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CAN.cpp@14:0344705e6fb8, 2015-12-27 (annotated)
- Committer:
- hudakz
- Date:
- Sun Dec 27 09:02:47 2015 +0000
- Revision:
- 14:0344705e6fb8
- Parent:
- 11:439f3a34c42e
- Child:
- 20:bcd8161f8f6c
Updated.
Who changed what in which revision?
User | Revision | Line number | New 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 |