Denislam Valeev / Mbed OS Nucleo_rtos_basic

1

mbed-os/drivers/CAN.h@0:e056ac8fecf8, 2018-03-13 (annotated)

Committer:
valeyev
Date:
Tue Mar 13 07:17:50 2018 +0000
Revision:
0:e056ac8fecf8
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valeyev 0:e056ac8fecf8 1 /* mbed Microcontroller Library
valeyev 0:e056ac8fecf8 2 * Copyright (c) 2006-2013 ARM Limited
valeyev 0:e056ac8fecf8 3 *
valeyev 0:e056ac8fecf8 4 * Licensed under the Apache License, Version 2.0 (the "License");
valeyev 0:e056ac8fecf8 5 * you may not use this file except in compliance with the License.
valeyev 0:e056ac8fecf8 6 * You may obtain a copy of the License at
valeyev 0:e056ac8fecf8 7 *
valeyev 0:e056ac8fecf8 8 * http://www.apache.org/licenses/LICENSE-2.0
valeyev 0:e056ac8fecf8 9 *
valeyev 0:e056ac8fecf8 10 * Unless required by applicable law or agreed to in writing, software
valeyev 0:e056ac8fecf8 11 * distributed under the License is distributed on an "AS IS" BASIS,
valeyev 0:e056ac8fecf8 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
valeyev 0:e056ac8fecf8 13 * See the License for the specific language governing permissions and
valeyev 0:e056ac8fecf8 14 * limitations under the License.
valeyev 0:e056ac8fecf8 15 */
valeyev 0:e056ac8fecf8 16 #ifndef MBED_CAN_H
valeyev 0:e056ac8fecf8 17 #define MBED_CAN_H
valeyev 0:e056ac8fecf8 18
valeyev 0:e056ac8fecf8 19 #include "platform/platform.h"
valeyev 0:e056ac8fecf8 20
valeyev 0:e056ac8fecf8 21 #if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY)
valeyev 0:e056ac8fecf8 22
valeyev 0:e056ac8fecf8 23 #include "hal/can_api.h"
valeyev 0:e056ac8fecf8 24 #include "platform/Callback.h"
valeyev 0:e056ac8fecf8 25 #include "platform/PlatformMutex.h"
valeyev 0:e056ac8fecf8 26 #include "platform/NonCopyable.h"
valeyev 0:e056ac8fecf8 27
valeyev 0:e056ac8fecf8 28 namespace mbed {
valeyev 0:e056ac8fecf8 29 /** \addtogroup drivers */
valeyev 0:e056ac8fecf8 30
valeyev 0:e056ac8fecf8 31 /** CANMessage class
valeyev 0:e056ac8fecf8 32 *
valeyev 0:e056ac8fecf8 33 * @note Synchronization level: Thread safe
valeyev 0:e056ac8fecf8 34 * @ingroup drivers
valeyev 0:e056ac8fecf8 35 */
valeyev 0:e056ac8fecf8 36 class CANMessage : public CAN_Message {
valeyev 0:e056ac8fecf8 37
valeyev 0:e056ac8fecf8 38 public:
valeyev 0:e056ac8fecf8 39 /** Creates empty CAN message.
valeyev 0:e056ac8fecf8 40 */
valeyev 0:e056ac8fecf8 41 CANMessage() : CAN_Message() {
valeyev 0:e056ac8fecf8 42 len = 8;
valeyev 0:e056ac8fecf8 43 type = CANData;
valeyev 0:e056ac8fecf8 44 format = CANStandard;
valeyev 0:e056ac8fecf8 45 id = 0;
valeyev 0:e056ac8fecf8 46 memset(data, 0, 8);
valeyev 0:e056ac8fecf8 47 }
valeyev 0:e056ac8fecf8 48
valeyev 0:e056ac8fecf8 49 /** Creates CAN message with specific content.
valeyev 0:e056ac8fecf8 50 *
valeyev 0:e056ac8fecf8 51 * @param _id Message ID
valeyev 0:e056ac8fecf8 52 * @param _data Mesaage Data
valeyev 0:e056ac8fecf8 53 * @param _len Message Data length
valeyev 0:e056ac8fecf8 54 * @param _type Type of Data: Use enum CANType for valid parameter values
valeyev 0:e056ac8fecf8 55 * @param _format Data Format: Use enum CANFormat for valid parameter values
valeyev 0:e056ac8fecf8 56 */
valeyev 0:e056ac8fecf8 57 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
valeyev 0:e056ac8fecf8 58 len = _len & 0xF;
valeyev 0:e056ac8fecf8 59 type = _type;
valeyev 0:e056ac8fecf8 60 format = _format;
valeyev 0:e056ac8fecf8 61 id = _id;
valeyev 0:e056ac8fecf8 62 memcpy(data, _data, _len);
valeyev 0:e056ac8fecf8 63 }
valeyev 0:e056ac8fecf8 64
valeyev 0:e056ac8fecf8 65 /** Creates CAN remote message.
valeyev 0:e056ac8fecf8 66 *
valeyev 0:e056ac8fecf8 67 * @param _id Message ID
valeyev 0:e056ac8fecf8 68 * @param _format Data Format: Use enum CANType for valid parameter values
valeyev 0:e056ac8fecf8 69 */
valeyev 0:e056ac8fecf8 70 CANMessage(int _id, CANFormat _format = CANStandard) {
valeyev 0:e056ac8fecf8 71 len = 0;
valeyev 0:e056ac8fecf8 72 type = CANRemote;
valeyev 0:e056ac8fecf8 73 format = _format;
valeyev 0:e056ac8fecf8 74 id = _id;
valeyev 0:e056ac8fecf8 75 memset(data, 0, 8);
valeyev 0:e056ac8fecf8 76 }
valeyev 0:e056ac8fecf8 77 };
valeyev 0:e056ac8fecf8 78
valeyev 0:e056ac8fecf8 79 /** A can bus client, used for communicating with can devices
valeyev 0:e056ac8fecf8 80 * @ingroup drivers
valeyev 0:e056ac8fecf8 81 */
valeyev 0:e056ac8fecf8 82 class CAN : private NonCopyable<CAN> {
valeyev 0:e056ac8fecf8 83
valeyev 0:e056ac8fecf8 84 public:
valeyev 0:e056ac8fecf8 85 /** Creates an CAN interface connected to specific pins.
valeyev 0:e056ac8fecf8 86 *
valeyev 0:e056ac8fecf8 87 * @param rd read from transmitter
valeyev 0:e056ac8fecf8 88 * @param td transmit to transmitter
valeyev 0:e056ac8fecf8 89 *
valeyev 0:e056ac8fecf8 90 * Example:
valeyev 0:e056ac8fecf8 91 * @code
valeyev 0:e056ac8fecf8 92 * #include "mbed.h"
valeyev 0:e056ac8fecf8 93 *
valeyev 0:e056ac8fecf8 94 * Ticker ticker;
valeyev 0:e056ac8fecf8 95 * DigitalOut led1(LED1);
valeyev 0:e056ac8fecf8 96 * DigitalOut led2(LED2);
valeyev 0:e056ac8fecf8 97 * CAN can1(p9, p10);
valeyev 0:e056ac8fecf8 98 * CAN can2(p30, p29);
valeyev 0:e056ac8fecf8 99 *
valeyev 0:e056ac8fecf8 100 * char counter = 0;
valeyev 0:e056ac8fecf8 101 *
valeyev 0:e056ac8fecf8 102 * void send() {
valeyev 0:e056ac8fecf8 103 * if(can1.write(CANMessage(1337, &counter, 1))) {
valeyev 0:e056ac8fecf8 104 * printf("Message sent: %d\n", counter);
valeyev 0:e056ac8fecf8 105 * counter++;
valeyev 0:e056ac8fecf8 106 * }
valeyev 0:e056ac8fecf8 107 * led1 = !led1;
valeyev 0:e056ac8fecf8 108 * }
valeyev 0:e056ac8fecf8 109 *
valeyev 0:e056ac8fecf8 110 * int main() {
valeyev 0:e056ac8fecf8 111 * ticker.attach(&send, 1);
valeyev 0:e056ac8fecf8 112 * CANMessage msg;
valeyev 0:e056ac8fecf8 113 * while(1) {
valeyev 0:e056ac8fecf8 114 * if(can2.read(msg)) {
valeyev 0:e056ac8fecf8 115 * printf("Message received: %d\n\n", msg.data[0]);
valeyev 0:e056ac8fecf8 116 * led2 = !led2;
valeyev 0:e056ac8fecf8 117 * }
valeyev 0:e056ac8fecf8 118 * wait(0.2);
valeyev 0:e056ac8fecf8 119 * }
valeyev 0:e056ac8fecf8 120 * }
valeyev 0:e056ac8fecf8 121 * @endcode
valeyev 0:e056ac8fecf8 122 */
valeyev 0:e056ac8fecf8 123 CAN(PinName rd, PinName td);
valeyev 0:e056ac8fecf8 124
valeyev 0:e056ac8fecf8 125 /** Initialize CAN interface and set the frequency
valeyev 0:e056ac8fecf8 126 *
valeyev 0:e056ac8fecf8 127 * @param rd the rd pin
valeyev 0:e056ac8fecf8 128 * @param td the td pin
valeyev 0:e056ac8fecf8 129 * @param hz the bus frequency in hertz
valeyev 0:e056ac8fecf8 130 */
valeyev 0:e056ac8fecf8 131 CAN(PinName rd, PinName td, int hz);
valeyev 0:e056ac8fecf8 132
valeyev 0:e056ac8fecf8 133 virtual ~CAN();
valeyev 0:e056ac8fecf8 134
valeyev 0:e056ac8fecf8 135 /** Set the frequency of the CAN interface
valeyev 0:e056ac8fecf8 136 *
valeyev 0:e056ac8fecf8 137 * @param hz The bus frequency in hertz
valeyev 0:e056ac8fecf8 138 *
valeyev 0:e056ac8fecf8 139 * @returns
valeyev 0:e056ac8fecf8 140 * 1 if successful,
valeyev 0:e056ac8fecf8 141 * 0 otherwise
valeyev 0:e056ac8fecf8 142 */
valeyev 0:e056ac8fecf8 143 int frequency(int hz);
valeyev 0:e056ac8fecf8 144
valeyev 0:e056ac8fecf8 145 /** Write a CANMessage to the bus.
valeyev 0:e056ac8fecf8 146 *
valeyev 0:e056ac8fecf8 147 * @param msg The CANMessage to write.
valeyev 0:e056ac8fecf8 148 *
valeyev 0:e056ac8fecf8 149 * @returns
valeyev 0:e056ac8fecf8 150 * 0 if write failed,
valeyev 0:e056ac8fecf8 151 * 1 if write was successful
valeyev 0:e056ac8fecf8 152 */
valeyev 0:e056ac8fecf8 153 int write(CANMessage msg);
valeyev 0:e056ac8fecf8 154
valeyev 0:e056ac8fecf8 155 /** Read a CANMessage from the bus.
valeyev 0:e056ac8fecf8 156 *
valeyev 0:e056ac8fecf8 157 * @param msg A CANMessage to read to.
valeyev 0:e056ac8fecf8 158 * @param handle message filter handle (0 for any message)
valeyev 0:e056ac8fecf8 159 *
valeyev 0:e056ac8fecf8 160 * @returns
valeyev 0:e056ac8fecf8 161 * 0 if no message arrived,
valeyev 0:e056ac8fecf8 162 * 1 if message arrived
valeyev 0:e056ac8fecf8 163 */
valeyev 0:e056ac8fecf8 164 int read(CANMessage &msg, int handle = 0);
valeyev 0:e056ac8fecf8 165
valeyev 0:e056ac8fecf8 166 /** Reset CAN interface.
valeyev 0:e056ac8fecf8 167 *
valeyev 0:e056ac8fecf8 168 * To use after error overflow.
valeyev 0:e056ac8fecf8 169 */
valeyev 0:e056ac8fecf8 170 void reset();
valeyev 0:e056ac8fecf8 171
valeyev 0:e056ac8fecf8 172 /** Puts or removes the CAN interface into silent monitoring mode
valeyev 0:e056ac8fecf8 173 *
valeyev 0:e056ac8fecf8 174 * @param silent boolean indicating whether to go into silent mode or not
valeyev 0:e056ac8fecf8 175 */
valeyev 0:e056ac8fecf8 176 void monitor(bool silent);
valeyev 0:e056ac8fecf8 177
valeyev 0:e056ac8fecf8 178 enum Mode {
valeyev 0:e056ac8fecf8 179 Reset = 0,
valeyev 0:e056ac8fecf8 180 Normal,
valeyev 0:e056ac8fecf8 181 Silent,
valeyev 0:e056ac8fecf8 182 LocalTest,
valeyev 0:e056ac8fecf8 183 GlobalTest,
valeyev 0:e056ac8fecf8 184 SilentTest
valeyev 0:e056ac8fecf8 185 };
valeyev 0:e056ac8fecf8 186
valeyev 0:e056ac8fecf8 187 /** Change CAN operation to the specified mode
valeyev 0:e056ac8fecf8 188 *
valeyev 0:e056ac8fecf8 189 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
valeyev 0:e056ac8fecf8 190 *
valeyev 0:e056ac8fecf8 191 * @returns
valeyev 0:e056ac8fecf8 192 * 0 if mode change failed or unsupported,
valeyev 0:e056ac8fecf8 193 * 1 if mode change was successful
valeyev 0:e056ac8fecf8 194 */
valeyev 0:e056ac8fecf8 195 int mode(Mode mode);
valeyev 0:e056ac8fecf8 196
valeyev 0:e056ac8fecf8 197 /** Filter out incomming messages
valeyev 0:e056ac8fecf8 198 *
valeyev 0:e056ac8fecf8 199 * @param id the id to filter on
valeyev 0:e056ac8fecf8 200 * @param mask the mask applied to the id
valeyev 0:e056ac8fecf8 201 * @param format format to filter on (Default CANAny)
valeyev 0:e056ac8fecf8 202 * @param handle message filter handle (Optional)
valeyev 0:e056ac8fecf8 203 *
valeyev 0:e056ac8fecf8 204 * @returns
valeyev 0:e056ac8fecf8 205 * 0 if filter change failed or unsupported,
valeyev 0:e056ac8fecf8 206 * new filter handle if successful
valeyev 0:e056ac8fecf8 207 */
valeyev 0:e056ac8fecf8 208 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
valeyev 0:e056ac8fecf8 209
valeyev 0:e056ac8fecf8 210 /** Detects read errors - Used to detect read overflow errors.
valeyev 0:e056ac8fecf8 211 *
valeyev 0:e056ac8fecf8 212 * @returns number of read errors
valeyev 0:e056ac8fecf8 213 */
valeyev 0:e056ac8fecf8 214 unsigned char rderror();
valeyev 0:e056ac8fecf8 215
valeyev 0:e056ac8fecf8 216 /** Detects write errors - Used to detect write overflow errors.
valeyev 0:e056ac8fecf8 217 *
valeyev 0:e056ac8fecf8 218 * @returns number of write errors
valeyev 0:e056ac8fecf8 219 */
valeyev 0:e056ac8fecf8 220 unsigned char tderror();
valeyev 0:e056ac8fecf8 221
valeyev 0:e056ac8fecf8 222 enum IrqType {
valeyev 0:e056ac8fecf8 223 RxIrq = 0,
valeyev 0:e056ac8fecf8 224 TxIrq,
valeyev 0:e056ac8fecf8 225 EwIrq,
valeyev 0:e056ac8fecf8 226 DoIrq,
valeyev 0:e056ac8fecf8 227 WuIrq,
valeyev 0:e056ac8fecf8 228 EpIrq,
valeyev 0:e056ac8fecf8 229 AlIrq,
valeyev 0:e056ac8fecf8 230 BeIrq,
valeyev 0:e056ac8fecf8 231 IdIrq,
valeyev 0:e056ac8fecf8 232
valeyev 0:e056ac8fecf8 233 IrqCnt
valeyev 0:e056ac8fecf8 234 };
valeyev 0:e056ac8fecf8 235
valeyev 0:e056ac8fecf8 236 /** Attach a function to call whenever a CAN frame received interrupt is
valeyev 0:e056ac8fecf8 237 * generated.
valeyev 0:e056ac8fecf8 238 *
valeyev 0:e056ac8fecf8 239 * This function locks the deep sleep while a callback is attached
valeyev 0:e056ac8fecf8 240 *
valeyev 0:e056ac8fecf8 241 * @param func A pointer to a void function, or 0 to set as none
valeyev 0:e056ac8fecf8 242 * @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)
valeyev 0:e056ac8fecf8 243 */
valeyev 0:e056ac8fecf8 244 void attach(Callback<void()> func, IrqType type=RxIrq);
valeyev 0:e056ac8fecf8 245
valeyev 0:e056ac8fecf8 246 /** Attach a member function to call whenever a CAN frame received interrupt
valeyev 0:e056ac8fecf8 247 * is generated.
valeyev 0:e056ac8fecf8 248 *
valeyev 0:e056ac8fecf8 249 * @param obj pointer to the object to call the member function on
valeyev 0:e056ac8fecf8 250 * @param method pointer to the member function to be called
valeyev 0:e056ac8fecf8 251 * @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)
valeyev 0:e056ac8fecf8 252 * @deprecated
valeyev 0:e056ac8fecf8 253 * The attach function does not support cv-qualifiers. Replaced by
valeyev 0:e056ac8fecf8 254 * attach(callback(obj, method), type).
valeyev 0:e056ac8fecf8 255 */
valeyev 0:e056ac8fecf8 256 template<typename T>
valeyev 0:e056ac8fecf8 257 MBED_DEPRECATED_SINCE("mbed-os-5.1",
valeyev 0:e056ac8fecf8 258 "The attach function does not support cv-qualifiers. Replaced by "
valeyev 0:e056ac8fecf8 259 "attach(callback(obj, method), type).")
valeyev 0:e056ac8fecf8 260 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
valeyev 0:e056ac8fecf8 261 // Underlying call thread safe
valeyev 0:e056ac8fecf8 262 attach(callback(obj, method), type);
valeyev 0:e056ac8fecf8 263 }
valeyev 0:e056ac8fecf8 264
valeyev 0:e056ac8fecf8 265 /** Attach a member function to call whenever a CAN frame received interrupt
valeyev 0:e056ac8fecf8 266 * is generated.
valeyev 0:e056ac8fecf8 267 *
valeyev 0:e056ac8fecf8 268 * @param obj pointer to the object to call the member function on
valeyev 0:e056ac8fecf8 269 * @param method pointer to the member function to be called
valeyev 0:e056ac8fecf8 270 * @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)
valeyev 0:e056ac8fecf8 271 * @deprecated
valeyev 0:e056ac8fecf8 272 * The attach function does not support cv-qualifiers. Replaced by
valeyev 0:e056ac8fecf8 273 * attach(callback(obj, method), type).
valeyev 0:e056ac8fecf8 274 */
valeyev 0:e056ac8fecf8 275 template<typename T>
valeyev 0:e056ac8fecf8 276 MBED_DEPRECATED_SINCE("mbed-os-5.1",
valeyev 0:e056ac8fecf8 277 "The attach function does not support cv-qualifiers. Replaced by "
valeyev 0:e056ac8fecf8 278 "attach(callback(obj, method), type).")
valeyev 0:e056ac8fecf8 279 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
valeyev 0:e056ac8fecf8 280 // Underlying call thread safe
valeyev 0:e056ac8fecf8 281 attach(callback(obj, method), type);
valeyev 0:e056ac8fecf8 282 }
valeyev 0:e056ac8fecf8 283
valeyev 0:e056ac8fecf8 284 static void _irq_handler(uint32_t id, CanIrqType type);
valeyev 0:e056ac8fecf8 285
valeyev 0:e056ac8fecf8 286 protected:
valeyev 0:e056ac8fecf8 287 virtual void lock();
valeyev 0:e056ac8fecf8 288 virtual void unlock();
valeyev 0:e056ac8fecf8 289 can_t _can;
valeyev 0:e056ac8fecf8 290 Callback<void()> _irq[IrqCnt];
valeyev 0:e056ac8fecf8 291 PlatformMutex _mutex;
valeyev 0:e056ac8fecf8 292 };
valeyev 0:e056ac8fecf8 293
valeyev 0:e056ac8fecf8 294 } // namespace mbed
valeyev 0:e056ac8fecf8 295
valeyev 0:e056ac8fecf8 296 #endif
valeyev 0:e056ac8fecf8 297
valeyev 0:e056ac8fecf8 298 #endif // MBED_CAN_H
valeyev 0:e056ac8fecf8 299