Andrew SaLoutos / mbed-dev-STM-lean

From Ben Katz mbed-dev library. Removed unnecessary target files to reduce the overall size by a factor of 10 to make it easier to import into the online IDE.

Dependents:   motor_driver motor_driver_screaming_fix

drivers/CAN.h@0:083111ae2a11, 2020-11-26 (annotated)

Committer:
saloutos
Date:
Thu Nov 26 04:08:56 2020 +0000
Revision:
0:083111ae2a11
first commit of leaned mbed dev lib

Who changed what in which revision?

UserRevisionLine numberNew contents of line
saloutos 0:083111ae2a11 1 /* mbed Microcontroller Library
saloutos 0:083111ae2a11 2 * Copyright (c) 2006-2013 ARM Limited
saloutos 0:083111ae2a11 3 *
saloutos 0:083111ae2a11 4 * Licensed under the Apache License, Version 2.0 (the "License");
saloutos 0:083111ae2a11 5 * you may not use this file except in compliance with the License.
saloutos 0:083111ae2a11 6 * You may obtain a copy of the License at
saloutos 0:083111ae2a11 7 *
saloutos 0:083111ae2a11 8 * http://www.apache.org/licenses/LICENSE-2.0
saloutos 0:083111ae2a11 9 *
saloutos 0:083111ae2a11 10 * Unless required by applicable law or agreed to in writing, software
saloutos 0:083111ae2a11 11 * distributed under the License is distributed on an "AS IS" BASIS,
saloutos 0:083111ae2a11 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
saloutos 0:083111ae2a11 13 * See the License for the specific language governing permissions and
saloutos 0:083111ae2a11 14 * limitations under the License.
saloutos 0:083111ae2a11 15 */
saloutos 0:083111ae2a11 16 #ifndef MBED_CAN_H
saloutos 0:083111ae2a11 17 #define MBED_CAN_H
saloutos 0:083111ae2a11 18
saloutos 0:083111ae2a11 19 #include "platform/platform.h"
saloutos 0:083111ae2a11 20
saloutos 0:083111ae2a11 21 #if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY)
saloutos 0:083111ae2a11 22
saloutos 0:083111ae2a11 23 #include "hal/can_api.h"
saloutos 0:083111ae2a11 24 #include "platform/Callback.h"
saloutos 0:083111ae2a11 25 #include "platform/PlatformMutex.h"
saloutos 0:083111ae2a11 26 #include "platform/NonCopyable.h"
saloutos 0:083111ae2a11 27
saloutos 0:083111ae2a11 28 namespace mbed {
saloutos 0:083111ae2a11 29 /** \addtogroup drivers */
saloutos 0:083111ae2a11 30
saloutos 0:083111ae2a11 31 /** CANMessage class
saloutos 0:083111ae2a11 32 *
saloutos 0:083111ae2a11 33 * @note Synchronization level: Thread safe
saloutos 0:083111ae2a11 34 * @ingroup drivers
saloutos 0:083111ae2a11 35 */
saloutos 0:083111ae2a11 36 class CANMessage : public CAN_Message {
saloutos 0:083111ae2a11 37
saloutos 0:083111ae2a11 38 public:
saloutos 0:083111ae2a11 39 /** Creates empty CAN message.
saloutos 0:083111ae2a11 40 */
saloutos 0:083111ae2a11 41 CANMessage() : CAN_Message() {
saloutos 0:083111ae2a11 42 len = 8;
saloutos 0:083111ae2a11 43 type = CANData;
saloutos 0:083111ae2a11 44 format = CANStandard;
saloutos 0:083111ae2a11 45 id = 0;
saloutos 0:083111ae2a11 46 memset(data, 0, 8);
saloutos 0:083111ae2a11 47 }
saloutos 0:083111ae2a11 48
saloutos 0:083111ae2a11 49 /** Creates CAN message with specific content.
saloutos 0:083111ae2a11 50 *
saloutos 0:083111ae2a11 51 * @param _id Message ID
saloutos 0:083111ae2a11 52 * @param _data Mesaage Data
saloutos 0:083111ae2a11 53 * @param _len Message Data length
saloutos 0:083111ae2a11 54 * @param _type Type of Data: Use enum CANType for valid parameter values
saloutos 0:083111ae2a11 55 * @param _format Data Format: Use enum CANFormat for valid parameter values
saloutos 0:083111ae2a11 56 */
saloutos 0:083111ae2a11 57 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
saloutos 0:083111ae2a11 58 len = _len & 0xF;
saloutos 0:083111ae2a11 59 type = _type;
saloutos 0:083111ae2a11 60 format = _format;
saloutos 0:083111ae2a11 61 id = _id;
saloutos 0:083111ae2a11 62 memcpy(data, _data, _len);
saloutos 0:083111ae2a11 63 }
saloutos 0:083111ae2a11 64
saloutos 0:083111ae2a11 65 /** Creates CAN remote message.
saloutos 0:083111ae2a11 66 *
saloutos 0:083111ae2a11 67 * @param _id Message ID
saloutos 0:083111ae2a11 68 * @param _format Data Format: Use enum CANType for valid parameter values
saloutos 0:083111ae2a11 69 */
saloutos 0:083111ae2a11 70 CANMessage(int _id, CANFormat _format = CANStandard) {
saloutos 0:083111ae2a11 71 len = 0;
saloutos 0:083111ae2a11 72 type = CANRemote;
saloutos 0:083111ae2a11 73 format = _format;
saloutos 0:083111ae2a11 74 id = _id;
saloutos 0:083111ae2a11 75 memset(data, 0, 8);
saloutos 0:083111ae2a11 76 }
saloutos 0:083111ae2a11 77 };
saloutos 0:083111ae2a11 78
saloutos 0:083111ae2a11 79 /** A can bus client, used for communicating with can devices
saloutos 0:083111ae2a11 80 * @ingroup drivers
saloutos 0:083111ae2a11 81 */
saloutos 0:083111ae2a11 82 class CAN : private NonCopyable<CAN> {
saloutos 0:083111ae2a11 83
saloutos 0:083111ae2a11 84 public:
saloutos 0:083111ae2a11 85 /** Creates an CAN interface connected to specific pins.
saloutos 0:083111ae2a11 86 *
saloutos 0:083111ae2a11 87 * @param rd read from transmitter
saloutos 0:083111ae2a11 88 * @param td transmit to transmitter
saloutos 0:083111ae2a11 89 *
saloutos 0:083111ae2a11 90 * Example:
saloutos 0:083111ae2a11 91 * @code
saloutos 0:083111ae2a11 92 * #include "mbed.h"
saloutos 0:083111ae2a11 93 *
saloutos 0:083111ae2a11 94 * Ticker ticker;
saloutos 0:083111ae2a11 95 * DigitalOut led1(LED1);
saloutos 0:083111ae2a11 96 * DigitalOut led2(LED2);
saloutos 0:083111ae2a11 97 * CAN can1(p9, p10);
saloutos 0:083111ae2a11 98 * CAN can2(p30, p29);
saloutos 0:083111ae2a11 99 *
saloutos 0:083111ae2a11 100 * char counter = 0;
saloutos 0:083111ae2a11 101 *
saloutos 0:083111ae2a11 102 * void send() {
saloutos 0:083111ae2a11 103 * if(can1.write(CANMessage(1337, &counter, 1))) {
saloutos 0:083111ae2a11 104 * printf("Message sent: %d\n", counter);
saloutos 0:083111ae2a11 105 * counter++;
saloutos 0:083111ae2a11 106 * }
saloutos 0:083111ae2a11 107 * led1 = !led1;
saloutos 0:083111ae2a11 108 * }
saloutos 0:083111ae2a11 109 *
saloutos 0:083111ae2a11 110 * int main() {
saloutos 0:083111ae2a11 111 * ticker.attach(&send, 1);
saloutos 0:083111ae2a11 112 * CANMessage msg;
saloutos 0:083111ae2a11 113 * while(1) {
saloutos 0:083111ae2a11 114 * if(can2.read(msg)) {
saloutos 0:083111ae2a11 115 * printf("Message received: %d\n\n", msg.data[0]);
saloutos 0:083111ae2a11 116 * led2 = !led2;
saloutos 0:083111ae2a11 117 * }
saloutos 0:083111ae2a11 118 * wait(0.2);
saloutos 0:083111ae2a11 119 * }
saloutos 0:083111ae2a11 120 * }
saloutos 0:083111ae2a11 121 * @endcode
saloutos 0:083111ae2a11 122 */
saloutos 0:083111ae2a11 123 CAN(PinName rd, PinName td);
saloutos 0:083111ae2a11 124
saloutos 0:083111ae2a11 125 /** Initialize CAN interface and set the frequency
saloutos 0:083111ae2a11 126 *
saloutos 0:083111ae2a11 127 * @param rd the rd pin
saloutos 0:083111ae2a11 128 * @param td the td pin
saloutos 0:083111ae2a11 129 * @param hz the bus frequency in hertz
saloutos 0:083111ae2a11 130 */
saloutos 0:083111ae2a11 131 CAN(PinName rd, PinName td, int hz);
saloutos 0:083111ae2a11 132
saloutos 0:083111ae2a11 133 virtual ~CAN();
saloutos 0:083111ae2a11 134
saloutos 0:083111ae2a11 135 /** Set the frequency of the CAN interface
saloutos 0:083111ae2a11 136 *
saloutos 0:083111ae2a11 137 * @param hz The bus frequency in hertz
saloutos 0:083111ae2a11 138 *
saloutos 0:083111ae2a11 139 * @returns
saloutos 0:083111ae2a11 140 * 1 if successful,
saloutos 0:083111ae2a11 141 * 0 otherwise
saloutos 0:083111ae2a11 142 */
saloutos 0:083111ae2a11 143 int frequency(int hz);
saloutos 0:083111ae2a11 144
saloutos 0:083111ae2a11 145 /** Write a CANMessage to the bus.
saloutos 0:083111ae2a11 146 *
saloutos 0:083111ae2a11 147 * @param msg The CANMessage to write.
saloutos 0:083111ae2a11 148 *
saloutos 0:083111ae2a11 149 * @returns
saloutos 0:083111ae2a11 150 * 0 if write failed,
saloutos 0:083111ae2a11 151 * 1 if write was successful
saloutos 0:083111ae2a11 152 */
saloutos 0:083111ae2a11 153 int write(CANMessage msg);
saloutos 0:083111ae2a11 154
saloutos 0:083111ae2a11 155 /** Read a CANMessage from the bus.
saloutos 0:083111ae2a11 156 *
saloutos 0:083111ae2a11 157 * @param msg A CANMessage to read to.
saloutos 0:083111ae2a11 158 * @param handle message filter handle (0 for any message)
saloutos 0:083111ae2a11 159 *
saloutos 0:083111ae2a11 160 * @returns
saloutos 0:083111ae2a11 161 * 0 if no message arrived,
saloutos 0:083111ae2a11 162 * 1 if message arrived
saloutos 0:083111ae2a11 163 */
saloutos 0:083111ae2a11 164 int read(CANMessage &msg, int handle = 0);
saloutos 0:083111ae2a11 165
saloutos 0:083111ae2a11 166 /** Reset CAN interface.
saloutos 0:083111ae2a11 167 *
saloutos 0:083111ae2a11 168 * To use after error overflow.
saloutos 0:083111ae2a11 169 */
saloutos 0:083111ae2a11 170 void reset();
saloutos 0:083111ae2a11 171
saloutos 0:083111ae2a11 172 /** Puts or removes the CAN interface into silent monitoring mode
saloutos 0:083111ae2a11 173 *
saloutos 0:083111ae2a11 174 * @param silent boolean indicating whether to go into silent mode or not
saloutos 0:083111ae2a11 175 */
saloutos 0:083111ae2a11 176 void monitor(bool silent);
saloutos 0:083111ae2a11 177
saloutos 0:083111ae2a11 178 enum Mode {
saloutos 0:083111ae2a11 179 Reset = 0,
saloutos 0:083111ae2a11 180 Normal,
saloutos 0:083111ae2a11 181 Silent,
saloutos 0:083111ae2a11 182 LocalTest,
saloutos 0:083111ae2a11 183 GlobalTest,
saloutos 0:083111ae2a11 184 SilentTest
saloutos 0:083111ae2a11 185 };
saloutos 0:083111ae2a11 186
saloutos 0:083111ae2a11 187 /** Change CAN operation to the specified mode
saloutos 0:083111ae2a11 188 *
saloutos 0:083111ae2a11 189 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
saloutos 0:083111ae2a11 190 *
saloutos 0:083111ae2a11 191 * @returns
saloutos 0:083111ae2a11 192 * 0 if mode change failed or unsupported,
saloutos 0:083111ae2a11 193 * 1 if mode change was successful
saloutos 0:083111ae2a11 194 */
saloutos 0:083111ae2a11 195 int mode(Mode mode);
saloutos 0:083111ae2a11 196
saloutos 0:083111ae2a11 197 /** Filter out incomming messages
saloutos 0:083111ae2a11 198 *
saloutos 0:083111ae2a11 199 * @param id the id to filter on
saloutos 0:083111ae2a11 200 * @param mask the mask applied to the id
saloutos 0:083111ae2a11 201 * @param format format to filter on (Default CANAny)
saloutos 0:083111ae2a11 202 * @param handle message filter handle (Optional)
saloutos 0:083111ae2a11 203 *
saloutos 0:083111ae2a11 204 * @returns
saloutos 0:083111ae2a11 205 * 0 if filter change failed or unsupported,
saloutos 0:083111ae2a11 206 * new filter handle if successful
saloutos 0:083111ae2a11 207 */
saloutos 0:083111ae2a11 208 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
saloutos 0:083111ae2a11 209
saloutos 0:083111ae2a11 210 /** Detects read errors - Used to detect read overflow errors.
saloutos 0:083111ae2a11 211 *
saloutos 0:083111ae2a11 212 * @returns number of read errors
saloutos 0:083111ae2a11 213 */
saloutos 0:083111ae2a11 214 unsigned char rderror();
saloutos 0:083111ae2a11 215
saloutos 0:083111ae2a11 216 /** Detects write errors - Used to detect write overflow errors.
saloutos 0:083111ae2a11 217 *
saloutos 0:083111ae2a11 218 * @returns number of write errors
saloutos 0:083111ae2a11 219 */
saloutos 0:083111ae2a11 220 unsigned char tderror();
saloutos 0:083111ae2a11 221
saloutos 0:083111ae2a11 222 enum IrqType {
saloutos 0:083111ae2a11 223 RxIrq = 0,
saloutos 0:083111ae2a11 224 TxIrq,
saloutos 0:083111ae2a11 225 EwIrq,
saloutos 0:083111ae2a11 226 DoIrq,
saloutos 0:083111ae2a11 227 WuIrq,
saloutos 0:083111ae2a11 228 EpIrq,
saloutos 0:083111ae2a11 229 AlIrq,
saloutos 0:083111ae2a11 230 BeIrq,
saloutos 0:083111ae2a11 231 IdIrq,
saloutos 0:083111ae2a11 232
saloutos 0:083111ae2a11 233 IrqCnt
saloutos 0:083111ae2a11 234 };
saloutos 0:083111ae2a11 235
saloutos 0:083111ae2a11 236 /** Attach a function to call whenever a CAN frame received interrupt is
saloutos 0:083111ae2a11 237 * generated.
saloutos 0:083111ae2a11 238 *
saloutos 0:083111ae2a11 239 * This function locks the deep sleep while a callback is attached
saloutos 0:083111ae2a11 240 *
saloutos 0:083111ae2a11 241 * @param func A pointer to a void function, or 0 to set as none
saloutos 0:083111ae2a11 242 * @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)
saloutos 0:083111ae2a11 243 */
saloutos 0:083111ae2a11 244 void attach(Callback<void()> func, IrqType type=RxIrq);
saloutos 0:083111ae2a11 245
saloutos 0:083111ae2a11 246 /** Attach a member function to call whenever a CAN frame received interrupt
saloutos 0:083111ae2a11 247 * is generated.
saloutos 0:083111ae2a11 248 *
saloutos 0:083111ae2a11 249 * @param obj pointer to the object to call the member function on
saloutos 0:083111ae2a11 250 * @param method pointer to the member function to be called
saloutos 0:083111ae2a11 251 * @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)
saloutos 0:083111ae2a11 252 * @deprecated
saloutos 0:083111ae2a11 253 * The attach function does not support cv-qualifiers. Replaced by
saloutos 0:083111ae2a11 254 * attach(callback(obj, method), type).
saloutos 0:083111ae2a11 255 */
saloutos 0:083111ae2a11 256 template<typename T>
saloutos 0:083111ae2a11 257 MBED_DEPRECATED_SINCE("mbed-os-5.1",
saloutos 0:083111ae2a11 258 "The attach function does not support cv-qualifiers. Replaced by "
saloutos 0:083111ae2a11 259 "attach(callback(obj, method), type).")
saloutos 0:083111ae2a11 260 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
saloutos 0:083111ae2a11 261 // Underlying call thread safe
saloutos 0:083111ae2a11 262 attach(callback(obj, method), type);
saloutos 0:083111ae2a11 263 }
saloutos 0:083111ae2a11 264
saloutos 0:083111ae2a11 265 /** Attach a member function to call whenever a CAN frame received interrupt
saloutos 0:083111ae2a11 266 * is generated.
saloutos 0:083111ae2a11 267 *
saloutos 0:083111ae2a11 268 * @param obj pointer to the object to call the member function on
saloutos 0:083111ae2a11 269 * @param method pointer to the member function to be called
saloutos 0:083111ae2a11 270 * @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)
saloutos 0:083111ae2a11 271 * @deprecated
saloutos 0:083111ae2a11 272 * The attach function does not support cv-qualifiers. Replaced by
saloutos 0:083111ae2a11 273 * attach(callback(obj, method), type).
saloutos 0:083111ae2a11 274 */
saloutos 0:083111ae2a11 275 template<typename T>
saloutos 0:083111ae2a11 276 MBED_DEPRECATED_SINCE("mbed-os-5.1",
saloutos 0:083111ae2a11 277 "The attach function does not support cv-qualifiers. Replaced by "
saloutos 0:083111ae2a11 278 "attach(callback(obj, method), type).")
saloutos 0:083111ae2a11 279 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
saloutos 0:083111ae2a11 280 // Underlying call thread safe
saloutos 0:083111ae2a11 281 attach(callback(obj, method), type);
saloutos 0:083111ae2a11 282 }
saloutos 0:083111ae2a11 283
saloutos 0:083111ae2a11 284 static void _irq_handler(uint32_t id, CanIrqType type);
saloutos 0:083111ae2a11 285
saloutos 0:083111ae2a11 286 protected:
saloutos 0:083111ae2a11 287 virtual void lock();
saloutos 0:083111ae2a11 288 virtual void unlock();
saloutos 0:083111ae2a11 289 can_t _can;
saloutos 0:083111ae2a11 290 Callback<void()> _irq[IrqCnt];
saloutos 0:083111ae2a11 291 PlatformMutex _mutex;
saloutos 0:083111ae2a11 292 };
saloutos 0:083111ae2a11 293
saloutos 0:083111ae2a11 294 } // namespace mbed
saloutos 0:083111ae2a11 295
saloutos 0:083111ae2a11 296 #endif
saloutos 0:083111ae2a11 297
saloutos 0:083111ae2a11 298 #endif // MBED_CAN_H
saloutos 0:083111ae2a11 299