stefan frey / CANnucleo

pub

Fork of CANnucleo by Zoltan Hudak

CANnucleo.h@23:ea766d08c9db, 2016-08-10 (annotated)

Committer:
hudakz
Date:
Wed Aug 10 18:21:09 2016 +0000
Revision:
23:ea766d08c9db
Parent:
21:d51e1617975f
Child:
24:c5d348e65e24
CAN and CANMessage moved into CANnucleo namespace.

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 0:e29bc8e0dddd 16 * Modified by Zoltan Hudak <hudakz@inbox.com>
hudakz 0:e29bc8e0dddd 17 *
hudakz 0:e29bc8e0dddd 18 */
hudakz 23:ea766d08c9db 19 #ifndef CAN_NUCLEO_H
hudakz 23:ea766d08c9db 20 #define CAN_NUCLEO_H
hudakz 0:e29bc8e0dddd 21
hudakz 0:e29bc8e0dddd 22 #include "platform.h"
hudakz 0:e29bc8e0dddd 23 #include "can_api.h"
hudakz 0:e29bc8e0dddd 24 #include "can_helper.h"
hudakz 0:e29bc8e0dddd 25 #include "FunctionPointer.h"
hudakz 0:e29bc8e0dddd 26
hudakz 23:ea766d08c9db 27 namespace CANnucleo
hudakz 0:e29bc8e0dddd 28 {
hudakz 0:e29bc8e0dddd 29
hudakz 0:e29bc8e0dddd 30 /** CANMessage class
hudakz 0:e29bc8e0dddd 31 */
hudakz 0:e29bc8e0dddd 32 class CANMessage : public CAN_Message
hudakz 0:e29bc8e0dddd 33 {
hudakz 0:e29bc8e0dddd 34
hudakz 0:e29bc8e0dddd 35 public:
hudakz 0:e29bc8e0dddd 36 /** Creates empty CAN message.
hudakz 0:e29bc8e0dddd 37 */
hudakz 0:e29bc8e0dddd 38 CANMessage() : CAN_Message() {
hudakz 0:e29bc8e0dddd 39 len = 8;
hudakz 0:e29bc8e0dddd 40 type = CANData;
hudakz 0:e29bc8e0dddd 41 format = CANStandard;
hudakz 0:e29bc8e0dddd 42 id = 0;
hudakz 0:e29bc8e0dddd 43 memset(data, 0, 8);
hudakz 0:e29bc8e0dddd 44 }
hudakz 0:e29bc8e0dddd 45
hudakz 0:e29bc8e0dddd 46 /** Creates CAN message with specific content.
hudakz 0:e29bc8e0dddd 47 */
hudakz 0:e29bc8e0dddd 48 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
hudakz 0:e29bc8e0dddd 49 len = _len & 0xF;
hudakz 0:e29bc8e0dddd 50 type = _type;
hudakz 0:e29bc8e0dddd 51 format = _format;
hudakz 0:e29bc8e0dddd 52 id = _id;
hudakz 0:e29bc8e0dddd 53 memcpy(data, _data, _len);
hudakz 0:e29bc8e0dddd 54 }
hudakz 0:e29bc8e0dddd 55
hudakz 0:e29bc8e0dddd 56 /** Creates CAN remote message.
hudakz 0:e29bc8e0dddd 57 */
hudakz 0:e29bc8e0dddd 58 CANMessage(int _id, CANFormat _format = CANStandard) {
hudakz 0:e29bc8e0dddd 59 len = 0;
hudakz 0:e29bc8e0dddd 60 type = CANRemote;
hudakz 0:e29bc8e0dddd 61 format = _format;
hudakz 0:e29bc8e0dddd 62 id = _id;
hudakz 0:e29bc8e0dddd 63 memset(data, 0, 8);
hudakz 0:e29bc8e0dddd 64 }
hudakz 0:e29bc8e0dddd 65
hudakz 0:e29bc8e0dddd 66 /*********************************************************************/
hudakz 0:e29bc8e0dddd 67 /*********************************************************************/
hudakz 0:e29bc8e0dddd 68 /*********************************************************************/
hudakz 4:38403b42718b 69 /** Copy constructor.
hudakz 4:38403b42718b 70 */
hudakz 4:38403b42718b 71 CANMessage(const CANMessage& canMessage) {
hudakz 4:38403b42718b 72 len = canMessage.len;
hudakz 4:38403b42718b 73 type = canMessage.type;
hudakz 4:38403b42718b 74 format = canMessage.format;
hudakz 4:38403b42718b 75 id = canMessage.id;
hudakz 4:38403b42718b 76 memcpy(data, canMessage.data, canMessage.len);
hudakz 4:38403b42718b 77 }
hudakz 4:38403b42718b 78
hudakz 0:e29bc8e0dddd 79 /** Clears CAN message content
hudakz 0:e29bc8e0dddd 80 */
hudakz 0:e29bc8e0dddd 81 void clear(void) {
hudakz 0:e29bc8e0dddd 82 len = 0;
hudakz 0:e29bc8e0dddd 83 type = CANData;
hudakz 0:e29bc8e0dddd 84 format = CANStandard;
hudakz 0:e29bc8e0dddd 85 id = 0;
hudakz 0:e29bc8e0dddd 86 memset(data, 0, 8);
hudakz 0:e29bc8e0dddd 87 };
hudakz 0:e29bc8e0dddd 88
hudakz 0:e29bc8e0dddd 89 /** Inserter operator: Appends data (value) to CAN message
hudakz 0:e29bc8e0dddd 90 */
hudakz 0:e29bc8e0dddd 91 template<class T>
hudakz 0:e29bc8e0dddd 92 CANMessage &operator<<(const T val) {
hudakz 0:e29bc8e0dddd 93 if(len + sizeof(T) <= 8) {
hudakz 0:e29bc8e0dddd 94 *reinterpret_cast < T * > (&data[len]) = val;
hudakz 0:e29bc8e0dddd 95 len += sizeof(T);
hudakz 0:e29bc8e0dddd 96 }
hudakz 0:e29bc8e0dddd 97 #if DEBUG
hudakz 0:e29bc8e0dddd 98 else {
hudakz 0:e29bc8e0dddd 99 printf("Error: Cannot append data because it exceeds CAN data length!\r\n");
hudakz 0:e29bc8e0dddd 100 }
hudakz 0:e29bc8e0dddd 101 #endif
hudakz 0:e29bc8e0dddd 102 return *this;
hudakz 0:e29bc8e0dddd 103 }
hudakz 0:e29bc8e0dddd 104
hudakz 0:e29bc8e0dddd 105 /** Extractor operator: Extracts data (value) from CAN message
hudakz 0:e29bc8e0dddd 106 */
hudakz 0:e29bc8e0dddd 107 template<class T>
hudakz 0:e29bc8e0dddd 108 CANMessage &operator>>(T& val) {
hudakz 0:e29bc8e0dddd 109 if(sizeof(T) <= len) {
hudakz 0:e29bc8e0dddd 110 val = *reinterpret_cast < T * > (&data[0]);
hudakz 0:e29bc8e0dddd 111 len -= sizeof(T);
hudakz 0:e29bc8e0dddd 112 memcpy(data, data + sizeof(T), len);
hudakz 0:e29bc8e0dddd 113 }
hudakz 0:e29bc8e0dddd 114 #if DEBUG
hudakz 0:e29bc8e0dddd 115 else {
hudakz 0:e29bc8e0dddd 116 printf("Error: Cannot extract data because it exceeds CAN data length!\r\n");
hudakz 0:e29bc8e0dddd 117 }
hudakz 0:e29bc8e0dddd 118 #endif
hudakz 0:e29bc8e0dddd 119 return *this;
hudakz 0:e29bc8e0dddd 120 }
hudakz 0:e29bc8e0dddd 121
hudakz 0:e29bc8e0dddd 122 };
hudakz 0:e29bc8e0dddd 123
hudakz 0:e29bc8e0dddd 124 /** A can bus client, used for communicating with can devices
hudakz 0:e29bc8e0dddd 125 */
hudakz 0:e29bc8e0dddd 126 class CAN
hudakz 0:e29bc8e0dddd 127 {
hudakz 0:e29bc8e0dddd 128
hudakz 0:e29bc8e0dddd 129 public:
hudakz 0:e29bc8e0dddd 130 /** Creates an CAN interface connected to specific pins.
hudakz 0:e29bc8e0dddd 131 *
hudakz 0:e29bc8e0dddd 132 * @param rd read from transmitter
hudakz 0:e29bc8e0dddd 133 * @param td transmit to transmitter
hudakz 0:e29bc8e0dddd 134 *
hudakz 0:e29bc8e0dddd 135 * Example:
hudakz 0:e29bc8e0dddd 136 * @code
hudakz 0:e29bc8e0dddd 137 * #include "mbed.h"
hudakz 0:e29bc8e0dddd 138 * #include "CAN.h"
hudakz 0:e29bc8e0dddd 139 *
hudakz 0:e29bc8e0dddd 140 * Ticker ticker;
hudakz 0:e29bc8e0dddd 141 * DigitalOut led1(LED1);
hudakz 0:e29bc8e0dddd 142 * CAN can(PA_11, PA_12);
hudakz 0:e29bc8e0dddd 143 *
hudakz 0:e29bc8e0dddd 144 * char counter = 0;
hudakz 0:e29bc8e0dddd 145 *
hudakz 0:e29bc8e0dddd 146 * void send() {
hudakz 0:e29bc8e0dddd 147 * if(can.write(CANMessage(1337, &counter, 1))) {
hudakz 0:e29bc8e0dddd 148 * printf("Message sent: %d\n", counter);
hudakz 0:e29bc8e0dddd 149 * counter++;
hudakz 0:e29bc8e0dddd 150 * }
hudakz 0:e29bc8e0dddd 151 * led1 = !led1;
hudakz 0:e29bc8e0dddd 152 * }
hudakz 0:e29bc8e0dddd 153 *
hudakz 0:e29bc8e0dddd 154 * int main() {
hudakz 0:e29bc8e0dddd 155 * ticker.attach(&send, 1);
hudakz 0:e29bc8e0dddd 156 * CANMessage msg;
hudakz 0:e29bc8e0dddd 157 * while(1) {
hudakz 0:e29bc8e0dddd 158 * if(can.read(msg)) {
hudakz 0:e29bc8e0dddd 159 * printf("Message received: %d\n\n", msg.data[0]);
hudakz 0:e29bc8e0dddd 160 * led1 = !led1;
hudakz 0:e29bc8e0dddd 161 * }
hudakz 0:e29bc8e0dddd 162 * wait(0.2);
hudakz 0:e29bc8e0dddd 163 * }
hudakz 0:e29bc8e0dddd 164 * }
hudakz 0:e29bc8e0dddd 165 * @endcode
hudakz 0:e29bc8e0dddd 166 */
hudakz 6:c5a40d5fd9f1 167
hudakz 6:c5a40d5fd9f1 168 /** Constructor
hudakz 6:c5a40d5fd9f1 169 *
hudakz 6:c5a40d5fd9f1 170 * @param rd CAN receiver pin name
hudakz 6:c5a40d5fd9f1 171 * @param td CAN transmitter pin name
hudakz 6:c5a40d5fd9f1 172 * @param abom Automatic recovery from bus-off state (default value set to enabled)
hudakz 6:c5a40d5fd9f1 173 *
hudakz 6:c5a40d5fd9f1 174 */
hudakz 6:c5a40d5fd9f1 175 CAN(PinName rd, PinName td, FunctionalState abom = ENABLE);
hudakz 6:c5a40d5fd9f1 176
hudakz 0:e29bc8e0dddd 177 virtual ~CAN();
hudakz 0:e29bc8e0dddd 178
hudakz 0:e29bc8e0dddd 179 /** Set the frequency of the CAN interface
hudakz 0:e29bc8e0dddd 180 *
hudakz 0:e29bc8e0dddd 181 * @param hz The bus frequency in hertz
hudakz 0:e29bc8e0dddd 182 *
hudakz 0:e29bc8e0dddd 183 * @returns
hudakz 0:e29bc8e0dddd 184 * 1 if successful,
hudakz 0:e29bc8e0dddd 185 * 0 otherwise
hudakz 0:e29bc8e0dddd 186 */
hudakz 0:e29bc8e0dddd 187 int frequency(int hz);
hudakz 0:e29bc8e0dddd 188
hudakz 0:e29bc8e0dddd 189 /** Write a CANMessage to the bus.
hudakz 0:e29bc8e0dddd 190 *
hudakz 0:e29bc8e0dddd 191 * @param msg The CANMessage to write.
hudakz 0:e29bc8e0dddd 192 *
hudakz 0:e29bc8e0dddd 193 * @returns
hudakz 0:e29bc8e0dddd 194 * 0 if write failed,
hudakz 0:e29bc8e0dddd 195 * 1 if write was successful
hudakz 0:e29bc8e0dddd 196 */
hudakz 0:e29bc8e0dddd 197 int write(CANMessage msg);
hudakz 0:e29bc8e0dddd 198
hudakz 0:e29bc8e0dddd 199 /** Read a CANMessage from the bus.
hudakz 0:e29bc8e0dddd 200 *
hudakz 0:e29bc8e0dddd 201 * @param msg A CANMessage to read to.
hudakz 0:e29bc8e0dddd 202 * @param handle message filter handle (0 for any message)
hudakz 0:e29bc8e0dddd 203 *
hudakz 0:e29bc8e0dddd 204 * @returns
hudakz 0:e29bc8e0dddd 205 * 0 if no message arrived,
hudakz 0:e29bc8e0dddd 206 * 1 if message arrived
hudakz 0:e29bc8e0dddd 207 */
hudakz 0:e29bc8e0dddd 208 int read(CANMessage &msg, int handle = 0);
hudakz 0:e29bc8e0dddd 209
hudakz 0:e29bc8e0dddd 210 /** Reset CAN interface.
hudakz 0:e29bc8e0dddd 211 *
hudakz 0:e29bc8e0dddd 212 * To use after error overflow.
hudakz 0:e29bc8e0dddd 213 */
hudakz 0:e29bc8e0dddd 214 void reset();
hudakz 0:e29bc8e0dddd 215
hudakz 0:e29bc8e0dddd 216 /** Puts or removes the CAN interface into silent monitoring mode
hudakz 0:e29bc8e0dddd 217 *
hudakz 0:e29bc8e0dddd 218 * @param silent boolean indicating whether to go into silent mode or not
hudakz 0:e29bc8e0dddd 219 */
hudakz 0:e29bc8e0dddd 220 void monitor(bool silent);
hudakz 0:e29bc8e0dddd 221
hudakz 0:e29bc8e0dddd 222 enum Mode {
hudakz 0:e29bc8e0dddd 223 Reset = 0,
hudakz 0:e29bc8e0dddd 224 Normal,
hudakz 0:e29bc8e0dddd 225 Silent,
hudakz 0:e29bc8e0dddd 226 LocalTest,
hudakz 0:e29bc8e0dddd 227 GlobalTest,
hudakz 0:e29bc8e0dddd 228 SilentTest
hudakz 0:e29bc8e0dddd 229 };
hudakz 0:e29bc8e0dddd 230
hudakz 0:e29bc8e0dddd 231 /** Change CAN operation to the specified mode
hudakz 0:e29bc8e0dddd 232 *
hudakz 0:e29bc8e0dddd 233 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
hudakz 0:e29bc8e0dddd 234 *
hudakz 0:e29bc8e0dddd 235 * @returns
hudakz 0:e29bc8e0dddd 236 * 0 if mode change failed or unsupported,
hudakz 0:e29bc8e0dddd 237 * 1 if mode change was successful
hudakz 0:e29bc8e0dddd 238 */
hudakz 0:e29bc8e0dddd 239 int mode(Mode mode);
hudakz 0:e29bc8e0dddd 240
hudakz 0:e29bc8e0dddd 241 /** Filter out incomming messages
hudakz 0:e29bc8e0dddd 242 *
hudakz 0:e29bc8e0dddd 243 * @param id the id to filter on
hudakz 0:e29bc8e0dddd 244 * @param mask the mask applied to the id
hudakz 0:e29bc8e0dddd 245 * @param format format to filter on (Default CANAny)
hudakz 0:e29bc8e0dddd 246 * @param handle message filter handle (Optional)
hudakz 0:e29bc8e0dddd 247 *
hudakz 20:bcd8161f8f6c 248 * @retval 0 - successful
hudakz 8:5c90d6b9a382 249 * 1 - error
hudakz 8:5c90d6b9a382 250 * 2 - busy
hudakz 9:e9224f2c6d37 251 * 3 - time out
hudakz 0:e29bc8e0dddd 252 */
hudakz 0:e29bc8e0dddd 253 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
hudakz 0:e29bc8e0dddd 254
hudakz 0:e29bc8e0dddd 255 /** Returns number of read errors to detect read overflow errors.
hudakz 0:e29bc8e0dddd 256 */
hudakz 0:e29bc8e0dddd 257 unsigned char rderror();
hudakz 0:e29bc8e0dddd 258
hudakz 0:e29bc8e0dddd 259 /** Returns number of write errors to detect write overflow errors.
hudakz 0:e29bc8e0dddd 260 */
hudakz 0:e29bc8e0dddd 261 unsigned char tderror();
hudakz 0:e29bc8e0dddd 262
hudakz 0:e29bc8e0dddd 263 enum IrqType {
hudakz 0:e29bc8e0dddd 264 RxIrq = 0,
hudakz 0:e29bc8e0dddd 265 TxIrq,
hudakz 0:e29bc8e0dddd 266 EwIrq,
hudakz 0:e29bc8e0dddd 267 DoIrq,
hudakz 0:e29bc8e0dddd 268 WuIrq,
hudakz 0:e29bc8e0dddd 269 EpIrq,
hudakz 0:e29bc8e0dddd 270 AlIrq,
hudakz 0:e29bc8e0dddd 271 BeIrq,
hudakz 0:e29bc8e0dddd 272 IdIrq
hudakz 0:e29bc8e0dddd 273 };
hudakz 0:e29bc8e0dddd 274
hudakz 0:e29bc8e0dddd 275 /** Attach a function to call whenever a CAN frame received interrupt is
hudakz 0:e29bc8e0dddd 276 * generated.
hudakz 0:e29bc8e0dddd 277 *
hudakz 0:e29bc8e0dddd 278 * @param fptr A pointer to a void function, or 0 to set as none
hudakz 0:e29bc8e0dddd 279 * @param event 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)
hudakz 0:e29bc8e0dddd 280 */
hudakz 0:e29bc8e0dddd 281 void attach(void (*fptr)(void), IrqType type=RxIrq);
hudakz 0:e29bc8e0dddd 282
hudakz 0:e29bc8e0dddd 283 /** Attach a member function to call whenever a CAN frame received interrupt
hudakz 0:e29bc8e0dddd 284 * is generated.
hudakz 0:e29bc8e0dddd 285 *
hudakz 0:e29bc8e0dddd 286 * @param tptr pointer to the object to call the member function on
hudakz 0:e29bc8e0dddd 287 * @param mptr pointer to the member function to be called
hudakz 0:e29bc8e0dddd 288 * @param event 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)
hudakz 0:e29bc8e0dddd 289 */
hudakz 0:e29bc8e0dddd 290 template<typename T>
hudakz 0:e29bc8e0dddd 291 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
hudakz 20:bcd8161f8f6c 292 HAL_NVIC_DisableIRQ(CAN_IRQ);
hudakz 20:bcd8161f8f6c 293 if((tptr != NULL) && (mptr != NULL))
hudakz 0:e29bc8e0dddd 294 _irq[type].attach(tptr, mptr);
hudakz 20:bcd8161f8f6c 295 HAL_NVIC_EnableIRQ(CAN_IRQ);
hudakz 0:e29bc8e0dddd 296 }
hudakz 0:e29bc8e0dddd 297
hudakz 0:e29bc8e0dddd 298 static void _irq_handler(uint32_t id, CanIrqType type);
hudakz 0:e29bc8e0dddd 299
hudakz 0:e29bc8e0dddd 300 protected:
hudakz 23:ea766d08c9db 301 mbed::FunctionPointer _irq[9];
hudakz 0:e29bc8e0dddd 302 };
hudakz 0:e29bc8e0dddd 303
hudakz 23:ea766d08c9db 304 } // namespace CANnucleo
hudakz 0:e29bc8e0dddd 305
hudakz 23:ea766d08c9db 306 #endif // CAN_NUCLEO_H
hudakz 0:e29bc8e0dddd 307
hudakz 0:e29bc8e0dddd 308
hudakz 6:c5a40d5fd9f1 309
hudakz 8:5c90d6b9a382 310
hudakz 11:439f3a34c42e 311
hudakz 14:0344705e6fb8 312