stefan frey / CANnucleo

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Fork of CANnucleo by Zoltan Hudak

CANnucleo.cpp@30:cebc6f21046e, 2017-05-28 (annotated)

Committer:
hudakz
Date:
Sun May 28 09:18:54 2017 +0000
Revision:
30:cebc6f21046e
Parent:
29:5a6ce4dc88c6 
Updated.

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 28:eed6929956ea 16 * Modified by Zoltan Hudak <hudakz@outlook.com>
hudakz 0:e29bc8e0dddd 17 *
hudakz 0:e29bc8e0dddd 18 */
hudakz 21:d51e1617975f 19 #include "CANnucleo.h"
hudakz 0:e29bc8e0dddd 20 #include "cmsis.h"
hudakz 0:e29bc8e0dddd 21
hudakz 0:e29bc8e0dddd 22 /**
hudakz 6:c5a40d5fd9f1 23 * @brief Constructor
hudakz 6:c5a40d5fd9f1 24 * @note Constructs an instance of CAN class
hudakz 6:c5a40d5fd9f1 25 * @param rxPin: CAN Rx pin name
hudakz 6:c5a40d5fd9f1 26 * @param txPin: CAN Tx pin name
hudakz 6:c5a40d5fd9f1 27 * @param abom: Automatic recovery from bus-off state (defaults to enabled)
hudakz 0:e29bc8e0dddd 28 * @retval
hudakz 0:e29bc8e0dddd 29 */
hudakz 6:c5a40d5fd9f1 30 CAN::CAN(PinName rxPin, PinName txPin, FunctionalState abom /* = ENABLE */) :
hudakz 0:e29bc8e0dddd 31 _irq() {
hudakz 20:bcd8161f8f6c 32 can_init(rxPin, txPin, abom);
hudakz 20:bcd8161f8f6c 33 can_irq_init((uint32_t)this, (&CAN::_irq_handler));
hudakz 0:e29bc8e0dddd 34 }
hudakz 0:e29bc8e0dddd 35
hudakz 0:e29bc8e0dddd 36 /**
hudakz 0:e29bc8e0dddd 37 * @brief
hudakz 0:e29bc8e0dddd 38 * @note
hudakz 0:e29bc8e0dddd 39 * @param
hudakz 0:e29bc8e0dddd 40 * @retval
hudakz 0:e29bc8e0dddd 41 */
hudakz 0:e29bc8e0dddd 42 CAN::~CAN(void) {
hudakz 20:bcd8161f8f6c 43 can_irq_free();
hudakz 20:bcd8161f8f6c 44 can_free();
hudakz 0:e29bc8e0dddd 45 }
hudakz 0:e29bc8e0dddd 46
hudakz 0:e29bc8e0dddd 47 /**
hudakz 0:e29bc8e0dddd 48 * @brief
hudakz 0:e29bc8e0dddd 49 * @note
hudakz 0:e29bc8e0dddd 50 * @param
hudakz 0:e29bc8e0dddd 51 * @retval
hudakz 0:e29bc8e0dddd 52 */
hudakz 0:e29bc8e0dddd 53 int CAN::frequency(int f) {
hudakz 25:353237492903 54 lock();
hudakz 25:353237492903 55 int ret = can_frequency(f);
hudakz 25:353237492903 56 unlock();
hudakz 25:353237492903 57 return ret;
hudakz 0:e29bc8e0dddd 58 }
hudakz 0:e29bc8e0dddd 59
hudakz 0:e29bc8e0dddd 60 /**
hudakz 0:e29bc8e0dddd 61 * @brief
hudakz 0:e29bc8e0dddd 62 * @note
hudakz 0:e29bc8e0dddd 63 * @param
hudakz 0:e29bc8e0dddd 64 * @retval
hudakz 0:e29bc8e0dddd 65 */
hudakz 0:e29bc8e0dddd 66 int CAN::write(CANMessage msg) {
hudakz 25:353237492903 67 lock();
hudakz 25:353237492903 68 int ret = can_write(msg, 0);
hudakz 25:353237492903 69 unlock();
hudakz 25:353237492903 70 return ret;
hudakz 0:e29bc8e0dddd 71 }
hudakz 0:e29bc8e0dddd 72
hudakz 0:e29bc8e0dddd 73 /**
hudakz 0:e29bc8e0dddd 74 * @brief
hudakz 0:e29bc8e0dddd 75 * @note
hudakz 0:e29bc8e0dddd 76 * @param
hudakz 0:e29bc8e0dddd 77 * @retval
hudakz 0:e29bc8e0dddd 78 */
hudakz 0:e29bc8e0dddd 79 int CAN::read(CANMessage& msg, int handle) {
hudakz 25:353237492903 80 lock();
hudakz 25:353237492903 81 int ret = can_read(&msg, handle);
hudakz 25:353237492903 82 unlock();
hudakz 25:353237492903 83 return ret;
hudakz 0:e29bc8e0dddd 84 }
hudakz 0:e29bc8e0dddd 85
hudakz 0:e29bc8e0dddd 86 /**
hudakz 0:e29bc8e0dddd 87 * @brief
hudakz 0:e29bc8e0dddd 88 * @note
hudakz 0:e29bc8e0dddd 89 * @param
hudakz 0:e29bc8e0dddd 90 * @retval
hudakz 0:e29bc8e0dddd 91 */
hudakz 0:e29bc8e0dddd 92 void CAN::reset(void) {
hudakz 25:353237492903 93 lock();
hudakz 20:bcd8161f8f6c 94 can_reset();
hudakz 25:353237492903 95 unlock();
hudakz 0:e29bc8e0dddd 96 }
hudakz 0:e29bc8e0dddd 97
hudakz 0:e29bc8e0dddd 98 /**
hudakz 0:e29bc8e0dddd 99 * @brief
hudakz 0:e29bc8e0dddd 100 * @note
hudakz 0:e29bc8e0dddd 101 * @param
hudakz 0:e29bc8e0dddd 102 * @retval
hudakz 0:e29bc8e0dddd 103 */
hudakz 0:e29bc8e0dddd 104 unsigned char CAN::rderror(void) {
hudakz 25:353237492903 105 lock();
hudakz 25:353237492903 106 unsigned char ret = can_rderror();
hudakz 25:353237492903 107 unlock();
hudakz 25:353237492903 108 return ret;
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 unsigned char CAN::tderror(void) {
hudakz 25:353237492903 118 lock();
hudakz 25:353237492903 119 unsigned char ret = can_tderror();
hudakz 25:353237492903 120 unlock();
hudakz 25:353237492903 121 return ret;
hudakz 0:e29bc8e0dddd 122 }
hudakz 0:e29bc8e0dddd 123
hudakz 0:e29bc8e0dddd 124 /**
hudakz 0:e29bc8e0dddd 125 * @brief
hudakz 0:e29bc8e0dddd 126 * @note
hudakz 0:e29bc8e0dddd 127 * @param
hudakz 0:e29bc8e0dddd 128 * @retval
hudakz 0:e29bc8e0dddd 129 */
hudakz 0:e29bc8e0dddd 130 void CAN::monitor(bool silent) {
hudakz 25:353237492903 131 lock();
hudakz 20:bcd8161f8f6c 132 can_monitor((silent) ? 1 : 0);
hudakz 25:353237492903 133 unlock();
hudakz 0:e29bc8e0dddd 134 }
hudakz 0:e29bc8e0dddd 135
hudakz 0:e29bc8e0dddd 136 /**
hudakz 0:e29bc8e0dddd 137 * @brief
hudakz 0:e29bc8e0dddd 138 * @note
hudakz 0:e29bc8e0dddd 139 * @param
hudakz 0:e29bc8e0dddd 140 * @retval
hudakz 0:e29bc8e0dddd 141 */
hudakz 0:e29bc8e0dddd 142 int CAN::mode(Mode mode) {
hudakz 25:353237492903 143 lock();
hudakz 25:353237492903 144 int ret = can_mode((CanMode) mode);
hudakz 25:353237492903 145 unlock();
hudakz 25:353237492903 146 return ret;
hudakz 0:e29bc8e0dddd 147 }
hudakz 0:e29bc8e0dddd 148
hudakz 0:e29bc8e0dddd 149 /**
hudakz 9:e9224f2c6d37 150 * @brief Sets up a CAN filter
hudakz 8:5c90d6b9a382 151 * @note At the present, CANnucleo supports only mask mode and 32-bit filter scale.
hudakz 8:5c90d6b9a382 152 * Identifier list mode filtering and 16-bit filter scale are not supported.
hudakz 9:e9224f2c6d37 153 * There are 14 filters available (0 - 13) for the application to set up.
hudakz 8:5c90d6b9a382 154 * Each filter is a 32-bit filter defined by a filter ID and a filter mask.
hudakz 9:e9224f2c6d37 155 * If no filter is set up then no CAN message is accepted (received)!
hudakz 9:e9224f2c6d37 156 * That's why filter #0 is set up in the constructor to receive all CAN messages by default.
hudakz 8:5c90d6b9a382 157 * On reception of a message it is compared with filter #0. If there is a match, the message is stored.
hudakz 8:5c90d6b9a382 158 * If there is no match, the incoming identifier is then compared with the next filter.
hudakz 8:5c90d6b9a382 159 * If the received identifier does not match any of the identifiers configured in the filters,
hudakz 8:5c90d6b9a382 160 * the message is discarded by hardware without disturbing the software.
hudakz 8:5c90d6b9a382 161 *
hudakz 8:5c90d6b9a382 162 * @param id: 'Filter ID' defines the bit values to be compared with the corresponding received bits
hudakz 8:5c90d6b9a382 163 *
hudakz 8:5c90d6b9a382 164 * 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 165 *
hudakz 8:5c90d6b9a382 166 * STID - Stardard Identifier bits
hudakz 8:5c90d6b9a382 167 * EXID - Extended Identifier bits
hudakz 8:5c90d6b9a382 168 * [x:y]- bit range
hudakz 8:5c90d6b9a382 169 * IDE - Identifier Extension bit (0 -> Standard Identifier, 1 -> Extended Identifier)
hudakz 9:e9224f2c6d37 170 * RTR - Remote Transmission Request bit (0 -> Remote Transmission Request, 1 -> Standard message)
hudakz 8:5c90d6b9a382 171 *
hudakz 8:5c90d6b9a382 172 * @param mask: 'Filter mask' defines which bits of the 'Filter ID' are compared with the received bits
hudakz 8:5c90d6b9a382 173 * and which bits are disregarded.
hudakz 8:5c90d6b9a382 174
hudakz 8:5c90d6b9a382 175 * 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 176 *
hudakz 8:5c90d6b9a382 177 * STID - Stardard Identifier bits
hudakz 8:5c90d6b9a382 178 * EXID - Extended Identifier bits
hudakz 8:5c90d6b9a382 179 * [x:y]- bit range
hudakz 8:5c90d6b9a382 180 * IDE - Identifier Extension bit
hudakz 8:5c90d6b9a382 181 * RTR - Remote Transmission Request bit
hudakz 8:5c90d6b9a382 182 *
hudakz 10:227a455d0f9f 183 * 1 -> bit is considered
hudakz 10:227a455d0f9f 184 * 0 -> bit is disregarded
hudakz 8:5c90d6b9a382 185 *
hudakz 10:227a455d0f9f 186 * ----------------------------------------
hudakz 10:227a455d0f9f 187 * Example of filter set up and filtering:
hudakz 10:227a455d0f9f 188 * ----------------------------------------
hudakz 10:227a455d0f9f 189 *
hudakz 10:227a455d0f9f 190 * Let's assume we would like to receive only messages
hudakz 10:227a455d0f9f 191 * with standard identifier STID = 0x0207 (STID[15:0] = 00000010 00000111)
hudakz 8:5c90d6b9a382 192 *
hudakz 8:5c90d6b9a382 193 * We map the STID to filter ID by shifting the bits appropriately:
hudakz 8:5c90d6b9a382 194 * Filter id = STID << (16 + (15 - 10)) = STID << 21 = 01000000 11100000 00000000 00000000 = 0x40E00000
hudakz 8:5c90d6b9a382 195 *
hudakz 8:5c90d6b9a382 196 * To compare only the bits representing STID we set the filter mask adequately:
hudakz 9:e9224f2c6d37 197 * Filter mask = 11111111 11100000 00000000 00000100 = 0xFFE00004
hudakz 14:0344705e6fb8 198 * |||||||| ||| |
hudakz 14:0344705e6fb8 199 * -------- --- |
hudakz 14:0344705e6fb8 200 * | | |
hudakz 14:0344705e6fb8 201 * STID[10:3] STID[2:0] IDE
hudakz 8:5c90d6b9a382 202 *
hudakz 20:bcd8161f8f6c 203 * Recall that filter #0 has been set up in the constructor to receive all CAN messages by default.
hudakz 9:e9224f2c6d37 204 * 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 205 * and no message would reach filter #1!
hudakz 9:e9224f2c6d37 206 *
hudakz 20:bcd8161f8f6c 207 * To reconfigure (set up) filter #0 we call:
hudakz 9:e9224f2c6d37 208 * can.filter(0x0207 << 21, 0xFFE00004, CANAny, 0);
hudakz 8:5c90d6b9a382 209 *
hudakz 20:bcd8161f8f6c 210 * Only these bits of 'Filter id' (set to 1 here in 'Filter mask') are compared with the corresponding
hudakz 9:e9224f2c6d37 211 * bits of received message (the others are disregarded)
hudakz 11:439f3a34c42e 212 * |
hudakz 11:439f3a34c42e 213 * ---------------------------------
hudakz 11:439f3a34c42e 214 * |||||||| ||| |
hudakz 9:e9224f2c6d37 215 * Filter mask = 11111111 11100000 00000000 00000100 (= 0xFFE00004)
hudakz 9:e9224f2c6d37 216 * Filter id = 01000000 11100000 00000000 00000000 (= 0x40E00000)
hudakz 11:439f3a34c42e 217 * |||||||| ||| |
hudakz 11:439f3a34c42e 218 * ---------------------------------
hudakz 11:439f3a34c42e 219 * |
hudakz 11:439f3a34c42e 220 * To receive the message the values of these bits must match.
hudakz 11:439f3a34c42e 221 * Otherwise the message is passed to the next filter or
hudakz 9:e9224f2c6d37 222 * discarded if this was the last active filter.
hudakz 11:439f3a34c42e 223 * |
hudakz 11:439f3a34c42e 224 * ---------------------------------
hudakz 11:439f3a34c42e 225 * |||||||| ||| |
hudakz 9:e9224f2c6d37 226 * Received id = 01000000 11100000 00000000 00000010 (= 0x40E00002)
hudakz 11:439f3a34c42e 227 * ||||| |||||||| ||||| ||
hudakz 11:439f3a34c42e 228 * -----------------------
hudakz 11:439f3a34c42e 229 * |
hudakz 20:bcd8161f8f6c 230 * These bits (set to 0 in 'Filter mask') are disregarded (masked).
hudakz 9:e9224f2c6d37 231 * They can have arbitrary values.
hudakz 8:5c90d6b9a382 232 *
hudakz 8:5c90d6b9a382 233 * NOTE: For the meaning of individual bits see the mapping of 32-bits explained above.
hudakz 8:5c90d6b9a382 234 *
hudakz 9:e9224f2c6d37 235 * @param format: This parameter must be CANAny
hudakz 9:e9224f2c6d37 236 * @param handle: Selects the filter. This parameter must be a number between 0 and 13.
hudakz 20:bcd8161f8f6c 237 * @retval 0 - successful
hudakz 20:bcd8161f8f6c 238 * 1 - error
hudakz 20:bcd8161f8f6c 239 * 2 - busy
hudakz 20:bcd8161f8f6c 240 * 3 - time out
hudakz 0:e29bc8e0dddd 241 */
hudakz 8:5c90d6b9a382 242 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format /* = CANAny */, int handle /* = 0 */) {
hudakz 25:353237492903 243 lock();
hudakz 25:353237492903 244 int ret = can_filter(id, mask, format, handle);
hudakz 25:353237492903 245 unlock();
hudakz 25:353237492903 246 return ret;
hudakz 0:e29bc8e0dddd 247 }
hudakz 0:e29bc8e0dddd 248
hudakz 0:e29bc8e0dddd 249 /**
hudakz 0:e29bc8e0dddd 250 * @brief Attaches handler funcion to CAN1 RX0 Interrupt
hudakz 0:e29bc8e0dddd 251 * @note Only CAN1 RX0 Interrupt supported
hudakz 0:e29bc8e0dddd 252 * @param fptr: pointer to a void (*)(void) function
hudakz 0:e29bc8e0dddd 253 * @param type: not used (only CAN1 RX0 Interrupt supported)
hudakz 0:e29bc8e0dddd 254 * @retval
hudakz 0:e29bc8e0dddd 255 */
hudakz 25:353237492903 256 void CAN::attach(mbed::Callback<void()> func, IrqType type) {
hudakz 25:353237492903 257 lock();
hudakz 14:0344705e6fb8 258 HAL_NVIC_DisableIRQ(CAN_IRQ);
hudakz 25:353237492903 259 if (func)
hudakz 30:cebc6f21046e 260 _irq[(CanIrqType)type] = func;
hudakz 14:0344705e6fb8 261 HAL_NVIC_EnableIRQ(CAN_IRQ);
hudakz 25:353237492903 262 unlock();
hudakz 0:e29bc8e0dddd 263 }
hudakz 0:e29bc8e0dddd 264
hudakz 0:e29bc8e0dddd 265 /**
hudakz 0:e29bc8e0dddd 266 * @brief
hudakz 0:e29bc8e0dddd 267 * @note
hudakz 0:e29bc8e0dddd 268 * @param
hudakz 0:e29bc8e0dddd 269 * @retval
hudakz 0:e29bc8e0dddd 270 */
hudakz 0:e29bc8e0dddd 271 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
hudakz 0:e29bc8e0dddd 272 CAN* handler = (CAN*)id;
hudakz 0:e29bc8e0dddd 273 handler->_irq[type].call();
hudakz 0:e29bc8e0dddd 274 }
hudakz 0:e29bc8e0dddd 275
hudakz 25:353237492903 276 void CAN::lock() {
hudakz 25:353237492903 277 _mutex.lock();
hudakz 25:353237492903 278 }
hudakz 25:353237492903 279
hudakz 25:353237492903 280 void CAN::unlock() {
hudakz 25:353237492903 281 _mutex.unlock();
hudakz 25:353237492903 282 }
hudakz 25:353237492903 283
hudakz 0:e29bc8e0dddd 284
hudakz 0:e29bc8e0dddd 285
hudakz 0:e29bc8e0dddd 286
hudakz 5:b53e5ee15315 287
hudakz 6:c5a40d5fd9f1 288
hudakz 11:439f3a34c42e 289
hudakz 20:bcd8161f8f6c 290
hudakz 20:bcd8161f8f6c 291
hudakz 25:353237492903 292
hudakz 25:353237492903 293
hudakz 28:eed6929956ea 294