stefan frey / CANnucleo

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Fork of CANnucleo by Zoltan Hudak

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