Paul Paterson / CANnucleo

Working fork to test F0 application

Dependents:   ppCANOpen_Example

Fork of CANnucleo by Zoltan Hudak

CAN.h@5:b53e5ee15315, 2015-08-04 (annotated)

Committer:
hudakz
Date:
Tue Aug 04 11:58:09 2015 +0000
Revision:
5:b53e5ee15315
Parent:
4:38403b42718b
Child:
6:c5a40d5fd9f1
updated

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 #ifndef CAN_H
hudakz 0:e29bc8e0dddd 20 #define CAN_H
hudakz 0:e29bc8e0dddd 21
hudakz 0:e29bc8e0dddd 22 #include "platform.h"
hudakz 0:e29bc8e0dddd 23
hudakz 0:e29bc8e0dddd 24 #define DEVICE_CAN 1
hudakz 0:e29bc8e0dddd 25
hudakz 0:e29bc8e0dddd 26 #if DEVICE_CAN
hudakz 0:e29bc8e0dddd 27
hudakz 0:e29bc8e0dddd 28 #include "can_api.h"
hudakz 0:e29bc8e0dddd 29 #include "can_helper.h"
hudakz 0:e29bc8e0dddd 30 #include "FunctionPointer.h"
hudakz 0:e29bc8e0dddd 31
hudakz 0:e29bc8e0dddd 32 namespace mbed
hudakz 0:e29bc8e0dddd 33 {
hudakz 0:e29bc8e0dddd 34
hudakz 0:e29bc8e0dddd 35 /** CANMessage class
hudakz 0:e29bc8e0dddd 36 */
hudakz 0:e29bc8e0dddd 37 class CANMessage : public CAN_Message
hudakz 0:e29bc8e0dddd 38 {
hudakz 0:e29bc8e0dddd 39
hudakz 0:e29bc8e0dddd 40 public:
hudakz 0:e29bc8e0dddd 41 /** Creates empty CAN message.
hudakz 0:e29bc8e0dddd 42 */
hudakz 0:e29bc8e0dddd 43 CANMessage() : CAN_Message() {
hudakz 0:e29bc8e0dddd 44 len = 8;
hudakz 0:e29bc8e0dddd 45 type = CANData;
hudakz 0:e29bc8e0dddd 46 format = CANStandard;
hudakz 0:e29bc8e0dddd 47 id = 0;
hudakz 0:e29bc8e0dddd 48 memset(data, 0, 8);
hudakz 0:e29bc8e0dddd 49 }
hudakz 0:e29bc8e0dddd 50
hudakz 0:e29bc8e0dddd 51 /** Creates CAN message with specific content.
hudakz 0:e29bc8e0dddd 52 */
hudakz 0:e29bc8e0dddd 53 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
hudakz 0:e29bc8e0dddd 54 len = _len & 0xF;
hudakz 0:e29bc8e0dddd 55 type = _type;
hudakz 0:e29bc8e0dddd 56 format = _format;
hudakz 0:e29bc8e0dddd 57 id = _id;
hudakz 0:e29bc8e0dddd 58 memcpy(data, _data, _len);
hudakz 0:e29bc8e0dddd 59 }
hudakz 0:e29bc8e0dddd 60
hudakz 0:e29bc8e0dddd 61 /** Creates CAN remote message.
hudakz 0:e29bc8e0dddd 62 */
hudakz 0:e29bc8e0dddd 63 CANMessage(int _id, CANFormat _format = CANStandard) {
hudakz 0:e29bc8e0dddd 64 len = 0;
hudakz 0:e29bc8e0dddd 65 type = CANRemote;
hudakz 0:e29bc8e0dddd 66 format = _format;
hudakz 0:e29bc8e0dddd 67 id = _id;
hudakz 0:e29bc8e0dddd 68 memset(data, 0, 8);
hudakz 0:e29bc8e0dddd 69 }
hudakz 0:e29bc8e0dddd 70
hudakz 0:e29bc8e0dddd 71 /*********************************************************************/
hudakz 0:e29bc8e0dddd 72 /*********************************************************************/
hudakz 0:e29bc8e0dddd 73 /*********************************************************************/
hudakz 4:38403b42718b 74 /** Copy constructor.
hudakz 4:38403b42718b 75 */
hudakz 4:38403b42718b 76 CANMessage(const CANMessage& canMessage) {
hudakz 4:38403b42718b 77 len = canMessage.len;
hudakz 4:38403b42718b 78 type = canMessage.type;
hudakz 4:38403b42718b 79 format = canMessage.format;
hudakz 4:38403b42718b 80 id = canMessage.id;
hudakz 4:38403b42718b 81 memcpy(data, canMessage.data, canMessage.len);
hudakz 4:38403b42718b 82 }
hudakz 4:38403b42718b 83
hudakz 0:e29bc8e0dddd 84 /** Clears CAN message content
hudakz 0:e29bc8e0dddd 85 */
hudakz 0:e29bc8e0dddd 86 void clear(void) {
hudakz 0:e29bc8e0dddd 87 len = 0;
hudakz 0:e29bc8e0dddd 88 type = CANData;
hudakz 0:e29bc8e0dddd 89 format = CANStandard;
hudakz 0:e29bc8e0dddd 90 id = 0;
hudakz 0:e29bc8e0dddd 91 memset(data, 0, 8);
hudakz 0:e29bc8e0dddd 92 };
hudakz 0:e29bc8e0dddd 93
hudakz 0:e29bc8e0dddd 94 /** Inserter operator: Appends data (value) to CAN message
hudakz 0:e29bc8e0dddd 95 */
hudakz 0:e29bc8e0dddd 96 template<class T>
hudakz 0:e29bc8e0dddd 97 CANMessage &operator<<(const T val) {
hudakz 0:e29bc8e0dddd 98 if(len + sizeof(T) <= 8) {
hudakz 0:e29bc8e0dddd 99 *reinterpret_cast < T * > (&data[len]) = val;
hudakz 0:e29bc8e0dddd 100 len += sizeof(T);
hudakz 0:e29bc8e0dddd 101 }
hudakz 0:e29bc8e0dddd 102 #if DEBUG
hudakz 0:e29bc8e0dddd 103 else {
hudakz 0:e29bc8e0dddd 104 printf("Error: Cannot append data because it exceeds CAN data length!\r\n");
hudakz 0:e29bc8e0dddd 105 }
hudakz 0:e29bc8e0dddd 106 #endif
hudakz 0:e29bc8e0dddd 107 return *this;
hudakz 0:e29bc8e0dddd 108 }
hudakz 0:e29bc8e0dddd 109
hudakz 0:e29bc8e0dddd 110 /** Extractor operator: Extracts data (value) from CAN message
hudakz 0:e29bc8e0dddd 111 */
hudakz 0:e29bc8e0dddd 112 template<class T>
hudakz 0:e29bc8e0dddd 113 CANMessage &operator>>(T& val) {
hudakz 0:e29bc8e0dddd 114 if(sizeof(T) <= len) {
hudakz 0:e29bc8e0dddd 115 val = *reinterpret_cast < T * > (&data[0]);
hudakz 0:e29bc8e0dddd 116 len -= sizeof(T);
hudakz 0:e29bc8e0dddd 117 memcpy(data, data + sizeof(T), len);
hudakz 0:e29bc8e0dddd 118 }
hudakz 0:e29bc8e0dddd 119 #if DEBUG
hudakz 0:e29bc8e0dddd 120 else {
hudakz 0:e29bc8e0dddd 121 printf("Error: Cannot extract data because it exceeds CAN data length!\r\n");
hudakz 0:e29bc8e0dddd 122 }
hudakz 0:e29bc8e0dddd 123 #endif
hudakz 0:e29bc8e0dddd 124 return *this;
hudakz 0:e29bc8e0dddd 125 }
hudakz 0:e29bc8e0dddd 126
hudakz 0:e29bc8e0dddd 127 };
hudakz 0:e29bc8e0dddd 128
hudakz 0:e29bc8e0dddd 129 /** A can bus client, used for communicating with can devices
hudakz 0:e29bc8e0dddd 130 */
hudakz 0:e29bc8e0dddd 131 class CAN
hudakz 0:e29bc8e0dddd 132 {
hudakz 0:e29bc8e0dddd 133
hudakz 0:e29bc8e0dddd 134 public:
hudakz 0:e29bc8e0dddd 135 /** Creates an CAN interface connected to specific pins.
hudakz 0:e29bc8e0dddd 136 *
hudakz 0:e29bc8e0dddd 137 * @param rd read from transmitter
hudakz 0:e29bc8e0dddd 138 * @param td transmit to transmitter
hudakz 0:e29bc8e0dddd 139 *
hudakz 0:e29bc8e0dddd 140 * Example:
hudakz 0:e29bc8e0dddd 141 * @code
hudakz 0:e29bc8e0dddd 142 * #include "mbed.h"
hudakz 0:e29bc8e0dddd 143 * #include "CAN.h"
hudakz 0:e29bc8e0dddd 144 *
hudakz 0:e29bc8e0dddd 145 * Ticker ticker;
hudakz 0:e29bc8e0dddd 146 * DigitalOut led1(LED1);
hudakz 0:e29bc8e0dddd 147 * CAN can(PA_11, PA_12);
hudakz 0:e29bc8e0dddd 148 *
hudakz 0:e29bc8e0dddd 149 * char counter = 0;
hudakz 0:e29bc8e0dddd 150 *
hudakz 0:e29bc8e0dddd 151 * void send() {
hudakz 0:e29bc8e0dddd 152 * if(can.write(CANMessage(1337, &counter, 1))) {
hudakz 0:e29bc8e0dddd 153 * printf("Message sent: %d\n", counter);
hudakz 0:e29bc8e0dddd 154 * counter++;
hudakz 0:e29bc8e0dddd 155 * }
hudakz 0:e29bc8e0dddd 156 * led1 = !led1;
hudakz 0:e29bc8e0dddd 157 * }
hudakz 0:e29bc8e0dddd 158 *
hudakz 0:e29bc8e0dddd 159 * int main() {
hudakz 0:e29bc8e0dddd 160 * ticker.attach(&send, 1);
hudakz 0:e29bc8e0dddd 161 * CANMessage msg;
hudakz 0:e29bc8e0dddd 162 * while(1) {
hudakz 0:e29bc8e0dddd 163 * if(can.read(msg)) {
hudakz 0:e29bc8e0dddd 164 * printf("Message received: %d\n\n", msg.data[0]);
hudakz 0:e29bc8e0dddd 165 * led1 = !led1;
hudakz 0:e29bc8e0dddd 166 * }
hudakz 0:e29bc8e0dddd 167 * wait(0.2);
hudakz 0:e29bc8e0dddd 168 * }
hudakz 0:e29bc8e0dddd 169 * }
hudakz 0:e29bc8e0dddd 170 * @endcode
hudakz 0:e29bc8e0dddd 171 */
hudakz 0:e29bc8e0dddd 172 CAN(PinName rd, PinName td);
hudakz 0:e29bc8e0dddd 173 virtual ~CAN();
hudakz 0:e29bc8e0dddd 174
hudakz 0:e29bc8e0dddd 175 /** Set the frequency of the CAN interface
hudakz 0:e29bc8e0dddd 176 *
hudakz 0:e29bc8e0dddd 177 * @param hz The bus frequency in hertz
hudakz 0:e29bc8e0dddd 178 *
hudakz 0:e29bc8e0dddd 179 * @returns
hudakz 0:e29bc8e0dddd 180 * 1 if successful,
hudakz 0:e29bc8e0dddd 181 * 0 otherwise
hudakz 0:e29bc8e0dddd 182 */
hudakz 0:e29bc8e0dddd 183 int frequency(int hz);
hudakz 0:e29bc8e0dddd 184
hudakz 0:e29bc8e0dddd 185 /** Write a CANMessage to the bus.
hudakz 0:e29bc8e0dddd 186 *
hudakz 0:e29bc8e0dddd 187 * @param msg The CANMessage to write.
hudakz 0:e29bc8e0dddd 188 *
hudakz 0:e29bc8e0dddd 189 * @returns
hudakz 0:e29bc8e0dddd 190 * 0 if write failed,
hudakz 0:e29bc8e0dddd 191 * 1 if write was successful
hudakz 0:e29bc8e0dddd 192 */
hudakz 0:e29bc8e0dddd 193 int write(CANMessage msg);
hudakz 0:e29bc8e0dddd 194
hudakz 0:e29bc8e0dddd 195 /** Read a CANMessage from the bus.
hudakz 0:e29bc8e0dddd 196 *
hudakz 0:e29bc8e0dddd 197 * @param msg A CANMessage to read to.
hudakz 0:e29bc8e0dddd 198 * @param handle message filter handle (0 for any message)
hudakz 0:e29bc8e0dddd 199 *
hudakz 0:e29bc8e0dddd 200 * @returns
hudakz 0:e29bc8e0dddd 201 * 0 if no message arrived,
hudakz 0:e29bc8e0dddd 202 * 1 if message arrived
hudakz 0:e29bc8e0dddd 203 */
hudakz 0:e29bc8e0dddd 204 int read(CANMessage &msg, int handle = 0);
hudakz 0:e29bc8e0dddd 205
hudakz 0:e29bc8e0dddd 206 /** Reset CAN interface.
hudakz 0:e29bc8e0dddd 207 *
hudakz 0:e29bc8e0dddd 208 * To use after error overflow.
hudakz 0:e29bc8e0dddd 209 */
hudakz 0:e29bc8e0dddd 210 void reset();
hudakz 0:e29bc8e0dddd 211
hudakz 0:e29bc8e0dddd 212 /** Puts or removes the CAN interface into silent monitoring mode
hudakz 0:e29bc8e0dddd 213 *
hudakz 0:e29bc8e0dddd 214 * @param silent boolean indicating whether to go into silent mode or not
hudakz 0:e29bc8e0dddd 215 */
hudakz 0:e29bc8e0dddd 216 void monitor(bool silent);
hudakz 0:e29bc8e0dddd 217
hudakz 0:e29bc8e0dddd 218 enum Mode {
hudakz 0:e29bc8e0dddd 219 Reset = 0,
hudakz 0:e29bc8e0dddd 220 Normal,
hudakz 0:e29bc8e0dddd 221 Silent,
hudakz 0:e29bc8e0dddd 222 LocalTest,
hudakz 0:e29bc8e0dddd 223 GlobalTest,
hudakz 0:e29bc8e0dddd 224 SilentTest
hudakz 0:e29bc8e0dddd 225 };
hudakz 0:e29bc8e0dddd 226
hudakz 0:e29bc8e0dddd 227 /** Change CAN operation to the specified mode
hudakz 0:e29bc8e0dddd 228 *
hudakz 0:e29bc8e0dddd 229 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
hudakz 0:e29bc8e0dddd 230 *
hudakz 0:e29bc8e0dddd 231 * @returns
hudakz 0:e29bc8e0dddd 232 * 0 if mode change failed or unsupported,
hudakz 0:e29bc8e0dddd 233 * 1 if mode change was successful
hudakz 0:e29bc8e0dddd 234 */
hudakz 0:e29bc8e0dddd 235 int mode(Mode mode);
hudakz 0:e29bc8e0dddd 236
hudakz 0:e29bc8e0dddd 237 /** Filter out incomming messages
hudakz 0:e29bc8e0dddd 238 *
hudakz 0:e29bc8e0dddd 239 * @param id the id to filter on
hudakz 0:e29bc8e0dddd 240 * @param mask the mask applied to the id
hudakz 0:e29bc8e0dddd 241 * @param format format to filter on (Default CANAny)
hudakz 0:e29bc8e0dddd 242 * @param handle message filter handle (Optional)
hudakz 0:e29bc8e0dddd 243 *
hudakz 0:e29bc8e0dddd 244 * @returns
hudakz 0:e29bc8e0dddd 245 * 0 if filter change failed or unsupported,
hudakz 0:e29bc8e0dddd 246 * new filter handle if successful
hudakz 0:e29bc8e0dddd 247 */
hudakz 0:e29bc8e0dddd 248 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
hudakz 0:e29bc8e0dddd 249
hudakz 0:e29bc8e0dddd 250 /** Returns number of read errors to detect read overflow errors.
hudakz 0:e29bc8e0dddd 251 */
hudakz 0:e29bc8e0dddd 252 unsigned char rderror();
hudakz 0:e29bc8e0dddd 253
hudakz 0:e29bc8e0dddd 254 /** Returns number of write errors to detect write overflow errors.
hudakz 0:e29bc8e0dddd 255 */
hudakz 0:e29bc8e0dddd 256 unsigned char tderror();
hudakz 0:e29bc8e0dddd 257
hudakz 0:e29bc8e0dddd 258 enum IrqType {
hudakz 0:e29bc8e0dddd 259 RxIrq = 0,
hudakz 0:e29bc8e0dddd 260 TxIrq,
hudakz 0:e29bc8e0dddd 261 EwIrq,
hudakz 0:e29bc8e0dddd 262 DoIrq,
hudakz 0:e29bc8e0dddd 263 WuIrq,
hudakz 0:e29bc8e0dddd 264 EpIrq,
hudakz 0:e29bc8e0dddd 265 AlIrq,
hudakz 0:e29bc8e0dddd 266 BeIrq,
hudakz 0:e29bc8e0dddd 267 IdIrq
hudakz 0:e29bc8e0dddd 268 };
hudakz 0:e29bc8e0dddd 269
hudakz 0:e29bc8e0dddd 270 /** Attach a function to call whenever a CAN frame received interrupt is
hudakz 0:e29bc8e0dddd 271 * generated.
hudakz 0:e29bc8e0dddd 272 *
hudakz 0:e29bc8e0dddd 273 * @param fptr A pointer to a void function, or 0 to set as none
hudakz 0:e29bc8e0dddd 274 * @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)
hudakz 0:e29bc8e0dddd 275 */
hudakz 0:e29bc8e0dddd 276 void attach(void (*fptr)(void), IrqType type=RxIrq);
hudakz 0:e29bc8e0dddd 277
hudakz 0:e29bc8e0dddd 278 /** Attach a member function to call whenever a CAN frame received interrupt
hudakz 0:e29bc8e0dddd 279 * is generated.
hudakz 0:e29bc8e0dddd 280 *
hudakz 0:e29bc8e0dddd 281 * @param tptr pointer to the object to call the member function on
hudakz 0:e29bc8e0dddd 282 * @param mptr pointer to the member function to be called
hudakz 0:e29bc8e0dddd 283 * @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)
hudakz 0:e29bc8e0dddd 284 */
hudakz 0:e29bc8e0dddd 285 template<typename T>
hudakz 0:e29bc8e0dddd 286 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
hudakz 0:e29bc8e0dddd 287 if((mptr != NULL) && (tptr != NULL)) {
hudakz 0:e29bc8e0dddd 288 _irq[type].attach(tptr, mptr);
hudakz 0:e29bc8e0dddd 289 // can_irq_set(&_can, (CanIrqType)type, 1);
hudakz 0:e29bc8e0dddd 290 }
hudakz 0:e29bc8e0dddd 291 // else {
hudakz 0:e29bc8e0dddd 292 // can_irq_set(&_can, (CanIrqType)type, 0);
hudakz 0:e29bc8e0dddd 293 // }
hudakz 0:e29bc8e0dddd 294 }
hudakz 0:e29bc8e0dddd 295
hudakz 0:e29bc8e0dddd 296 static void _irq_handler(uint32_t id, CanIrqType type);
hudakz 0:e29bc8e0dddd 297
hudakz 0:e29bc8e0dddd 298 protected:
hudakz 0:e29bc8e0dddd 299 can_t _can;
hudakz 0:e29bc8e0dddd 300 FunctionPointer _irq[9];
hudakz 0:e29bc8e0dddd 301 };
hudakz 0:e29bc8e0dddd 302
hudakz 0:e29bc8e0dddd 303 } // namespace mbed
hudakz 0:e29bc8e0dddd 304
hudakz 0:e29bc8e0dddd 305 #endif
hudakz 0:e29bc8e0dddd 306
hudakz 0:e29bc8e0dddd 307 #endif // MBED_CAN_H
hudakz 0:e29bc8e0dddd 308
hudakz 0:e29bc8e0dddd 309