Paul Paterson / CANnucleo

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Dependents:   ppCANOpen_Example

Fork of CANnucleo by Zoltan Hudak

CAN.cpp@18:cdab1fd4ff26, 2016-01-07 (annotated)

Committer:
ptpaterson
Date:
Thu Jan 07 04:23:51 2016 +0000
Revision:
18:cdab1fd4ff26
Parent:
14:0344705e6fb8 
Corrected interrupts for F0 chip

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 #include "cmsis.h"
hudakz 0:e29bc8e0dddd 21
hudakz 0:e29bc8e0dddd 22 namespace mbed
hudakz 0:e29bc8e0dddd 23 {
hudakz 0:e29bc8e0dddd 24
hudakz 0:e29bc8e0dddd 25 /**
hudakz 6:c5a40d5fd9f1 26 * @brief Constructor
hudakz 6:c5a40d5fd9f1 27 * @note Constructs an instance of CAN class
hudakz 6:c5a40d5fd9f1 28 * @param rxPin: CAN Rx pin name
hudakz 6:c5a40d5fd9f1 29 * @param txPin: CAN Tx pin name
hudakz 6:c5a40d5fd9f1 30 * @param abom: Automatic recovery from bus-off state (defaults to enabled)
hudakz 0:e29bc8e0dddd 31 * @retval
hudakz 0:e29bc8e0dddd 32 */
hudakz 6:c5a40d5fd9f1 33 CAN::CAN(PinName rxPin, PinName txPin, FunctionalState abom /* = ENABLE */) :
hudakz 0:e29bc8e0dddd 34 _can(),
hudakz 0:e29bc8e0dddd 35 _irq() {
hudakz 6:c5a40d5fd9f1 36 can_init(&_can, rxPin, txPin, abom);
hudakz 0:e29bc8e0dddd 37 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
hudakz 0:e29bc8e0dddd 38 }
hudakz 0:e29bc8e0dddd 39
hudakz 0:e29bc8e0dddd 40 /**
hudakz 0:e29bc8e0dddd 41 * @brief
hudakz 0:e29bc8e0dddd 42 * @note
hudakz 0:e29bc8e0dddd 43 * @param
hudakz 0:e29bc8e0dddd 44 * @retval
hudakz 0:e29bc8e0dddd 45 */
hudakz 0:e29bc8e0dddd 46 CAN::~CAN(void) {
hudakz 0:e29bc8e0dddd 47 can_irq_free(&_can);
hudakz 0:e29bc8e0dddd 48 can_free(&_can);
hudakz 0:e29bc8e0dddd 49 }
hudakz 0:e29bc8e0dddd 50
hudakz 0:e29bc8e0dddd 51 /**
hudakz 0:e29bc8e0dddd 52 * @brief
hudakz 0:e29bc8e0dddd 53 * @note
hudakz 0:e29bc8e0dddd 54 * @param
hudakz 0:e29bc8e0dddd 55 * @retval
hudakz 0:e29bc8e0dddd 56 */
hudakz 0:e29bc8e0dddd 57 int CAN::frequency(int f) {
hudakz 0:e29bc8e0dddd 58 return can_frequency(&_can, f);
hudakz 0:e29bc8e0dddd 59 }
hudakz 0:e29bc8e0dddd 60
hudakz 0:e29bc8e0dddd 61 /**
hudakz 0:e29bc8e0dddd 62 * @brief
hudakz 0:e29bc8e0dddd 63 * @note
hudakz 0:e29bc8e0dddd 64 * @param
hudakz 0:e29bc8e0dddd 65 * @retval
hudakz 0:e29bc8e0dddd 66 */
hudakz 0:e29bc8e0dddd 67 int CAN::write(CANMessage msg) {
hudakz 0:e29bc8e0dddd 68 return can_write(&_can, msg, 0);
hudakz 0:e29bc8e0dddd 69 }
hudakz 0:e29bc8e0dddd 70
hudakz 0:e29bc8e0dddd 71 /**
hudakz 0:e29bc8e0dddd 72 * @brief
hudakz 0:e29bc8e0dddd 73 * @note
hudakz 0:e29bc8e0dddd 74 * @param
hudakz 0:e29bc8e0dddd 75 * @retval
hudakz 0:e29bc8e0dddd 76 */
hudakz 0:e29bc8e0dddd 77 int CAN::read(CANMessage& msg, int handle) {
hudakz 0:e29bc8e0dddd 78 return can_read(&_can, &msg, handle);
hudakz 0:e29bc8e0dddd 79 }
hudakz 0:e29bc8e0dddd 80
hudakz 0:e29bc8e0dddd 81 /**
hudakz 0:e29bc8e0dddd 82 * @brief
hudakz 0:e29bc8e0dddd 83 * @note
hudakz 0:e29bc8e0dddd 84 * @param
hudakz 0:e29bc8e0dddd 85 * @retval
hudakz 0:e29bc8e0dddd 86 */
hudakz 0:e29bc8e0dddd 87 void CAN::reset(void) {
hudakz 0:e29bc8e0dddd 88 can_reset(&_can);
hudakz 0:e29bc8e0dddd 89 }
hudakz 0:e29bc8e0dddd 90
hudakz 0:e29bc8e0dddd 91 /**
hudakz 0:e29bc8e0dddd 92 * @brief
hudakz 0:e29bc8e0dddd 93 * @note
hudakz 0:e29bc8e0dddd 94 * @param
hudakz 0:e29bc8e0dddd 95 * @retval
hudakz 0:e29bc8e0dddd 96 */
hudakz 0:e29bc8e0dddd 97 unsigned char CAN::rderror(void) {
hudakz 0:e29bc8e0dddd 98 return can_rderror(&_can);
hudakz 0:e29bc8e0dddd 99 }
hudakz 0:e29bc8e0dddd 100
hudakz 0:e29bc8e0dddd 101 /**
hudakz 0:e29bc8e0dddd 102 * @brief
hudakz 0:e29bc8e0dddd 103 * @note
hudakz 0:e29bc8e0dddd 104 * @param
hudakz 0:e29bc8e0dddd 105 * @retval
hudakz 0:e29bc8e0dddd 106 */
hudakz 0:e29bc8e0dddd 107 unsigned char CAN::tderror(void) {
hudakz 0:e29bc8e0dddd 108 return can_tderror(&_can);
hudakz 0:e29bc8e0dddd 109 }
hudakz 0:e29bc8e0dddd 110
hudakz 0:e29bc8e0dddd 111 /**
hudakz 0:e29bc8e0dddd 112 * @brief
hudakz 0:e29bc8e0dddd 113 * @note
hudakz 0:e29bc8e0dddd 114 * @param
hudakz 0:e29bc8e0dddd 115 * @retval
hudakz 0:e29bc8e0dddd 116 */
hudakz 0:e29bc8e0dddd 117 void CAN::monitor(bool silent) {
hudakz 0:e29bc8e0dddd 118 can_monitor(&_can, (silent) ? 1 : 0);
hudakz 0:e29bc8e0dddd 119 }
hudakz 0:e29bc8e0dddd 120
hudakz 0:e29bc8e0dddd 121 /**
hudakz 0:e29bc8e0dddd 122 * @brief
hudakz 0:e29bc8e0dddd 123 * @note
hudakz 0:e29bc8e0dddd 124 * @param
hudakz 0:e29bc8e0dddd 125 * @retval
hudakz 0:e29bc8e0dddd 126 */
hudakz 0:e29bc8e0dddd 127 int CAN::mode(Mode mode) {
hudakz 0:e29bc8e0dddd 128 return can_mode(&_can, (CanMode) mode);
hudakz 0:e29bc8e0dddd 129 }
hudakz 0:e29bc8e0dddd 130
hudakz 0:e29bc8e0dddd 131 /**
hudakz 9:e9224f2c6d37 132 * @brief Sets up a CAN filter
hudakz 8:5c90d6b9a382 133 * @note At the present, CANnucleo supports only mask mode and 32-bit filter scale.
hudakz 8:5c90d6b9a382 134 * Identifier list mode filtering and 16-bit filter scale are not supported.
hudakz 9:e9224f2c6d37 135 * There are 14 filters available (0 - 13) for the application to set up.
hudakz 8:5c90d6b9a382 136 * Each filter is a 32-bit filter defined by a filter ID and a filter mask.
hudakz 9:e9224f2c6d37 137 * If no filter is set up then no CAN message is accepted (received)!
hudakz 9:e9224f2c6d37 138 * That's why filter #0 is set up in the constructor to receive all CAN messages by default.
hudakz 8:5c90d6b9a382 139 * On reception of a message it is compared with filter #0. If there is a match, the message is stored.
hudakz 8:5c90d6b9a382 140 * If there is no match, the incoming identifier is then compared with the next filter.
hudakz 8:5c90d6b9a382 141 * If the received identifier does not match any of the identifiers configured in the filters,
hudakz 8:5c90d6b9a382 142 * the message is discarded by hardware without disturbing the software.
hudakz 8:5c90d6b9a382 143 *
hudakz 8:5c90d6b9a382 144 * @param id: 'Filter ID' defines the bit values to be compared with the corresponding received bits
hudakz 8:5c90d6b9a382 145 *
hudakz 8:5c90d6b9a382 146 * 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 147 *
hudakz 8:5c90d6b9a382 148 * STID - Stardard Identifier bits
hudakz 8:5c90d6b9a382 149 * EXID - Extended Identifier bits
hudakz 8:5c90d6b9a382 150 * [x:y]- bit range
hudakz 8:5c90d6b9a382 151 * IDE - Identifier Extension bit (0 -> Standard Identifier, 1 -> Extended Identifier)
hudakz 9:e9224f2c6d37 152 * RTR - Remote Transmission Request bit (0 -> Remote Transmission Request, 1 -> Standard message)
hudakz 8:5c90d6b9a382 153 *
hudakz 8:5c90d6b9a382 154 * @param mask: 'Filter mask' defines which bits of the 'Filter ID' are compared with the received bits
hudakz 8:5c90d6b9a382 155 * and which bits are disregarded.
hudakz 8:5c90d6b9a382 156
hudakz 8:5c90d6b9a382 157 * 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 158 *
hudakz 8:5c90d6b9a382 159 * STID - Stardard Identifier bits
hudakz 8:5c90d6b9a382 160 * EXID - Extended Identifier bits
hudakz 8:5c90d6b9a382 161 * [x:y]- bit range
hudakz 8:5c90d6b9a382 162 * IDE - Identifier Extension bit
hudakz 8:5c90d6b9a382 163 * RTR - Remote Transmission Request bit
hudakz 8:5c90d6b9a382 164 *
hudakz 10:227a455d0f9f 165 * 1 -> bit is considered
hudakz 10:227a455d0f9f 166 * 0 -> bit is disregarded
hudakz 8:5c90d6b9a382 167 *
hudakz 10:227a455d0f9f 168 * ----------------------------------------
hudakz 10:227a455d0f9f 169 * Example of filter set up and filtering:
hudakz 10:227a455d0f9f 170 * ----------------------------------------
hudakz 10:227a455d0f9f 171 *
hudakz 10:227a455d0f9f 172 * Let's assume we would like to receive only messages
hudakz 10:227a455d0f9f 173 * with standard identifier STID = 0x0207 (STID[15:0] = 00000010 00000111)
hudakz 8:5c90d6b9a382 174 *
hudakz 8:5c90d6b9a382 175 * We map the STID to filter ID by shifting the bits appropriately:
hudakz 8:5c90d6b9a382 176 * Filter id = STID << (16 + (15 - 10)) = STID << 21 = 01000000 11100000 00000000 00000000 = 0x40E00000
hudakz 8:5c90d6b9a382 177 *
hudakz 8:5c90d6b9a382 178 * To compare only the bits representing STID we set the filter mask adequately:
hudakz 9:e9224f2c6d37 179 * Filter mask = 11111111 11100000 00000000 00000100 = 0xFFE00004
hudakz 14:0344705e6fb8 180 * |||||||| ||| |
hudakz 14:0344705e6fb8 181 * -------- --- |
hudakz 14:0344705e6fb8 182 * | | |
hudakz 14:0344705e6fb8 183 * STID[10:3] STID[2:0] IDE
hudakz 8:5c90d6b9a382 184 *
hudakz 9:e9224f2c6d37 185 * Keep in mind that filter #0 was already set up in the constructor to receive all CAN messages by default.
hudakz 9:e9224f2c6d37 186 * So we have to reconfigure it. If we were set up filter #1 here then filter #0 would receive all the messages
hudakz 8:5c90d6b9a382 187 * and no message would reach filter #1!
hudakz 9:e9224f2c6d37 188 *
hudakz 9:e9224f2c6d37 189 * To set up filter #0 we call:
hudakz 9:e9224f2c6d37 190 * can.filter(0x0207 << 21, 0xFFE00004, CANAny, 0);
hudakz 8:5c90d6b9a382 191 *
hudakz 14:0344705e6fb8 192 * Only these bits (set to 1) of filter id are compared with the corresponding
hudakz 9:e9224f2c6d37 193 * bits of received message (the others are disregarded)
hudakz 11:439f3a34c42e 194 * |
hudakz 11:439f3a34c42e 195 * ---------------------------------
hudakz 11:439f3a34c42e 196 * |||||||| ||| |
hudakz 9:e9224f2c6d37 197 * Filter mask = 11111111 11100000 00000000 00000100 (= 0xFFE00004)
hudakz 9:e9224f2c6d37 198 * Filter id = 01000000 11100000 00000000 00000000 (= 0x40E00000)
hudakz 11:439f3a34c42e 199 * |||||||| ||| |
hudakz 11:439f3a34c42e 200 * ---------------------------------
hudakz 11:439f3a34c42e 201 * |
hudakz 11:439f3a34c42e 202 * To receive the message the values of these bits must match.
hudakz 11:439f3a34c42e 203 * Otherwise the message is passed to the next filter or
hudakz 9:e9224f2c6d37 204 * discarded if this was the last active filter.
hudakz 11:439f3a34c42e 205 * |
hudakz 11:439f3a34c42e 206 * ---------------------------------
hudakz 11:439f3a34c42e 207 * |||||||| ||| |
hudakz 9:e9224f2c6d37 208 * Received id = 01000000 11100000 00000000 00000010 (= 0x40E00002)
hudakz 11:439f3a34c42e 209 * ||||| |||||||| ||||| ||
hudakz 11:439f3a34c42e 210 * -----------------------
hudakz 11:439f3a34c42e 211 * |
hudakz 14:0344705e6fb8 212 * These bits (set to 0 in filter mask) are disregarded (masked).
hudakz 9:e9224f2c6d37 213 * They can have arbitrary values.
hudakz 8:5c90d6b9a382 214 *
hudakz 8:5c90d6b9a382 215 * NOTE: For the meaning of individual bits see the mapping of 32-bits explained above.
hudakz 8:5c90d6b9a382 216 *
hudakz 9:e9224f2c6d37 217 * @param format: This parameter must be CANAny
hudakz 9:e9224f2c6d37 218 * @param handle: Selects the filter. This parameter must be a number between 0 and 13.
hudakz 9:e9224f2c6d37 219 * @param retval: 0 - successful
hudakz 9:e9224f2c6d37 220 * 1 - error
hudakz 9:e9224f2c6d37 221 * 2 - busy
hudakz 9:e9224f2c6d37 222 * 3 - time out
hudakz 0:e29bc8e0dddd 223 */
hudakz 8:5c90d6b9a382 224 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format /* = CANAny */, int handle /* = 0 */) {
hudakz 0:e29bc8e0dddd 225 return can_filter(&_can, id, mask, format, handle);
hudakz 0:e29bc8e0dddd 226 }
hudakz 0:e29bc8e0dddd 227
hudakz 0:e29bc8e0dddd 228 /**
hudakz 0:e29bc8e0dddd 229 * @brief Attaches handler funcion to CAN1 RX0 Interrupt
hudakz 0:e29bc8e0dddd 230 * @note Only CAN1 RX0 Interrupt supported
hudakz 0:e29bc8e0dddd 231 * @param fptr: pointer to a void (*)(void) function
hudakz 0:e29bc8e0dddd 232 * @param type: not used (only CAN1 RX0 Interrupt supported)
hudakz 0:e29bc8e0dddd 233 * @retval
hudakz 0:e29bc8e0dddd 234 */
hudakz 0:e29bc8e0dddd 235 void CAN::attach(void (*fptr) (void), IrqType type) {
hudakz 14:0344705e6fb8 236 HAL_NVIC_DisableIRQ(CAN_IRQ);
hudakz 0:e29bc8e0dddd 237 if(fptr) {
hudakz 0:e29bc8e0dddd 238 can_irq_set(fptr);
hudakz 0:e29bc8e0dddd 239 }
hudakz 0:e29bc8e0dddd 240 can_irq_init(&_can, &CAN::_irq_handler, (uint32_t) this);
hudakz 14:0344705e6fb8 241 HAL_NVIC_EnableIRQ(CAN_IRQ);
hudakz 0:e29bc8e0dddd 242 }
hudakz 0:e29bc8e0dddd 243
hudakz 0:e29bc8e0dddd 244 /**
hudakz 0:e29bc8e0dddd 245 * @brief
hudakz 0:e29bc8e0dddd 246 * @note
hudakz 0:e29bc8e0dddd 247 * @param
hudakz 0:e29bc8e0dddd 248 * @retval
hudakz 0:e29bc8e0dddd 249 */
hudakz 0:e29bc8e0dddd 250 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
hudakz 0:e29bc8e0dddd 251 CAN* handler = (CAN*)id;
hudakz 0:e29bc8e0dddd 252 handler->_irq[type].call();
hudakz 0:e29bc8e0dddd 253 }
hudakz 0:e29bc8e0dddd 254
hudakz 0:e29bc8e0dddd 255 } // namespace mbed
hudakz 0:e29bc8e0dddd 256
hudakz 0:e29bc8e0dddd 257
hudakz 0:e29bc8e0dddd 258
hudakz 5:b53e5ee15315 259
hudakz 6:c5a40d5fd9f1 260
hudakz 11:439f3a34c42e 261