Diff: mbed/drivers/CAN.h

Revision:

12:406f75196a12

Parent:

11:32eeb052cda5

Child:

13:0c732e06d675

--- a/mbed/drivers/CAN.h	Wed Aug 26 14:26:27 2020 +0530
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,311 +0,0 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2013 ARM Limited
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef MBED_CAN_H
-#define MBED_CAN_H
-
-#include "platform/platform.h"
-
-#if DEVICE_CAN || defined(DOXYGEN_ONLY)
-
-#include "hal/can_api.h"
-#include "platform/Callback.h"
-#include "platform/PlatformMutex.h"
-#include "platform/NonCopyable.h"
-
-namespace mbed {
-/** \addtogroup drivers */
-
-/** CANMessage class
- *
- * @note Synchronization level: Thread safe
- * @ingroup drivers
- */
-class CANMessage : public CAN_Message {
-
-public:
-    /** Creates empty CAN message.
-     */
-    CANMessage() : CAN_Message()
-    {
-        len    = 8;
-        type   = CANData;
-        format = CANStandard;
-        id     = 0;
-        memset(data, 0, 8);
-    }
-
-    /** Creates CAN message with specific content.
-     *
-     *  @param _id      Message ID
-     *  @param _data    Mesaage Data
-     *  @param _len     Message Data length
-     *  @param _type    Type of Data: Use enum CANType for valid parameter values
-     *  @param _format  Data Format: Use enum CANFormat for valid parameter values
-     */
-    CANMessage(unsigned _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard)
-    {
-        len    = _len & 0xF;
-        type   = _type;
-        format = _format;
-        id     = _id;
-        memcpy(data, _data, _len);
-    }
-
-    /** Creates CAN remote message.
-     *
-     *  @param _id      Message ID
-     *  @param _format  Data Format: Use enum CANType for valid parameter values
-     */
-    CANMessage(unsigned _id, CANFormat _format = CANStandard)
-    {
-        len    = 0;
-        type   = CANRemote;
-        format = _format;
-        id     = _id;
-        memset(data, 0, 8);
-    }
-};
-
-/** A can bus client, used for communicating with can devices
- * @ingroup drivers
- */
-class CAN : private NonCopyable<CAN> {
-
-public:
-    /** Creates a CAN interface connected to specific pins.
-     *
-     *  @param rd read from transmitter
-     *  @param td transmit to transmitter
-     *
-     * Example:
-     * @code
-     * #include "mbed.h"
-     *
-     *
-     * Ticker ticker;
-     * DigitalOut led1(LED1);
-     * DigitalOut led2(LED2);
-     * //The constructor takes in RX, and TX pin respectively.
-     * //These pins, for this example, are defined in mbed_app.json
-     * CAN can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD);
-     * CAN can2(MBED_CONF_APP_CAN2_RD, MBED_CONF_APP_CAN2_TD);
-     *
-     * char counter = 0;
-     *
-     * void send() {
-     *     if(can1.write(CANMessage(1337, &counter, 1))) {
-     *         printf("Message sent: %d\n", counter);
-     *         counter++;
-     *     }
-     *     led1 = !led1;
-     * }
-     *
-     * int main() {
-     *     ticker.attach(&send, 1);
-     *    CANMessage msg;
-     *     while(1) {
-     *         if(can2.read(msg)) {
-     *             printf("Message received: %d\n\n", msg.data[0]);
-     *             led2 = !led2;
-     *         }
-     *         wait(0.2);
-     *     }
-     * }
-     *
-     * @endcode
-     */
-    CAN(PinName rd, PinName td);
-
-    /** Initialize CAN interface and set the frequency
-      *
-      * @param rd the read pin
-      * @param td the transmit pin
-      * @param hz the bus frequency in hertz
-      */
-    CAN(PinName rd, PinName td, int hz);
-
-    virtual ~CAN();
-
-    /** Set the frequency of the CAN interface
-     *
-     *  @param hz The bus frequency in hertz
-     *
-     *  @returns
-     *    1 if successful,
-     *    0 otherwise
-     */
-    int frequency(int hz);
-
-    /** Write a CANMessage to the bus.
-     *
-     *  @param msg The CANMessage to write.
-     *
-     *  @returns
-     *    0 if write failed,
-     *    1 if write was successful
-     */
-    int write(CANMessage msg);
-
-    /** Read a CANMessage from the bus.
-     *
-     *  @param msg A CANMessage to read to.
-     *  @param handle message filter handle (0 for any message)
-     *
-     *  @returns
-     *    0 if no message arrived,
-     *    1 if message arrived
-     */
-    int read(CANMessage &msg, int handle = 0);
-
-    /** Reset CAN interface.
-     *
-     * To use after error overflow.
-     */
-    void reset();
-
-    /** Puts or removes the CAN interface into silent monitoring mode
-     *
-     *  @param silent boolean indicating whether to go into silent mode or not
-     */
-    void monitor(bool silent);
-
-    enum Mode {
-        Reset = 0,
-        Normal,
-        Silent,
-        LocalTest,
-        GlobalTest,
-        SilentTest
-    };
-
-    /** Change CAN operation to the specified mode
-     *
-     *  @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
-     *
-     *  @returns
-     *    0 if mode change failed or unsupported,
-     *    1 if mode change was successful
-     */
-    int mode(Mode mode);
-
-    /** Filter out incoming messages
-     *
-     *  @param id the id to filter on
-     *  @param mask the mask applied to the id
-     *  @param format format to filter on (Default CANAny)
-     *  @param handle message filter handle (Optional)
-     *
-     *  @returns
-     *    0 if filter change failed or unsupported,
-     *    new filter handle if successful
-     */
-    int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
-
-    /**  Detects read errors - Used to detect read overflow errors.
-     *
-     *  @returns number of read errors
-     */
-    unsigned char rderror();
-
-    /** Detects write errors - Used to detect write overflow errors.
-     *
-     *  @returns number of write errors
-     */
-    unsigned char tderror();
-
-    enum IrqType {
-        RxIrq = 0,
-        TxIrq,
-        EwIrq,
-        DoIrq,
-        WuIrq,
-        EpIrq,
-        AlIrq,
-        BeIrq,
-        IdIrq,
-
-        IrqCnt
-    };
-
-    /** Attach a function to call whenever a CAN frame received interrupt is
-     *  generated.
-     *
-     *  This function locks the deep sleep while a callback is attached
-     *
-     *  @param func A pointer to a void function, or 0 to set as none
-     *  @param type 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)
-     */
-    void attach(Callback<void()> func, IrqType type = RxIrq);
-
-    /** Attach a member function to call whenever a CAN frame received interrupt
-     *  is generated.
-     *
-     *  @param obj pointer to the object to call the member function on
-     *  @param method pointer to the member function to be called
-     *  @param type 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)
-     *  @deprecated
-     *      The attach function does not support cv-qualifiers. Replaced by
-     *      attach(callback(obj, method), type).
-     */
-    template<typename T>
-    MBED_DEPRECATED_SINCE("mbed-os-5.1",
-                          "The attach function does not support cv-qualifiers. Replaced by "
-                          "attach(callback(obj, method), type).")
-    void attach(T *obj, void (T::*method)(), IrqType type = RxIrq)
-    {
-        // Underlying call thread safe
-        attach(callback(obj, method), type);
-    }
-
-    /** Attach a member function to call whenever a CAN frame received interrupt
-     *  is generated.
-     *
-     *  @param obj pointer to the object to call the member function on
-     *  @param method pointer to the member function to be called
-     *  @param type 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)
-     *  @deprecated
-     *      The attach function does not support cv-qualifiers. Replaced by
-     *      attach(callback(obj, method), type).
-     */
-    template<typename T>
-    MBED_DEPRECATED_SINCE("mbed-os-5.1",
-                          "The attach function does not support cv-qualifiers. Replaced by "
-                          "attach(callback(obj, method), type).")
-    void attach(T *obj, void (*method)(T *), IrqType type = RxIrq)
-    {
-        // Underlying call thread safe
-        attach(callback(obj, method), type);
-    }
-
-    static void _irq_handler(uint32_t id, CanIrqType type);
-
-#if !defined(DOXYGEN_ONLY)
-protected:
-    virtual void lock();
-    virtual void unlock();
-    can_t               _can;
-    Callback<void()>    _irq[IrqCnt];
-    PlatformMutex       _mutex;
-#endif
-};
-
-} // namespace mbed
-
-#endif
-
-#endif    // MBED_CAN_H
-