Opencv 3.1 project on GR-PEACH board
Fork of gr-peach-opencv-project by
drivers/CAN.h@170:54ff26da7eb6, 2017-07-04 (annotated)
- Committer:
- thedo
- Date:
- Tue Jul 04 06:23:13 2017 +0000
- Revision:
- 170:54ff26da7eb6
- Parent:
- 167:1657b442184c
project opencv 3.1 on GR PEACH board, no use SD card.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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thedo | 167:1657b442184c | 1 | /* mbed Microcontroller Library |
thedo | 167:1657b442184c | 2 | * Copyright (c) 2006-2013 ARM Limited |
thedo | 167:1657b442184c | 3 | * |
thedo | 167:1657b442184c | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
thedo | 167:1657b442184c | 5 | * you may not use this file except in compliance with the License. |
thedo | 167:1657b442184c | 6 | * You may obtain a copy of the License at |
thedo | 167:1657b442184c | 7 | * |
thedo | 167:1657b442184c | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
thedo | 167:1657b442184c | 9 | * |
thedo | 167:1657b442184c | 10 | * Unless required by applicable law or agreed to in writing, software |
thedo | 167:1657b442184c | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
thedo | 167:1657b442184c | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
thedo | 167:1657b442184c | 13 | * See the License for the specific language governing permissions and |
thedo | 167:1657b442184c | 14 | * limitations under the License. |
thedo | 167:1657b442184c | 15 | */ |
thedo | 167:1657b442184c | 16 | #ifndef MBED_CAN_H |
thedo | 167:1657b442184c | 17 | #define MBED_CAN_H |
thedo | 167:1657b442184c | 18 | |
thedo | 167:1657b442184c | 19 | #include "platform/platform.h" |
thedo | 167:1657b442184c | 20 | |
thedo | 167:1657b442184c | 21 | #if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY) |
thedo | 167:1657b442184c | 22 | |
thedo | 167:1657b442184c | 23 | #include "hal/can_api.h" |
thedo | 167:1657b442184c | 24 | #include "platform/Callback.h" |
thedo | 167:1657b442184c | 25 | #include "platform/PlatformMutex.h" |
thedo | 167:1657b442184c | 26 | |
thedo | 167:1657b442184c | 27 | namespace mbed { |
thedo | 167:1657b442184c | 28 | /** \addtogroup drivers */ |
thedo | 167:1657b442184c | 29 | |
thedo | 167:1657b442184c | 30 | /** CANMessage class |
thedo | 167:1657b442184c | 31 | * |
thedo | 167:1657b442184c | 32 | * @note Synchronization level: Thread safe |
thedo | 167:1657b442184c | 33 | * @ingroup drivers |
thedo | 167:1657b442184c | 34 | */ |
thedo | 167:1657b442184c | 35 | class CANMessage : public CAN_Message { |
thedo | 167:1657b442184c | 36 | |
thedo | 167:1657b442184c | 37 | public: |
thedo | 167:1657b442184c | 38 | /** Creates empty CAN message. |
thedo | 167:1657b442184c | 39 | */ |
thedo | 167:1657b442184c | 40 | CANMessage() : CAN_Message() { |
thedo | 167:1657b442184c | 41 | len = 8; |
thedo | 167:1657b442184c | 42 | type = CANData; |
thedo | 167:1657b442184c | 43 | format = CANStandard; |
thedo | 167:1657b442184c | 44 | id = 0; |
thedo | 167:1657b442184c | 45 | memset(data, 0, 8); |
thedo | 167:1657b442184c | 46 | } |
thedo | 167:1657b442184c | 47 | |
thedo | 167:1657b442184c | 48 | /** Creates CAN message with specific content. |
thedo | 167:1657b442184c | 49 | */ |
thedo | 167:1657b442184c | 50 | CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) { |
thedo | 167:1657b442184c | 51 | len = _len & 0xF; |
thedo | 167:1657b442184c | 52 | type = _type; |
thedo | 167:1657b442184c | 53 | format = _format; |
thedo | 167:1657b442184c | 54 | id = _id; |
thedo | 167:1657b442184c | 55 | memcpy(data, _data, _len); |
thedo | 167:1657b442184c | 56 | } |
thedo | 167:1657b442184c | 57 | |
thedo | 167:1657b442184c | 58 | /** Creates CAN remote message. |
thedo | 167:1657b442184c | 59 | */ |
thedo | 167:1657b442184c | 60 | CANMessage(int _id, CANFormat _format = CANStandard) { |
thedo | 167:1657b442184c | 61 | len = 0; |
thedo | 167:1657b442184c | 62 | type = CANRemote; |
thedo | 167:1657b442184c | 63 | format = _format; |
thedo | 167:1657b442184c | 64 | id = _id; |
thedo | 167:1657b442184c | 65 | memset(data, 0, 8); |
thedo | 167:1657b442184c | 66 | } |
thedo | 167:1657b442184c | 67 | }; |
thedo | 167:1657b442184c | 68 | |
thedo | 167:1657b442184c | 69 | /** A can bus client, used for communicating with can devices |
thedo | 167:1657b442184c | 70 | * @ingroup drivers |
thedo | 167:1657b442184c | 71 | */ |
thedo | 167:1657b442184c | 72 | class CAN { |
thedo | 167:1657b442184c | 73 | |
thedo | 167:1657b442184c | 74 | public: |
thedo | 167:1657b442184c | 75 | /** Creates an CAN interface connected to specific pins. |
thedo | 167:1657b442184c | 76 | * |
thedo | 167:1657b442184c | 77 | * @param rd read from transmitter |
thedo | 167:1657b442184c | 78 | * @param td transmit to transmitter |
thedo | 167:1657b442184c | 79 | * |
thedo | 167:1657b442184c | 80 | * Example: |
thedo | 167:1657b442184c | 81 | * @code |
thedo | 167:1657b442184c | 82 | * #include "mbed.h" |
thedo | 167:1657b442184c | 83 | * |
thedo | 167:1657b442184c | 84 | * Ticker ticker; |
thedo | 167:1657b442184c | 85 | * DigitalOut led1(LED1); |
thedo | 167:1657b442184c | 86 | * DigitalOut led2(LED2); |
thedo | 167:1657b442184c | 87 | * CAN can1(p9, p10); |
thedo | 167:1657b442184c | 88 | * CAN can2(p30, p29); |
thedo | 167:1657b442184c | 89 | * |
thedo | 167:1657b442184c | 90 | * char counter = 0; |
thedo | 167:1657b442184c | 91 | * |
thedo | 167:1657b442184c | 92 | * void send() { |
thedo | 167:1657b442184c | 93 | * if(can1.write(CANMessage(1337, &counter, 1))) { |
thedo | 167:1657b442184c | 94 | * printf("Message sent: %d\n", counter); |
thedo | 167:1657b442184c | 95 | * counter++; |
thedo | 167:1657b442184c | 96 | * } |
thedo | 167:1657b442184c | 97 | * led1 = !led1; |
thedo | 167:1657b442184c | 98 | * } |
thedo | 167:1657b442184c | 99 | * |
thedo | 167:1657b442184c | 100 | * int main() { |
thedo | 167:1657b442184c | 101 | * ticker.attach(&send, 1); |
thedo | 167:1657b442184c | 102 | * CANMessage msg; |
thedo | 167:1657b442184c | 103 | * while(1) { |
thedo | 167:1657b442184c | 104 | * if(can2.read(msg)) { |
thedo | 167:1657b442184c | 105 | * printf("Message received: %d\n\n", msg.data[0]); |
thedo | 167:1657b442184c | 106 | * led2 = !led2; |
thedo | 167:1657b442184c | 107 | * } |
thedo | 167:1657b442184c | 108 | * wait(0.2); |
thedo | 167:1657b442184c | 109 | * } |
thedo | 167:1657b442184c | 110 | * } |
thedo | 167:1657b442184c | 111 | * @endcode |
thedo | 167:1657b442184c | 112 | */ |
thedo | 167:1657b442184c | 113 | CAN(PinName rd, PinName td); |
thedo | 167:1657b442184c | 114 | |
thedo | 167:1657b442184c | 115 | /** Initialize CAN interface and set the frequency |
thedo | 167:1657b442184c | 116 | * |
thedo | 167:1657b442184c | 117 | * @param rd the rd pin |
thedo | 167:1657b442184c | 118 | * @param td the td pin |
thedo | 167:1657b442184c | 119 | * @param hz the bus frequency in hertz |
thedo | 167:1657b442184c | 120 | */ |
thedo | 167:1657b442184c | 121 | CAN(PinName rd, PinName td, int hz); |
thedo | 167:1657b442184c | 122 | |
thedo | 167:1657b442184c | 123 | virtual ~CAN(); |
thedo | 167:1657b442184c | 124 | |
thedo | 167:1657b442184c | 125 | /** Set the frequency of the CAN interface |
thedo | 167:1657b442184c | 126 | * |
thedo | 167:1657b442184c | 127 | * @param hz The bus frequency in hertz |
thedo | 167:1657b442184c | 128 | * |
thedo | 167:1657b442184c | 129 | * @returns |
thedo | 167:1657b442184c | 130 | * 1 if successful, |
thedo | 167:1657b442184c | 131 | * 0 otherwise |
thedo | 167:1657b442184c | 132 | */ |
thedo | 167:1657b442184c | 133 | int frequency(int hz); |
thedo | 167:1657b442184c | 134 | |
thedo | 167:1657b442184c | 135 | /** Write a CANMessage to the bus. |
thedo | 167:1657b442184c | 136 | * |
thedo | 167:1657b442184c | 137 | * @param msg The CANMessage to write. |
thedo | 167:1657b442184c | 138 | * |
thedo | 167:1657b442184c | 139 | * @returns |
thedo | 167:1657b442184c | 140 | * 0 if write failed, |
thedo | 167:1657b442184c | 141 | * 1 if write was successful |
thedo | 167:1657b442184c | 142 | */ |
thedo | 167:1657b442184c | 143 | int write(CANMessage msg); |
thedo | 167:1657b442184c | 144 | |
thedo | 167:1657b442184c | 145 | /** Read a CANMessage from the bus. |
thedo | 167:1657b442184c | 146 | * |
thedo | 167:1657b442184c | 147 | * @param msg A CANMessage to read to. |
thedo | 167:1657b442184c | 148 | * @param handle message filter handle (0 for any message) |
thedo | 167:1657b442184c | 149 | * |
thedo | 167:1657b442184c | 150 | * @returns |
thedo | 167:1657b442184c | 151 | * 0 if no message arrived, |
thedo | 167:1657b442184c | 152 | * 1 if message arrived |
thedo | 167:1657b442184c | 153 | */ |
thedo | 167:1657b442184c | 154 | int read(CANMessage &msg, int handle = 0); |
thedo | 167:1657b442184c | 155 | |
thedo | 167:1657b442184c | 156 | /** Reset CAN interface. |
thedo | 167:1657b442184c | 157 | * |
thedo | 167:1657b442184c | 158 | * To use after error overflow. |
thedo | 167:1657b442184c | 159 | */ |
thedo | 167:1657b442184c | 160 | void reset(); |
thedo | 167:1657b442184c | 161 | |
thedo | 167:1657b442184c | 162 | /** Puts or removes the CAN interface into silent monitoring mode |
thedo | 167:1657b442184c | 163 | * |
thedo | 167:1657b442184c | 164 | * @param silent boolean indicating whether to go into silent mode or not |
thedo | 167:1657b442184c | 165 | */ |
thedo | 167:1657b442184c | 166 | void monitor(bool silent); |
thedo | 167:1657b442184c | 167 | |
thedo | 167:1657b442184c | 168 | enum Mode { |
thedo | 167:1657b442184c | 169 | Reset = 0, |
thedo | 167:1657b442184c | 170 | Normal, |
thedo | 167:1657b442184c | 171 | Silent, |
thedo | 167:1657b442184c | 172 | LocalTest, |
thedo | 167:1657b442184c | 173 | GlobalTest, |
thedo | 167:1657b442184c | 174 | SilentTest |
thedo | 167:1657b442184c | 175 | }; |
thedo | 167:1657b442184c | 176 | |
thedo | 167:1657b442184c | 177 | /** Change CAN operation to the specified mode |
thedo | 167:1657b442184c | 178 | * |
thedo | 167:1657b442184c | 179 | * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest) |
thedo | 167:1657b442184c | 180 | * |
thedo | 167:1657b442184c | 181 | * @returns |
thedo | 167:1657b442184c | 182 | * 0 if mode change failed or unsupported, |
thedo | 167:1657b442184c | 183 | * 1 if mode change was successful |
thedo | 167:1657b442184c | 184 | */ |
thedo | 167:1657b442184c | 185 | int mode(Mode mode); |
thedo | 167:1657b442184c | 186 | |
thedo | 167:1657b442184c | 187 | /** Filter out incomming messages |
thedo | 167:1657b442184c | 188 | * |
thedo | 167:1657b442184c | 189 | * @param id the id to filter on |
thedo | 167:1657b442184c | 190 | * @param mask the mask applied to the id |
thedo | 167:1657b442184c | 191 | * @param format format to filter on (Default CANAny) |
thedo | 167:1657b442184c | 192 | * @param handle message filter handle (Optional) |
thedo | 167:1657b442184c | 193 | * |
thedo | 167:1657b442184c | 194 | * @returns |
thedo | 167:1657b442184c | 195 | * 0 if filter change failed or unsupported, |
thedo | 167:1657b442184c | 196 | * new filter handle if successful |
thedo | 167:1657b442184c | 197 | */ |
thedo | 167:1657b442184c | 198 | int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0); |
thedo | 167:1657b442184c | 199 | |
thedo | 167:1657b442184c | 200 | /** Returns number of read errors to detect read overflow errors. |
thedo | 167:1657b442184c | 201 | */ |
thedo | 167:1657b442184c | 202 | unsigned char rderror(); |
thedo | 167:1657b442184c | 203 | |
thedo | 167:1657b442184c | 204 | /** Returns number of write errors to detect write overflow errors. |
thedo | 167:1657b442184c | 205 | */ |
thedo | 167:1657b442184c | 206 | unsigned char tderror(); |
thedo | 167:1657b442184c | 207 | |
thedo | 167:1657b442184c | 208 | enum IrqType { |
thedo | 167:1657b442184c | 209 | RxIrq = 0, |
thedo | 167:1657b442184c | 210 | TxIrq, |
thedo | 167:1657b442184c | 211 | EwIrq, |
thedo | 167:1657b442184c | 212 | DoIrq, |
thedo | 167:1657b442184c | 213 | WuIrq, |
thedo | 167:1657b442184c | 214 | EpIrq, |
thedo | 167:1657b442184c | 215 | AlIrq, |
thedo | 167:1657b442184c | 216 | BeIrq, |
thedo | 167:1657b442184c | 217 | IdIrq, |
thedo | 167:1657b442184c | 218 | |
thedo | 167:1657b442184c | 219 | IrqCnt |
thedo | 167:1657b442184c | 220 | }; |
thedo | 167:1657b442184c | 221 | |
thedo | 167:1657b442184c | 222 | /** Attach a function to call whenever a CAN frame received interrupt is |
thedo | 167:1657b442184c | 223 | * generated. |
thedo | 167:1657b442184c | 224 | * |
thedo | 167:1657b442184c | 225 | * @param func A pointer to a void function, or 0 to set as none |
thedo | 167:1657b442184c | 226 | * @param type 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) |
thedo | 167:1657b442184c | 227 | */ |
thedo | 167:1657b442184c | 228 | void attach(Callback<void()> func, IrqType type=RxIrq); |
thedo | 167:1657b442184c | 229 | |
thedo | 167:1657b442184c | 230 | /** Attach a member function to call whenever a CAN frame received interrupt |
thedo | 167:1657b442184c | 231 | * is generated. |
thedo | 167:1657b442184c | 232 | * |
thedo | 167:1657b442184c | 233 | * @param obj pointer to the object to call the member function on |
thedo | 167:1657b442184c | 234 | * @param method pointer to the member function to be called |
thedo | 167:1657b442184c | 235 | * @param type 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) |
thedo | 167:1657b442184c | 236 | * @deprecated |
thedo | 167:1657b442184c | 237 | * The attach function does not support cv-qualifiers. Replaced by |
thedo | 167:1657b442184c | 238 | * attach(callback(obj, method), type). |
thedo | 167:1657b442184c | 239 | */ |
thedo | 167:1657b442184c | 240 | template<typename T> |
thedo | 167:1657b442184c | 241 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
thedo | 167:1657b442184c | 242 | "The attach function does not support cv-qualifiers. Replaced by " |
thedo | 167:1657b442184c | 243 | "attach(callback(obj, method), type).") |
thedo | 167:1657b442184c | 244 | void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) { |
thedo | 167:1657b442184c | 245 | // Underlying call thread safe |
thedo | 167:1657b442184c | 246 | attach(callback(obj, method), type); |
thedo | 167:1657b442184c | 247 | } |
thedo | 167:1657b442184c | 248 | |
thedo | 167:1657b442184c | 249 | /** Attach a member function to call whenever a CAN frame received interrupt |
thedo | 167:1657b442184c | 250 | * is generated. |
thedo | 167:1657b442184c | 251 | * |
thedo | 167:1657b442184c | 252 | * @param obj pointer to the object to call the member function on |
thedo | 167:1657b442184c | 253 | * @param method pointer to the member function to be called |
thedo | 167:1657b442184c | 254 | * @param type 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) |
thedo | 167:1657b442184c | 255 | * @deprecated |
thedo | 167:1657b442184c | 256 | * The attach function does not support cv-qualifiers. Replaced by |
thedo | 167:1657b442184c | 257 | * attach(callback(obj, method), type). |
thedo | 167:1657b442184c | 258 | */ |
thedo | 167:1657b442184c | 259 | template<typename T> |
thedo | 167:1657b442184c | 260 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
thedo | 167:1657b442184c | 261 | "The attach function does not support cv-qualifiers. Replaced by " |
thedo | 167:1657b442184c | 262 | "attach(callback(obj, method), type).") |
thedo | 167:1657b442184c | 263 | void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) { |
thedo | 167:1657b442184c | 264 | // Underlying call thread safe |
thedo | 167:1657b442184c | 265 | attach(callback(obj, method), type); |
thedo | 167:1657b442184c | 266 | } |
thedo | 167:1657b442184c | 267 | |
thedo | 167:1657b442184c | 268 | static void _irq_handler(uint32_t id, CanIrqType type); |
thedo | 167:1657b442184c | 269 | |
thedo | 167:1657b442184c | 270 | protected: |
thedo | 167:1657b442184c | 271 | virtual void lock(); |
thedo | 167:1657b442184c | 272 | virtual void unlock(); |
thedo | 167:1657b442184c | 273 | can_t _can; |
thedo | 167:1657b442184c | 274 | Callback<void()> _irq[IrqCnt]; |
thedo | 167:1657b442184c | 275 | PlatformMutex _mutex; |
thedo | 167:1657b442184c | 276 | }; |
thedo | 167:1657b442184c | 277 | |
thedo | 167:1657b442184c | 278 | } // namespace mbed |
thedo | 167:1657b442184c | 279 | |
thedo | 167:1657b442184c | 280 | #endif |
thedo | 167:1657b442184c | 281 | |
thedo | 167:1657b442184c | 282 | #endif // MBED_CAN_H |
thedo | 167:1657b442184c | 283 | |
thedo | 167:1657b442184c | 284 |