Vipin Ranka / MGAS_GR_Peach

This is the final version of Mini Gateway for Automation and Security desgined for Renesas GR Peach Design Contest

Dependencies:   GR-PEACH_video GraphicsFramework HTTPServer R_BSP mbed-rpc mbed-rtos Socket lwip-eth lwip-sys lwip FATFileSystem

Fork of mbed-os-example-mbed5-blinky by mbed-os-examples

mbed-dev/drivers/CAN.h@12:9a20164dcc47, 2017-01-11 (annotated)

Committer:
vipinranka
Date:
Wed Jan 11 11:41:30 2017 +0000
Revision:
12:9a20164dcc47
This is the final version MGAS Project for Renesas GR Peach Design Contest

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vipinranka 12:9a20164dcc47 1 /* mbed Microcontroller Library
vipinranka 12:9a20164dcc47 2 * Copyright (c) 2006-2013 ARM Limited
vipinranka 12:9a20164dcc47 3 *
vipinranka 12:9a20164dcc47 4 * Licensed under the Apache License, Version 2.0 (the "License");
vipinranka 12:9a20164dcc47 5 * you may not use this file except in compliance with the License.
vipinranka 12:9a20164dcc47 6 * You may obtain a copy of the License at
vipinranka 12:9a20164dcc47 7 *
vipinranka 12:9a20164dcc47 8 * http://www.apache.org/licenses/LICENSE-2.0
vipinranka 12:9a20164dcc47 9 *
vipinranka 12:9a20164dcc47 10 * Unless required by applicable law or agreed to in writing, software
vipinranka 12:9a20164dcc47 11 * distributed under the License is distributed on an "AS IS" BASIS,
vipinranka 12:9a20164dcc47 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
vipinranka 12:9a20164dcc47 13 * See the License for the specific language governing permissions and
vipinranka 12:9a20164dcc47 14 * limitations under the License.
vipinranka 12:9a20164dcc47 15 */
vipinranka 12:9a20164dcc47 16 #ifndef MBED_CAN_H
vipinranka 12:9a20164dcc47 17 #define MBED_CAN_H
vipinranka 12:9a20164dcc47 18
vipinranka 12:9a20164dcc47 19 #include "platform/platform.h"
vipinranka 12:9a20164dcc47 20
vipinranka 12:9a20164dcc47 21 #if DEVICE_CAN
vipinranka 12:9a20164dcc47 22
vipinranka 12:9a20164dcc47 23 #include "hal/can_api.h"
vipinranka 12:9a20164dcc47 24 #include "platform/Callback.h"
vipinranka 12:9a20164dcc47 25 #include "platform/PlatformMutex.h"
vipinranka 12:9a20164dcc47 26
vipinranka 12:9a20164dcc47 27 namespace mbed {
vipinranka 12:9a20164dcc47 28 /** \addtogroup drivers */
vipinranka 12:9a20164dcc47 29 /** @{*/
vipinranka 12:9a20164dcc47 30
vipinranka 12:9a20164dcc47 31 /** CANMessage class
vipinranka 12:9a20164dcc47 32 *
vipinranka 12:9a20164dcc47 33 * @Note Synchronization level: Thread safe
vipinranka 12:9a20164dcc47 34 */
vipinranka 12:9a20164dcc47 35 class CANMessage : public CAN_Message {
vipinranka 12:9a20164dcc47 36
vipinranka 12:9a20164dcc47 37 public:
vipinranka 12:9a20164dcc47 38 /** Creates empty CAN message.
vipinranka 12:9a20164dcc47 39 */
vipinranka 12:9a20164dcc47 40 CANMessage() : CAN_Message() {
vipinranka 12:9a20164dcc47 41 len = 8;
vipinranka 12:9a20164dcc47 42 type = CANData;
vipinranka 12:9a20164dcc47 43 format = CANStandard;
vipinranka 12:9a20164dcc47 44 id = 0;
vipinranka 12:9a20164dcc47 45 memset(data, 0, 8);
vipinranka 12:9a20164dcc47 46 }
vipinranka 12:9a20164dcc47 47
vipinranka 12:9a20164dcc47 48 /** Creates CAN message with specific content.
vipinranka 12:9a20164dcc47 49 */
vipinranka 12:9a20164dcc47 50 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
vipinranka 12:9a20164dcc47 51 len = _len & 0xF;
vipinranka 12:9a20164dcc47 52 type = _type;
vipinranka 12:9a20164dcc47 53 format = _format;
vipinranka 12:9a20164dcc47 54 id = _id;
vipinranka 12:9a20164dcc47 55 memcpy(data, _data, _len);
vipinranka 12:9a20164dcc47 56 }
vipinranka 12:9a20164dcc47 57
vipinranka 12:9a20164dcc47 58 /** Creates CAN remote message.
vipinranka 12:9a20164dcc47 59 */
vipinranka 12:9a20164dcc47 60 CANMessage(int _id, CANFormat _format = CANStandard) {
vipinranka 12:9a20164dcc47 61 len = 0;
vipinranka 12:9a20164dcc47 62 type = CANRemote;
vipinranka 12:9a20164dcc47 63 format = _format;
vipinranka 12:9a20164dcc47 64 id = _id;
vipinranka 12:9a20164dcc47 65 memset(data, 0, 8);
vipinranka 12:9a20164dcc47 66 }
vipinranka 12:9a20164dcc47 67 };
vipinranka 12:9a20164dcc47 68
vipinranka 12:9a20164dcc47 69 /** A can bus client, used for communicating with can devices
vipinranka 12:9a20164dcc47 70 */
vipinranka 12:9a20164dcc47 71 class CAN {
vipinranka 12:9a20164dcc47 72
vipinranka 12:9a20164dcc47 73 public:
vipinranka 12:9a20164dcc47 74 /** Creates an CAN interface connected to specific pins.
vipinranka 12:9a20164dcc47 75 *
vipinranka 12:9a20164dcc47 76 * @param rd read from transmitter
vipinranka 12:9a20164dcc47 77 * @param td transmit to transmitter
vipinranka 12:9a20164dcc47 78 *
vipinranka 12:9a20164dcc47 79 * Example:
vipinranka 12:9a20164dcc47 80 * @code
vipinranka 12:9a20164dcc47 81 * #include "mbed.h"
vipinranka 12:9a20164dcc47 82 *
vipinranka 12:9a20164dcc47 83 * Ticker ticker;
vipinranka 12:9a20164dcc47 84 * DigitalOut led1(LED1);
vipinranka 12:9a20164dcc47 85 * DigitalOut led2(LED2);
vipinranka 12:9a20164dcc47 86 * CAN can1(p9, p10);
vipinranka 12:9a20164dcc47 87 * CAN can2(p30, p29);
vipinranka 12:9a20164dcc47 88 *
vipinranka 12:9a20164dcc47 89 * char counter = 0;
vipinranka 12:9a20164dcc47 90 *
vipinranka 12:9a20164dcc47 91 * void send() {
vipinranka 12:9a20164dcc47 92 * if(can1.write(CANMessage(1337, &counter, 1))) {
vipinranka 12:9a20164dcc47 93 * printf("Message sent: %d\n", counter);
vipinranka 12:9a20164dcc47 94 * counter++;
vipinranka 12:9a20164dcc47 95 * }
vipinranka 12:9a20164dcc47 96 * led1 = !led1;
vipinranka 12:9a20164dcc47 97 * }
vipinranka 12:9a20164dcc47 98 *
vipinranka 12:9a20164dcc47 99 * int main() {
vipinranka 12:9a20164dcc47 100 * ticker.attach(&send, 1);
vipinranka 12:9a20164dcc47 101 * CANMessage msg;
vipinranka 12:9a20164dcc47 102 * while(1) {
vipinranka 12:9a20164dcc47 103 * if(can2.read(msg)) {
vipinranka 12:9a20164dcc47 104 * printf("Message received: %d\n\n", msg.data[0]);
vipinranka 12:9a20164dcc47 105 * led2 = !led2;
vipinranka 12:9a20164dcc47 106 * }
vipinranka 12:9a20164dcc47 107 * wait(0.2);
vipinranka 12:9a20164dcc47 108 * }
vipinranka 12:9a20164dcc47 109 * }
vipinranka 12:9a20164dcc47 110 * @endcode
vipinranka 12:9a20164dcc47 111 */
vipinranka 12:9a20164dcc47 112 CAN(PinName rd, PinName td);
vipinranka 12:9a20164dcc47 113 virtual ~CAN();
vipinranka 12:9a20164dcc47 114
vipinranka 12:9a20164dcc47 115 /** Set the frequency of the CAN interface
vipinranka 12:9a20164dcc47 116 *
vipinranka 12:9a20164dcc47 117 * @param hz The bus frequency in hertz
vipinranka 12:9a20164dcc47 118 *
vipinranka 12:9a20164dcc47 119 * @returns
vipinranka 12:9a20164dcc47 120 * 1 if successful,
vipinranka 12:9a20164dcc47 121 * 0 otherwise
vipinranka 12:9a20164dcc47 122 */
vipinranka 12:9a20164dcc47 123 int frequency(int hz);
vipinranka 12:9a20164dcc47 124
vipinranka 12:9a20164dcc47 125 /** Write a CANMessage to the bus.
vipinranka 12:9a20164dcc47 126 *
vipinranka 12:9a20164dcc47 127 * @param msg The CANMessage to write.
vipinranka 12:9a20164dcc47 128 *
vipinranka 12:9a20164dcc47 129 * @returns
vipinranka 12:9a20164dcc47 130 * 0 if write failed,
vipinranka 12:9a20164dcc47 131 * 1 if write was successful
vipinranka 12:9a20164dcc47 132 */
vipinranka 12:9a20164dcc47 133 int write(CANMessage msg);
vipinranka 12:9a20164dcc47 134
vipinranka 12:9a20164dcc47 135 /** Read a CANMessage from the bus.
vipinranka 12:9a20164dcc47 136 *
vipinranka 12:9a20164dcc47 137 * @param msg A CANMessage to read to.
vipinranka 12:9a20164dcc47 138 * @param handle message filter handle (0 for any message)
vipinranka 12:9a20164dcc47 139 *
vipinranka 12:9a20164dcc47 140 * @returns
vipinranka 12:9a20164dcc47 141 * 0 if no message arrived,
vipinranka 12:9a20164dcc47 142 * 1 if message arrived
vipinranka 12:9a20164dcc47 143 */
vipinranka 12:9a20164dcc47 144 int read(CANMessage &msg, int handle = 0);
vipinranka 12:9a20164dcc47 145
vipinranka 12:9a20164dcc47 146 /** Reset CAN interface.
vipinranka 12:9a20164dcc47 147 *
vipinranka 12:9a20164dcc47 148 * To use after error overflow.
vipinranka 12:9a20164dcc47 149 */
vipinranka 12:9a20164dcc47 150 void reset();
vipinranka 12:9a20164dcc47 151
vipinranka 12:9a20164dcc47 152 /** Puts or removes the CAN interface into silent monitoring mode
vipinranka 12:9a20164dcc47 153 *
vipinranka 12:9a20164dcc47 154 * @param silent boolean indicating whether to go into silent mode or not
vipinranka 12:9a20164dcc47 155 */
vipinranka 12:9a20164dcc47 156 void monitor(bool silent);
vipinranka 12:9a20164dcc47 157
vipinranka 12:9a20164dcc47 158 enum Mode {
vipinranka 12:9a20164dcc47 159 Reset = 0,
vipinranka 12:9a20164dcc47 160 Normal,
vipinranka 12:9a20164dcc47 161 Silent,
vipinranka 12:9a20164dcc47 162 LocalTest,
vipinranka 12:9a20164dcc47 163 GlobalTest,
vipinranka 12:9a20164dcc47 164 SilentTest
vipinranka 12:9a20164dcc47 165 };
vipinranka 12:9a20164dcc47 166
vipinranka 12:9a20164dcc47 167 /** Change CAN operation to the specified mode
vipinranka 12:9a20164dcc47 168 *
vipinranka 12:9a20164dcc47 169 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
vipinranka 12:9a20164dcc47 170 *
vipinranka 12:9a20164dcc47 171 * @returns
vipinranka 12:9a20164dcc47 172 * 0 if mode change failed or unsupported,
vipinranka 12:9a20164dcc47 173 * 1 if mode change was successful
vipinranka 12:9a20164dcc47 174 */
vipinranka 12:9a20164dcc47 175 int mode(Mode mode);
vipinranka 12:9a20164dcc47 176
vipinranka 12:9a20164dcc47 177 /** Filter out incomming messages
vipinranka 12:9a20164dcc47 178 *
vipinranka 12:9a20164dcc47 179 * @param id the id to filter on
vipinranka 12:9a20164dcc47 180 * @param mask the mask applied to the id
vipinranka 12:9a20164dcc47 181 * @param format format to filter on (Default CANAny)
vipinranka 12:9a20164dcc47 182 * @param handle message filter handle (Optional)
vipinranka 12:9a20164dcc47 183 *
vipinranka 12:9a20164dcc47 184 * @returns
vipinranka 12:9a20164dcc47 185 * 0 if filter change failed or unsupported,
vipinranka 12:9a20164dcc47 186 * new filter handle if successful
vipinranka 12:9a20164dcc47 187 */
vipinranka 12:9a20164dcc47 188 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
vipinranka 12:9a20164dcc47 189
vipinranka 12:9a20164dcc47 190 /** Returns number of read errors to detect read overflow errors.
vipinranka 12:9a20164dcc47 191 */
vipinranka 12:9a20164dcc47 192 unsigned char rderror();
vipinranka 12:9a20164dcc47 193
vipinranka 12:9a20164dcc47 194 /** Returns number of write errors to detect write overflow errors.
vipinranka 12:9a20164dcc47 195 */
vipinranka 12:9a20164dcc47 196 unsigned char tderror();
vipinranka 12:9a20164dcc47 197
vipinranka 12:9a20164dcc47 198 enum IrqType {
vipinranka 12:9a20164dcc47 199 RxIrq = 0,
vipinranka 12:9a20164dcc47 200 TxIrq,
vipinranka 12:9a20164dcc47 201 EwIrq,
vipinranka 12:9a20164dcc47 202 DoIrq,
vipinranka 12:9a20164dcc47 203 WuIrq,
vipinranka 12:9a20164dcc47 204 EpIrq,
vipinranka 12:9a20164dcc47 205 AlIrq,
vipinranka 12:9a20164dcc47 206 BeIrq,
vipinranka 12:9a20164dcc47 207 IdIrq,
vipinranka 12:9a20164dcc47 208
vipinranka 12:9a20164dcc47 209 IrqCnt
vipinranka 12:9a20164dcc47 210 };
vipinranka 12:9a20164dcc47 211
vipinranka 12:9a20164dcc47 212 /** Attach a function to call whenever a CAN frame received interrupt is
vipinranka 12:9a20164dcc47 213 * generated.
vipinranka 12:9a20164dcc47 214 *
vipinranka 12:9a20164dcc47 215 * @param func A pointer to a void function, or 0 to set as none
vipinranka 12:9a20164dcc47 216 * @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)
vipinranka 12:9a20164dcc47 217 */
vipinranka 12:9a20164dcc47 218 void attach(Callback<void()> func, IrqType type=RxIrq);
vipinranka 12:9a20164dcc47 219
vipinranka 12:9a20164dcc47 220 /** Attach a member function to call whenever a CAN frame received interrupt
vipinranka 12:9a20164dcc47 221 * is generated.
vipinranka 12:9a20164dcc47 222 *
vipinranka 12:9a20164dcc47 223 * @param obj pointer to the object to call the member function on
vipinranka 12:9a20164dcc47 224 * @param method pointer to the member function to be called
vipinranka 12:9a20164dcc47 225 * @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)
vipinranka 12:9a20164dcc47 226 */
vipinranka 12:9a20164dcc47 227 template<typename T>
vipinranka 12:9a20164dcc47 228 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
vipinranka 12:9a20164dcc47 229 // Underlying call thread safe
vipinranka 12:9a20164dcc47 230 attach(Callback<void()>(obj, method), type);
vipinranka 12:9a20164dcc47 231 }
vipinranka 12:9a20164dcc47 232
vipinranka 12:9a20164dcc47 233 /** Attach a member function to call whenever a CAN frame received interrupt
vipinranka 12:9a20164dcc47 234 * is generated.
vipinranka 12:9a20164dcc47 235 *
vipinranka 12:9a20164dcc47 236 * @param obj pointer to the object to call the member function on
vipinranka 12:9a20164dcc47 237 * @param method pointer to the member function to be called
vipinranka 12:9a20164dcc47 238 * @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)
vipinranka 12:9a20164dcc47 239 */
vipinranka 12:9a20164dcc47 240 template<typename T>
vipinranka 12:9a20164dcc47 241 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
vipinranka 12:9a20164dcc47 242 // Underlying call thread safe
vipinranka 12:9a20164dcc47 243 attach(Callback<void()>(obj, method), type);
vipinranka 12:9a20164dcc47 244 }
vipinranka 12:9a20164dcc47 245
vipinranka 12:9a20164dcc47 246 static void _irq_handler(uint32_t id, CanIrqType type);
vipinranka 12:9a20164dcc47 247
vipinranka 12:9a20164dcc47 248 protected:
vipinranka 12:9a20164dcc47 249 virtual void lock();
vipinranka 12:9a20164dcc47 250 virtual void unlock();
vipinranka 12:9a20164dcc47 251 can_t _can;
vipinranka 12:9a20164dcc47 252 Callback<void()> _irq[IrqCnt];
vipinranka 12:9a20164dcc47 253 PlatformMutex _mutex;
vipinranka 12:9a20164dcc47 254 };
vipinranka 12:9a20164dcc47 255
vipinranka 12:9a20164dcc47 256 } // namespace mbed
vipinranka 12:9a20164dcc47 257
vipinranka 12:9a20164dcc47 258 #endif
vipinranka 12:9a20164dcc47 259
vipinranka 12:9a20164dcc47 260 #endif // MBED_CAN_H
vipinranka 12:9a20164dcc47 261
vipinranka 12:9a20164dcc47 262 /** @}*/