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CANnucleo.h@25:353237492903, 2016-08-16 (annotated)
- Committer:
- hudakz
- Date:
- Tue Aug 16 21:09:11 2016 +0000
- Revision:
- 25:353237492903
- Parent:
- 24:c5d348e65e24
- Child:
- 28:eed6929956ea
Updated.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 | 24:c5d348e65e24 | 19 | #ifndef CANNUCLEO_H |
hudakz | 24:c5d348e65e24 | 20 | #define CANNUCLEO_H |
hudakz | 0:e29bc8e0dddd | 21 | |
hudakz | 0:e29bc8e0dddd | 22 | #include "platform.h" |
hudakz | 24:c5d348e65e24 | 23 | #include "cannucleo_api.h" |
hudakz | 0:e29bc8e0dddd | 24 | #include "can_helper.h" |
hudakz | 25:353237492903 | 25 | #include "Callback.h" |
hudakz | 25:353237492903 | 26 | #include "PlatformMutex.h" |
hudakz | 24:c5d348e65e24 | 27 | #undef DEVICE_CAN |
hudakz | 24:c5d348e65e24 | 28 | |
hudakz | 23:ea766d08c9db | 29 | namespace CANnucleo |
hudakz | 0:e29bc8e0dddd | 30 | { |
hudakz | 0:e29bc8e0dddd | 31 | |
hudakz | 0:e29bc8e0dddd | 32 | /** CANMessage class |
hudakz | 0:e29bc8e0dddd | 33 | */ |
hudakz | 0:e29bc8e0dddd | 34 | class CANMessage : public CAN_Message |
hudakz | 0:e29bc8e0dddd | 35 | { |
hudakz | 0:e29bc8e0dddd | 36 | |
hudakz | 0:e29bc8e0dddd | 37 | public: |
hudakz | 0:e29bc8e0dddd | 38 | /** Creates empty CAN message. |
hudakz | 0:e29bc8e0dddd | 39 | */ |
hudakz | 0:e29bc8e0dddd | 40 | CANMessage() : CAN_Message() { |
hudakz | 0:e29bc8e0dddd | 41 | len = 8; |
hudakz | 0:e29bc8e0dddd | 42 | type = CANData; |
hudakz | 0:e29bc8e0dddd | 43 | format = CANStandard; |
hudakz | 0:e29bc8e0dddd | 44 | id = 0; |
hudakz | 0:e29bc8e0dddd | 45 | memset(data, 0, 8); |
hudakz | 0:e29bc8e0dddd | 46 | } |
hudakz | 0:e29bc8e0dddd | 47 | |
hudakz | 0:e29bc8e0dddd | 48 | /** Creates CAN message with specific content. |
hudakz | 0:e29bc8e0dddd | 49 | */ |
hudakz | 0:e29bc8e0dddd | 50 | CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) { |
hudakz | 0:e29bc8e0dddd | 51 | len = _len & 0xF; |
hudakz | 0:e29bc8e0dddd | 52 | type = _type; |
hudakz | 0:e29bc8e0dddd | 53 | format = _format; |
hudakz | 0:e29bc8e0dddd | 54 | id = _id; |
hudakz | 0:e29bc8e0dddd | 55 | memcpy(data, _data, _len); |
hudakz | 0:e29bc8e0dddd | 56 | } |
hudakz | 0:e29bc8e0dddd | 57 | |
hudakz | 0:e29bc8e0dddd | 58 | /** Creates CAN remote message. |
hudakz | 0:e29bc8e0dddd | 59 | */ |
hudakz | 0:e29bc8e0dddd | 60 | CANMessage(int _id, CANFormat _format = CANStandard) { |
hudakz | 0:e29bc8e0dddd | 61 | len = 0; |
hudakz | 0:e29bc8e0dddd | 62 | type = CANRemote; |
hudakz | 0:e29bc8e0dddd | 63 | format = _format; |
hudakz | 0:e29bc8e0dddd | 64 | id = _id; |
hudakz | 0:e29bc8e0dddd | 65 | memset(data, 0, 8); |
hudakz | 0:e29bc8e0dddd | 66 | } |
hudakz | 0:e29bc8e0dddd | 67 | |
hudakz | 0:e29bc8e0dddd | 68 | /*********************************************************************/ |
hudakz | 0:e29bc8e0dddd | 69 | /*********************************************************************/ |
hudakz | 0:e29bc8e0dddd | 70 | /*********************************************************************/ |
hudakz | 4:38403b42718b | 71 | /** Copy constructor. |
hudakz | 4:38403b42718b | 72 | */ |
hudakz | 4:38403b42718b | 73 | CANMessage(const CANMessage& canMessage) { |
hudakz | 4:38403b42718b | 74 | len = canMessage.len; |
hudakz | 4:38403b42718b | 75 | type = canMessage.type; |
hudakz | 4:38403b42718b | 76 | format = canMessage.format; |
hudakz | 4:38403b42718b | 77 | id = canMessage.id; |
hudakz | 4:38403b42718b | 78 | memcpy(data, canMessage.data, canMessage.len); |
hudakz | 4:38403b42718b | 79 | } |
hudakz | 4:38403b42718b | 80 | |
hudakz | 0:e29bc8e0dddd | 81 | /** Clears CAN message content |
hudakz | 0:e29bc8e0dddd | 82 | */ |
hudakz | 0:e29bc8e0dddd | 83 | void clear(void) { |
hudakz | 0:e29bc8e0dddd | 84 | len = 0; |
hudakz | 0:e29bc8e0dddd | 85 | type = CANData; |
hudakz | 0:e29bc8e0dddd | 86 | format = CANStandard; |
hudakz | 0:e29bc8e0dddd | 87 | id = 0; |
hudakz | 0:e29bc8e0dddd | 88 | memset(data, 0, 8); |
hudakz | 0:e29bc8e0dddd | 89 | }; |
hudakz | 0:e29bc8e0dddd | 90 | |
hudakz | 0:e29bc8e0dddd | 91 | /** Inserter operator: Appends data (value) to CAN message |
hudakz | 0:e29bc8e0dddd | 92 | */ |
hudakz | 0:e29bc8e0dddd | 93 | template<class T> |
hudakz | 0:e29bc8e0dddd | 94 | CANMessage &operator<<(const T val) { |
hudakz | 0:e29bc8e0dddd | 95 | if(len + sizeof(T) <= 8) { |
hudakz | 0:e29bc8e0dddd | 96 | *reinterpret_cast < T * > (&data[len]) = val; |
hudakz | 0:e29bc8e0dddd | 97 | len += sizeof(T); |
hudakz | 0:e29bc8e0dddd | 98 | } |
hudakz | 0:e29bc8e0dddd | 99 | #if DEBUG |
hudakz | 0:e29bc8e0dddd | 100 | else { |
hudakz | 25:353237492903 | 101 | printf("Error: Cannot append data. Exceeding CAN data length!\r\n"); |
hudakz | 0:e29bc8e0dddd | 102 | } |
hudakz | 0:e29bc8e0dddd | 103 | #endif |
hudakz | 0:e29bc8e0dddd | 104 | return *this; |
hudakz | 0:e29bc8e0dddd | 105 | } |
hudakz | 0:e29bc8e0dddd | 106 | |
hudakz | 0:e29bc8e0dddd | 107 | /** Extractor operator: Extracts data (value) from CAN message |
hudakz | 0:e29bc8e0dddd | 108 | */ |
hudakz | 0:e29bc8e0dddd | 109 | template<class T> |
hudakz | 0:e29bc8e0dddd | 110 | CANMessage &operator>>(T& val) { |
hudakz | 0:e29bc8e0dddd | 111 | if(sizeof(T) <= len) { |
hudakz | 0:e29bc8e0dddd | 112 | val = *reinterpret_cast < T * > (&data[0]); |
hudakz | 0:e29bc8e0dddd | 113 | len -= sizeof(T); |
hudakz | 0:e29bc8e0dddd | 114 | memcpy(data, data + sizeof(T), len); |
hudakz | 0:e29bc8e0dddd | 115 | } |
hudakz | 0:e29bc8e0dddd | 116 | #if DEBUG |
hudakz | 0:e29bc8e0dddd | 117 | else { |
hudakz | 25:353237492903 | 118 | printf("Error: Cannot extract data. Exceeding CAN data length!\r\n"); |
hudakz | 0:e29bc8e0dddd | 119 | } |
hudakz | 0:e29bc8e0dddd | 120 | #endif |
hudakz | 0:e29bc8e0dddd | 121 | return *this; |
hudakz | 0:e29bc8e0dddd | 122 | } |
hudakz | 0:e29bc8e0dddd | 123 | |
hudakz | 0:e29bc8e0dddd | 124 | }; |
hudakz | 0:e29bc8e0dddd | 125 | |
hudakz | 0:e29bc8e0dddd | 126 | /** A can bus client, used for communicating with can devices |
hudakz | 0:e29bc8e0dddd | 127 | */ |
hudakz | 0:e29bc8e0dddd | 128 | class CAN |
hudakz | 0:e29bc8e0dddd | 129 | { |
hudakz | 0:e29bc8e0dddd | 130 | |
hudakz | 0:e29bc8e0dddd | 131 | public: |
hudakz | 0:e29bc8e0dddd | 132 | /** Creates an CAN interface connected to specific pins. |
hudakz | 0:e29bc8e0dddd | 133 | * |
hudakz | 0:e29bc8e0dddd | 134 | * @param rd read from transmitter |
hudakz | 0:e29bc8e0dddd | 135 | * @param td transmit to transmitter |
hudakz | 0:e29bc8e0dddd | 136 | * |
hudakz | 0:e29bc8e0dddd | 137 | * Example: |
hudakz | 0:e29bc8e0dddd | 138 | * @code |
hudakz | 0:e29bc8e0dddd | 139 | * #include "mbed.h" |
hudakz | 0:e29bc8e0dddd | 140 | * #include "CAN.h" |
hudakz | 0:e29bc8e0dddd | 141 | * |
hudakz | 0:e29bc8e0dddd | 142 | * Ticker ticker; |
hudakz | 0:e29bc8e0dddd | 143 | * DigitalOut led1(LED1); |
hudakz | 0:e29bc8e0dddd | 144 | * CAN can(PA_11, PA_12); |
hudakz | 0:e29bc8e0dddd | 145 | * |
hudakz | 0:e29bc8e0dddd | 146 | * char counter = 0; |
hudakz | 0:e29bc8e0dddd | 147 | * |
hudakz | 0:e29bc8e0dddd | 148 | * void send() { |
hudakz | 0:e29bc8e0dddd | 149 | * if(can.write(CANMessage(1337, &counter, 1))) { |
hudakz | 0:e29bc8e0dddd | 150 | * printf("Message sent: %d\n", counter); |
hudakz | 0:e29bc8e0dddd | 151 | * counter++; |
hudakz | 0:e29bc8e0dddd | 152 | * } |
hudakz | 0:e29bc8e0dddd | 153 | * led1 = !led1; |
hudakz | 0:e29bc8e0dddd | 154 | * } |
hudakz | 0:e29bc8e0dddd | 155 | * |
hudakz | 0:e29bc8e0dddd | 156 | * int main() { |
hudakz | 0:e29bc8e0dddd | 157 | * ticker.attach(&send, 1); |
hudakz | 0:e29bc8e0dddd | 158 | * CANMessage msg; |
hudakz | 0:e29bc8e0dddd | 159 | * while(1) { |
hudakz | 0:e29bc8e0dddd | 160 | * if(can.read(msg)) { |
hudakz | 0:e29bc8e0dddd | 161 | * printf("Message received: %d\n\n", msg.data[0]); |
hudakz | 0:e29bc8e0dddd | 162 | * led1 = !led1; |
hudakz | 0:e29bc8e0dddd | 163 | * } |
hudakz | 0:e29bc8e0dddd | 164 | * wait(0.2); |
hudakz | 0:e29bc8e0dddd | 165 | * } |
hudakz | 0:e29bc8e0dddd | 166 | * } |
hudakz | 0:e29bc8e0dddd | 167 | * @endcode |
hudakz | 0:e29bc8e0dddd | 168 | */ |
hudakz | 6:c5a40d5fd9f1 | 169 | |
hudakz | 6:c5a40d5fd9f1 | 170 | /** Constructor |
hudakz | 6:c5a40d5fd9f1 | 171 | * |
hudakz | 6:c5a40d5fd9f1 | 172 | * @param rd CAN receiver pin name |
hudakz | 6:c5a40d5fd9f1 | 173 | * @param td CAN transmitter pin name |
hudakz | 6:c5a40d5fd9f1 | 174 | * @param abom Automatic recovery from bus-off state (default value set to enabled) |
hudakz | 6:c5a40d5fd9f1 | 175 | * |
hudakz | 6:c5a40d5fd9f1 | 176 | */ |
hudakz | 6:c5a40d5fd9f1 | 177 | CAN(PinName rd, PinName td, FunctionalState abom = ENABLE); |
hudakz | 6:c5a40d5fd9f1 | 178 | |
hudakz | 0:e29bc8e0dddd | 179 | virtual ~CAN(); |
hudakz | 0:e29bc8e0dddd | 180 | |
hudakz | 0:e29bc8e0dddd | 181 | /** Set the frequency of the CAN interface |
hudakz | 0:e29bc8e0dddd | 182 | * |
hudakz | 0:e29bc8e0dddd | 183 | * @param hz The bus frequency in hertz |
hudakz | 0:e29bc8e0dddd | 184 | * |
hudakz | 0:e29bc8e0dddd | 185 | * @returns |
hudakz | 0:e29bc8e0dddd | 186 | * 1 if successful, |
hudakz | 0:e29bc8e0dddd | 187 | * 0 otherwise |
hudakz | 0:e29bc8e0dddd | 188 | */ |
hudakz | 0:e29bc8e0dddd | 189 | int frequency(int hz); |
hudakz | 0:e29bc8e0dddd | 190 | |
hudakz | 0:e29bc8e0dddd | 191 | /** Write a CANMessage to the bus. |
hudakz | 0:e29bc8e0dddd | 192 | * |
hudakz | 0:e29bc8e0dddd | 193 | * @param msg The CANMessage to write. |
hudakz | 0:e29bc8e0dddd | 194 | * |
hudakz | 0:e29bc8e0dddd | 195 | * @returns |
hudakz | 0:e29bc8e0dddd | 196 | * 0 if write failed, |
hudakz | 0:e29bc8e0dddd | 197 | * 1 if write was successful |
hudakz | 0:e29bc8e0dddd | 198 | */ |
hudakz | 0:e29bc8e0dddd | 199 | int write(CANMessage msg); |
hudakz | 0:e29bc8e0dddd | 200 | |
hudakz | 0:e29bc8e0dddd | 201 | /** Read a CANMessage from the bus. |
hudakz | 0:e29bc8e0dddd | 202 | * |
hudakz | 0:e29bc8e0dddd | 203 | * @param msg A CANMessage to read to. |
hudakz | 0:e29bc8e0dddd | 204 | * @param handle message filter handle (0 for any message) |
hudakz | 0:e29bc8e0dddd | 205 | * |
hudakz | 0:e29bc8e0dddd | 206 | * @returns |
hudakz | 0:e29bc8e0dddd | 207 | * 0 if no message arrived, |
hudakz | 0:e29bc8e0dddd | 208 | * 1 if message arrived |
hudakz | 0:e29bc8e0dddd | 209 | */ |
hudakz | 0:e29bc8e0dddd | 210 | int read(CANMessage &msg, int handle = 0); |
hudakz | 0:e29bc8e0dddd | 211 | |
hudakz | 0:e29bc8e0dddd | 212 | /** Reset CAN interface. |
hudakz | 0:e29bc8e0dddd | 213 | * |
hudakz | 0:e29bc8e0dddd | 214 | * To use after error overflow. |
hudakz | 0:e29bc8e0dddd | 215 | */ |
hudakz | 0:e29bc8e0dddd | 216 | void reset(); |
hudakz | 0:e29bc8e0dddd | 217 | |
hudakz | 0:e29bc8e0dddd | 218 | /** Puts or removes the CAN interface into silent monitoring mode |
hudakz | 0:e29bc8e0dddd | 219 | * |
hudakz | 0:e29bc8e0dddd | 220 | * @param silent boolean indicating whether to go into silent mode or not |
hudakz | 0:e29bc8e0dddd | 221 | */ |
hudakz | 0:e29bc8e0dddd | 222 | void monitor(bool silent); |
hudakz | 0:e29bc8e0dddd | 223 | |
hudakz | 0:e29bc8e0dddd | 224 | enum Mode { |
hudakz | 0:e29bc8e0dddd | 225 | Reset = 0, |
hudakz | 0:e29bc8e0dddd | 226 | Normal, |
hudakz | 0:e29bc8e0dddd | 227 | Silent, |
hudakz | 0:e29bc8e0dddd | 228 | LocalTest, |
hudakz | 0:e29bc8e0dddd | 229 | GlobalTest, |
hudakz | 0:e29bc8e0dddd | 230 | SilentTest |
hudakz | 0:e29bc8e0dddd | 231 | }; |
hudakz | 0:e29bc8e0dddd | 232 | |
hudakz | 0:e29bc8e0dddd | 233 | /** Change CAN operation to the specified mode |
hudakz | 0:e29bc8e0dddd | 234 | * |
hudakz | 0:e29bc8e0dddd | 235 | * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest) |
hudakz | 0:e29bc8e0dddd | 236 | * |
hudakz | 0:e29bc8e0dddd | 237 | * @returns |
hudakz | 0:e29bc8e0dddd | 238 | * 0 if mode change failed or unsupported, |
hudakz | 0:e29bc8e0dddd | 239 | * 1 if mode change was successful |
hudakz | 0:e29bc8e0dddd | 240 | */ |
hudakz | 0:e29bc8e0dddd | 241 | int mode(Mode mode); |
hudakz | 0:e29bc8e0dddd | 242 | |
hudakz | 0:e29bc8e0dddd | 243 | /** Filter out incomming messages |
hudakz | 0:e29bc8e0dddd | 244 | * |
hudakz | 0:e29bc8e0dddd | 245 | * @param id the id to filter on |
hudakz | 0:e29bc8e0dddd | 246 | * @param mask the mask applied to the id |
hudakz | 0:e29bc8e0dddd | 247 | * @param format format to filter on (Default CANAny) |
hudakz | 0:e29bc8e0dddd | 248 | * @param handle message filter handle (Optional) |
hudakz | 0:e29bc8e0dddd | 249 | * |
hudakz | 20:bcd8161f8f6c | 250 | * @retval 0 - successful |
hudakz | 8:5c90d6b9a382 | 251 | * 1 - error |
hudakz | 8:5c90d6b9a382 | 252 | * 2 - busy |
hudakz | 9:e9224f2c6d37 | 253 | * 3 - time out |
hudakz | 0:e29bc8e0dddd | 254 | */ |
hudakz | 0:e29bc8e0dddd | 255 | int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0); |
hudakz | 0:e29bc8e0dddd | 256 | |
hudakz | 0:e29bc8e0dddd | 257 | /** Returns number of read errors to detect read overflow errors. |
hudakz | 0:e29bc8e0dddd | 258 | */ |
hudakz | 0:e29bc8e0dddd | 259 | unsigned char rderror(); |
hudakz | 0:e29bc8e0dddd | 260 | |
hudakz | 0:e29bc8e0dddd | 261 | /** Returns number of write errors to detect write overflow errors. |
hudakz | 0:e29bc8e0dddd | 262 | */ |
hudakz | 0:e29bc8e0dddd | 263 | unsigned char tderror(); |
hudakz | 0:e29bc8e0dddd | 264 | |
hudakz | 0:e29bc8e0dddd | 265 | enum IrqType { |
hudakz | 0:e29bc8e0dddd | 266 | RxIrq = 0, |
hudakz | 0:e29bc8e0dddd | 267 | TxIrq, |
hudakz | 0:e29bc8e0dddd | 268 | EwIrq, |
hudakz | 0:e29bc8e0dddd | 269 | DoIrq, |
hudakz | 0:e29bc8e0dddd | 270 | WuIrq, |
hudakz | 0:e29bc8e0dddd | 271 | EpIrq, |
hudakz | 0:e29bc8e0dddd | 272 | AlIrq, |
hudakz | 0:e29bc8e0dddd | 273 | BeIrq, |
hudakz | 0:e29bc8e0dddd | 274 | IdIrq |
hudakz | 0:e29bc8e0dddd | 275 | }; |
hudakz | 0:e29bc8e0dddd | 276 | |
hudakz | 0:e29bc8e0dddd | 277 | /** Attach a function to call whenever a CAN frame received interrupt is |
hudakz | 0:e29bc8e0dddd | 278 | * generated. |
hudakz | 0:e29bc8e0dddd | 279 | * |
hudakz | 25:353237492903 | 280 | * @param func A pointer to a void function, or 0 to set as none |
hudakz | 25:353237492903 | 281 | * @param event Which CAN interrupt to attach the member function to (only CAN::RxIrq for message received is supported) |
hudakz | 0:e29bc8e0dddd | 282 | */ |
hudakz | 25:353237492903 | 283 | void attach(mbed::Callback<void()> func, IrqType type=RxIrq); |
hudakz | 0:e29bc8e0dddd | 284 | |
hudakz | 25:353237492903 | 285 | /** Attach a member function to call whenever a CAN frame received interrupt |
hudakz | 25:353237492903 | 286 | * is generated. |
hudakz | 25:353237492903 | 287 | * |
hudakz | 25:353237492903 | 288 | * @param obj pointer to the object to call the member function on |
hudakz | 25:353237492903 | 289 | * @param method pointer to the member function to be called |
hudakz | 25:353237492903 | 290 | * @param event Which CAN interrupt to attach the member function to (only CAN::RxIrq for message received is supported) |
hudakz | 25:353237492903 | 291 | */ |
hudakz | 0:e29bc8e0dddd | 292 | template<typename T> |
hudakz | 25:353237492903 | 293 | void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) { |
hudakz | 25:353237492903 | 294 | // Underlying call thread safe |
hudakz | 25:353237492903 | 295 | attach(Callback<void()>(obj, method), type); |
hudakz | 0:e29bc8e0dddd | 296 | } |
hudakz | 0:e29bc8e0dddd | 297 | |
hudakz | 25:353237492903 | 298 | /** Attach a member function to call whenever a CAN frame received interrupt |
hudakz | 25:353237492903 | 299 | * is generated. |
hudakz | 25:353237492903 | 300 | * |
hudakz | 25:353237492903 | 301 | * @param obj pointer to the object to call the member function on |
hudakz | 25:353237492903 | 302 | * @param method pointer to the member function to be called |
hudakz | 25:353237492903 | 303 | * @param event Which CAN interrupt to attach the member function to (only CAN::RxIrq for message received is supported) |
hudakz | 25:353237492903 | 304 | */ |
hudakz | 25:353237492903 | 305 | template<typename T> |
hudakz | 25:353237492903 | 306 | void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) { |
hudakz | 25:353237492903 | 307 | // Underlying call thread safe |
hudakz | 25:353237492903 | 308 | attach(Callback<void()>(obj, method), type); |
hudakz | 25:353237492903 | 309 | } |
hudakz | 25:353237492903 | 310 | |
hudakz | 25:353237492903 | 311 | |
hudakz | 0:e29bc8e0dddd | 312 | static void _irq_handler(uint32_t id, CanIrqType type); |
hudakz | 0:e29bc8e0dddd | 313 | |
hudakz | 0:e29bc8e0dddd | 314 | protected: |
hudakz | 25:353237492903 | 315 | virtual void lock(); |
hudakz | 25:353237492903 | 316 | virtual void unlock(); |
hudakz | 25:353237492903 | 317 | mbed::Callback<void()> _irq[9]; |
hudakz | 25:353237492903 | 318 | PlatformMutex _mutex; |
hudakz | 0:e29bc8e0dddd | 319 | }; |
hudakz | 0:e29bc8e0dddd | 320 | |
hudakz | 23:ea766d08c9db | 321 | } // namespace CANnucleo |
hudakz | 0:e29bc8e0dddd | 322 | |
hudakz | 23:ea766d08c9db | 323 | #endif // CAN_NUCLEO_H |
hudakz | 0:e29bc8e0dddd | 324 | |
hudakz | 0:e29bc8e0dddd | 325 | |
hudakz | 6:c5a40d5fd9f1 | 326 | |
hudakz | 8:5c90d6b9a382 | 327 | |
hudakz | 11:439f3a34c42e | 328 | |
hudakz | 14:0344705e6fb8 | 329 | |
hudakz | 24:c5d348e65e24 | 330 |