33 */
hudakz 6:c5a40d5fd9f1 34 CAN::CAN(PinName rxPin, PinName txPin, FunctionalState abom /* = ENABLE */) :
hudakz 0:e29bc8e0dddd 35 _can(),
hudakz 0:e29bc8e0dddd 36 _irq() {
hudakz 6:c5a40d5fd9f1 37 can_init(&_can, rxPin, txPin, abom);
hudakz 0:e29bc8e0dddd 38 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
hudakz 0:e29bc8e0dddd 39 }
hudakz 0:e29bc8e0dddd 40
hudakz 0:e29bc8e0dddd 41 /**
hudakz 0:e29bc8e0dddd 42 * @brief
hudakz 0:e29bc8e0dddd 43 * @note
hudakz 0:e29bc8e0dddd 44 * @param
hudakz 0:e29bc8e0dddd 45 * @retval
hudakz 0:e29bc8e0dddd 46 */
hudakz 0:e29bc8e0dddd 47 CAN::~CAN(void) {
hudakz 0:e29bc8e0dddd 48 can_irq_free(&_can);
hudakz 0:e29bc8e0dddd 49 can_free(&_can);
hudakz 0:e29bc8e0dddd 50 }
hudakz 0:e29bc8e0dddd 51
hudakz 0:e29bc8e0dddd 52 /**
hudakz 0:e29bc8e0dddd 53 * @brief
hudakz 0:e29bc8e0dddd 54 * @note
hudakz 0:e29bc8e0dddd 55 * @param
hudakz 0:e29bc8e0dddd 56 * @retval
hudakz 0:e29bc8e0dddd 57 */
hudakz 0:e29bc8e0dddd 58 int CAN::frequency(int f) {
hudakz 0:e29bc8e0dddd 59 return can_frequency(&_can, f);
hudakz 0:e29bc8e0dddd 60 }
hudakz 0:e29bc8e0dddd 61
hudakz 0:e29bc8e0dddd 62 /**
hudakz 0:e29bc8e0dddd 63 * @brief
hudakz 0:e29bc8e0dddd 64 * @note
hudakz 0:e29bc8e0dddd 65 * @param
hudakz 0:e29bc8e0dddd 66 * @retval
hudakz 0:e29bc8e0dddd 67 */
hudakz 0:e29bc8e0dddd 68 int CAN::write(CANMessage msg) {
hudakz 0:e29bc8e0dddd 69 return can_write(&_can, msg, 0);
hudakz 0:e29bc8e0dddd 70 }
hudakz 0:e29bc8e0dddd 71
hudakz 0:e29bc8e0dddd 72 /**
hudakz 0:e29bc8e0dddd 73 * @brief
hudakz 0:e29bc8e0dddd 74 * @note
hudakz 0:e29bc8e0dddd 75 * @param
hudakz 0:e29bc8e0dddd 76 * @retval
hudakz 0:e29bc8e0dddd 77 */
hudakz 0:e29bc8e0dddd 78 int CAN::read(CANMessage& msg, int handle) {
hudakz 0:e29bc8e0dddd 79 return can_read(&_can, &msg, handle);
hudakz 0:e29bc8e0dddd 80 }
hudakz 0:e29bc8e0dddd 81
hudakz 0:e29bc8e0dddd 82 /**
hudakz 0:e29bc8e0dddd 83 * @brief
hudakz 0:e29bc8e0dddd 84 * @note
hudakz 0:e29bc8e0dddd 85 * @param
hudakz 0:e29bc8e0dddd 86 * @retval
hudakz 0:e29bc8e0dddd 87 */
hudakz 0:e29bc8e0dddd 88 void CAN::reset(void) {
hudakz 0:e29bc8e0dddd 89 can_reset(&_can);
hudakz 0:e29bc8e0dddd 90 }
hudakz 0:e29bc8e0dddd 91
hudakz 0:e29bc8e0dddd 92 /**
hudakz 0:e29bc8e0dddd 93 * @brief
hudakz 0:e29bc8e0dddd 94 * @note
hudakz 0:e29bc8e0dddd 95 * @param
hudakz 0:e29bc8e0dddd 96 * @retval
hudakz 0:e29bc8e0dddd 97 */
hudakz 0:e29bc8e0dddd 98 unsigned char CAN::rderror(void) {
hudakz 0:e29bc8e0dddd 99 return can_rderror(&_can);
hudakz 0:e29bc8e0dddd 100 }
hudakz 0:e29bc8e0dddd 101
hudakz 0:e29bc8e0dddd 102 /**
hudakz 0:e29bc8e0dddd 103 * @brief
hudakz 0:e29bc8e0dddd 104 * @note
hudakz 0:e29bc8e0dddd 105 * @param
hudakz 0:e29bc8e0dddd 106 * @retval
hudakz 0:e29bc8e0dddd 107 */
hudakz 0:e29bc8e0dddd 108 unsigned char CAN::tderror(void) {
hudakz 0:e29bc8e0dddd 109 return can_tderror(&_can);
hudakz 0:e29bc8e0dddd 110 }
hudakz 0:e29bc8e0dddd 111
hudakz 0:e29bc8e0dddd 112 /**
hudakz 0:e29bc8e0dddd 113 * @brief
hudakz 0:e29bc8e0dddd 114 * @note
hudakz 0:e29bc8e0dddd 115 * @param
hudakz 0:e29bc8e0dddd 116 * @retval
hudakz 0:e29bc8e0dddd 117 */
hudakz 0:e29bc8e0dddd 118 void CAN::monitor(bool silent) {
hudakz 0:e29bc8e0dddd 119 can_monitor(&_can, (silent) ? 1 : 0);
hudakz 0:e29bc8e0dddd 120 }
hudakz 0:e29bc8e0dddd 121
hudakz 0:e29bc8e0dddd 122 /**
hudakz 0:e29bc8e0dddd 123 * @brief
hudakz 0:e29bc8e0dddd 124 * @note
hudakz 0:e29bc8e0dddd 125 * @param
hudakz 0:e29bc8e0dddd 126 * @retval
hudakz 0:e29bc8e0dddd 127 */
hudakz 0:e29bc8e0dddd 128 int CAN::mode(Mode mode) {
hudakz 0:e29bc8e0dddd 129 return can_mode(&_can, (CanMode) mode);
hudakz 0:e29bc8e0dddd 130 }
hudakz 0:e29bc8e0dddd 131
hudakz 0:e29bc8e0dddd 132 /**
hudakz 8:5c90d6b9a382 133 * @brief Sets-up a CAN filter
hudakz 8:5c90d6b9a382 134 * @note At the present, CANnucleo supports only mask mode and 32-bit filter scale.
hudakz 8:5c90d6b9a382 135 * Identifier list mode filtering and 16-bit filter scale are not supported.
hudakz 8:5c90d6b9a382 136 * There are 14 filters available (0 - 13).
hudakz 8:5c90d6b9a382 137 * Each filter is a 32-bit filter defined by a filter ID and a filter mask.
hudakz 8:5c90d6b9a382 138 * You may set-up up to 14 filters. If no filter is set-up then no CAN message is accepted!
hudakz 8:5c90d6b9a382 139 * That's why filter #0 is set-up in the constructor to receive all CAN messages by default.
hudakz 8:5c90d6b9a382 140 * On reception of a message it is compared with filter #0. If there is a match, the message is stored.
hudakz 8:5c90d6b9a382 141 * If there is no match, the incoming identifier is then compared with the next filter.
hudakz 8:5c90d6b9a382 142 * If the received identifier does not match any of the identifiers configured in the filters,
hudakz 8:5c90d6b9a382 143 * the message is discarded by hardware without disturbing the software.
hudakz 8:5c90d6b9a382 144 *
hudakz 8:5c90d6b9a382 145 * @param id: 'Filter ID' defines the bit values to be compared with the corresponding received bits
hudakz 8:5c90d6b9a382 146 *
hudakz 8:5c90d6b9a382 147 * Mapping of 32-bits (4-bytes) : | STID[10:3] | STID[2:0] EXID[17:13] | EXID[12:5] | EXID[4:0] IDE RTR 0 |
hudakz 8:5c90d6b9a382 148 *
hudakz 8:5c90d6b9a382 149 * STID - Stardard Identifier bits
hudakz 8:5c90d6b9a382 150 * EXID - Extended Identifier bits
hudakz 8:5c90d6b9a382 151 * [x:y]- bit range
hudakz 8:5c90d6b9a382 152 * IDE - Identifier Extension bit (0 -> Standard Identifier, 1 -> Extended Identifier)
hudakz 8:5c90d6b9a382 153 * RTR - Remote Transmission Request bit
hudakz 8:5c90d6b9a382 154 *
hudakz 8:5c90d6b9a382 155 * @param mask: 'Filter mask' defines which bits of the 'Filter ID' are compared with the received bits
hudakz 8:5c90d6b9a382 156 * and which bits are disregarded.
hudakz 8:5c90d6b9a382 157
hudakz 8:5c90d6b9a382 158 * Mapping of 32-bits (4-bytes) : | STID[10:3] | STID[2:0] EXID[17:13] | EXID[12:5] | EXID[4:0] IDE RTR 0 |
hudakz 8:5c90d6b9a382 159 *
hudakz 8:5c90d6b9a382 160 * STID - Stardard Identifier bits
hudakz 8:5c90d6b9a382 161 * EXID - Extended Identifier bits
hudakz 8:5c90d6b9a382 162 * [x:y]- bit range
hudakz 8:5c90d6b9a382 163 * IDE - Identifier Extension bit
hudakz 8:5c90d6b9a382 164 * RTR - Remote Transmission Request bit
hudakz 8:5c90d6b9a382 165 *
hudakz 8:5c90d6b9a382 166 * 1 : bit is considered
hudakz 8:5c90d6b9a382 167 * 0 : bit is disregarded
hudakz 8:5c90d6b9a382 168 *
hudakz 8:5c90d6b9a382 169 * Example of filter set-up and filtering:
hudakz 8:5c90d6b9a382 170 *
hudakz 8:5c90d6b9a382 171 * Let's assume we would like to receive only messages with standard identifier STID = 0x0207 (STID[15:0] = 00000010 00000111)
hudakz 8:5c90d6b9a382 172 *
hudakz 8:5c90d6b9a382 173 * We map the STID to filter ID by shifting the bits appropriately:
hudakz 8:5c90d6b9a382 174 * Filter id = STID << (16 + (15 - 10)) = STID << 21 = 01000000 11100000 00000000 00000000 = 0x40E00000
hudakz 8:5c90d6b9a382 175 *
hudakz 8:5c90d6b9a382 176 * To compare only the bits representing STID we set the filter mask adequately:
hudakz 8:5c90d6b9a382 177 * Filter mask = 11111111 11100000 00000000 00000000 = 0xFFE00000
hudakz 8:5c90d6b9a382 178 *
hudakz 8:5c90d6b9a382 179 * Keep in mind that filter #0 was already set-up in the constructor to receive all CAN messages by default.
hudakz 8:5c90d6b9a382 180 * So we have to reconfigure it. If we were set-up filter #1 here then filter #0 would receive all messages
hudakz 8:5c90d6b9a382 181 * and no message would reach filter #1!
hudakz 8:5c90d6b9a382 182 * To set-up filter #0 we call:
hudakz 8:5c90d6b9a382 183 * can.filter(0x0207 << 21, 0xFFE00000, CANAny, 0);
hudakz 8:5c90d6b9a382 184 *
hudakz 8:5c90d6b9a382 185 * -------------- Only these bits of filter id are compared with the corresponding bits of received message (the others are disregarded)
hudakz 8:5c90d6b9a382 186 * |||||||| |||
hudakz 8:5c90d6b9a382 187 * Filter mask = 11111111 11100000 00000000 00000000 (= 0xFFE00000)
hudakz 8:5c90d6b9a382 188 * Filter id = 01000000 11100000 00000000 00000000 (= 0x40E00000)
hudakz 8:5c90d6b9a382 189 * |||||||| |||
hudakz 8:5c90d6b9a382 190 * -------------- The values of these bits must match to received the message. Otherwise it is discarded.
hudakz 8:5c90d6b9a382 191 * |||||||| |||
hudakz 8:5c90d6b9a382 192 * Received id = 01000000 11100000 00000000 00000010 (= 0x40E00002)
hudakz 8:5c90d6b9a382 193 * ||||| |||||||| ||||||||
hudakz 8:5c90d6b9a382 194 * ------------------------- These bits are disregarded (masked). They can have arbitrary values.
hudakz 8:5c90d6b9a382 195 *
hudakz 8:5c90d6b9a382 196 * NOTE: For the meaning of individual bits see the mapping of 32-bits explained above.
hudakz 8:5c90d6b9a382 197 *
hudakz 8:5c90d6b9a382 198 * @format: This parameter must be CANAny
hudakz 8:5c90d6b9a382 199 * @handle: Selects the filter. This parameter must be a number between 0 and 13.
hudakz 8:5c90d6b9a382 200 * @retval: 0 - successful
hudakz 8:5c90d6b9a382 201 * 1 - error
hudakz 8:5c90d6b9a382 202 * 2 - busy
hudakz 8:5c90d6b9a382 203 * 3 - time out
hudakz 8:5c90d6b9a382 204 *
hudakz 0:e29bc8e0dddd 205 */
hudakz 8:5c90d6b9a382 206 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format /* = CANAny */, int handle /* = 0 */) {
hudakz 0:e29bc8e0dddd 207 return can_filter(&_can, id, mask, format, handle);
hudakz 0:e29bc8e0dddd 208 }
hudakz 0:e29bc8e0dddd 209
hudakz 0:e29bc8e0dddd 210 /**
hudakz 0:e29bc8e0dddd 211 * @brief Attaches handler funcion to CAN1 RX0 Interrupt
hudakz 0:e29bc8e0dddd 212 * @note Only CAN1 RX0 Interrupt supported
hudakz 0:e29bc8e0dddd 213 * @param fptr: pointer to a void (*)(void) function
hudakz 0:e29bc8e0dddd 214 * @param type: not used (only CAN1 RX0 Interrupt supported)
hudakz 0:e29bc8e0dddd 215 * @retval
hudakz 0:e29bc8e0dddd 216 */
hudakz 0:e29bc8e0dddd 217 void CAN::attach(void (*fptr) (void), IrqType type) {
hudakz 0:e29bc8e0dddd 218 HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 219 if(fptr) {
hudakz 0:e29bc8e0dddd 220 can_irq_set(fptr);
hudakz 0:e29bc8e0dddd 221 }
hudakz 0:e29bc8e0dddd 222 can_irq_init(&_can, &CAN::_irq_handler, (uint32_t) this);
hudakz 0:e29bc8e0dddd 223 HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 224 }
hudakz 0:e29bc8e0dddd 225
hudakz 0:e29bc8e0dddd 226 /**
hudakz 0:e29bc8e0dddd 227 * @brief
hudakz 0:e29bc8e0dddd 228 * @note
hudakz 0:e29bc8e0dddd 229 * @param
hudakz 0:e29bc8e0dddd 230 * @retval
hudakz 0:e29bc8e0dddd 231 */
hudakz 0:e29bc8e0dddd 232 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
hudakz 0:e29bc8e0dddd 233 CAN* handler = (CAN*)id;
hudakz 0:e29bc8e0dddd 234 handler->_irq[type].call();
hudakz 0:e29bc8e0dddd 235 }
hudakz 0:e29bc8e0dddd 236
hudakz 0:e29bc8e0dddd 237 } // namespace mbed
hudakz 0:e29bc8e0dddd 238
hudakz 0:e29bc8e0dddd 239
hudakz 0:e29bc8e0dddd 240
hudakz 5:b53e5ee15315 241
hudakz 6:c5a40d5fd9f1 242