Vladimir Vana / mbed

pro vyuku PSS v Jecne

CAN.h@0:23d1f73bf130, 2017-09-24 (annotated)

Committer:
vladvana
Date:
Sun Sep 24 12:31:52 2017 +0000
Revision:
0:23d1f73bf130
podklady pro cviceni z PSS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vladvana 0:23d1f73bf130 1 /* mbed Microcontroller Library
vladvana 0:23d1f73bf130 2 * Copyright (c) 2006-2013 ARM Limited
vladvana 0:23d1f73bf130 3 *
vladvana 0:23d1f73bf130 4 * Licensed under the Apache License, Version 2.0 (the "License");
vladvana 0:23d1f73bf130 5 * you may not use this file except in compliance with the License.
vladvana 0:23d1f73bf130 6 * You may obtain a copy of the License at
vladvana 0:23d1f73bf130 7 *
vladvana 0:23d1f73bf130 8 * http://www.apache.org/licenses/LICENSE-2.0
vladvana 0:23d1f73bf130 9 *
vladvana 0:23d1f73bf130 10 * Unless required by applicable law or agreed to in writing, software
vladvana 0:23d1f73bf130 11 * distributed under the License is distributed on an "AS IS" BASIS,
vladvana 0:23d1f73bf130 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
vladvana 0:23d1f73bf130 13 * See the License for the specific language governing permissions and
vladvana 0:23d1f73bf130 14 * limitations under the License.
vladvana 0:23d1f73bf130 15 */
vladvana 0:23d1f73bf130 16 #ifndef MBED_CAN_H
vladvana 0:23d1f73bf130 17 #define MBED_CAN_H
vladvana 0:23d1f73bf130 18
vladvana 0:23d1f73bf130 19 #include "platform.h"
vladvana 0:23d1f73bf130 20
vladvana 0:23d1f73bf130 21 #if DEVICE_CAN
vladvana 0:23d1f73bf130 22
vladvana 0:23d1f73bf130 23 #include "can_api.h"
vladvana 0:23d1f73bf130 24 #include "can_helper.h"
vladvana 0:23d1f73bf130 25 #include "FunctionPointer.h"
vladvana 0:23d1f73bf130 26
vladvana 0:23d1f73bf130 27 namespace mbed {
vladvana 0:23d1f73bf130 28
vladvana 0:23d1f73bf130 29 /** CANMessage class
vladvana 0:23d1f73bf130 30 */
vladvana 0:23d1f73bf130 31 class CANMessage : public CAN_Message {
vladvana 0:23d1f73bf130 32
vladvana 0:23d1f73bf130 33 public:
vladvana 0:23d1f73bf130 34 /** Creates empty CAN message.
vladvana 0:23d1f73bf130 35 */
vladvana 0:23d1f73bf130 36 CANMessage() : CAN_Message() {
vladvana 0:23d1f73bf130 37 len = 8;
vladvana 0:23d1f73bf130 38 type = CANData;
vladvana 0:23d1f73bf130 39 format = CANStandard;
vladvana 0:23d1f73bf130 40 id = 0;
vladvana 0:23d1f73bf130 41 memset(data, 0, 8);
vladvana 0:23d1f73bf130 42 }
vladvana 0:23d1f73bf130 43
vladvana 0:23d1f73bf130 44 /** Creates CAN message with specific content.
vladvana 0:23d1f73bf130 45 */
vladvana 0:23d1f73bf130 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
vladvana 0:23d1f73bf130 47 len = _len & 0xF;
vladvana 0:23d1f73bf130 48 type = _type;
vladvana 0:23d1f73bf130 49 format = _format;
vladvana 0:23d1f73bf130 50 id = _id;
vladvana 0:23d1f73bf130 51 memcpy(data, _data, _len);
vladvana 0:23d1f73bf130 52 }
vladvana 0:23d1f73bf130 53
vladvana 0:23d1f73bf130 54 /** Creates CAN remote message.
vladvana 0:23d1f73bf130 55 */
vladvana 0:23d1f73bf130 56 CANMessage(int _id, CANFormat _format = CANStandard) {
vladvana 0:23d1f73bf130 57 len = 0;
vladvana 0:23d1f73bf130 58 type = CANRemote;
vladvana 0:23d1f73bf130 59 format = _format;
vladvana 0:23d1f73bf130 60 id = _id;
vladvana 0:23d1f73bf130 61 memset(data, 0, 8);
vladvana 0:23d1f73bf130 62 }
vladvana 0:23d1f73bf130 63 };
vladvana 0:23d1f73bf130 64
vladvana 0:23d1f73bf130 65 /** A can bus client, used for communicating with can devices
vladvana 0:23d1f73bf130 66 */
vladvana 0:23d1f73bf130 67 class CAN {
vladvana 0:23d1f73bf130 68
vladvana 0:23d1f73bf130 69 public:
vladvana 0:23d1f73bf130 70 /** Creates an CAN interface connected to specific pins.
vladvana 0:23d1f73bf130 71 *
vladvana 0:23d1f73bf130 72 * @param rd read from transmitter
vladvana 0:23d1f73bf130 73 * @param td transmit to transmitter
vladvana 0:23d1f73bf130 74 *
vladvana 0:23d1f73bf130 75 * Example:
vladvana 0:23d1f73bf130 76 * @code
vladvana 0:23d1f73bf130 77 * #include "mbed.h"
vladvana 0:23d1f73bf130 78 *
vladvana 0:23d1f73bf130 79 * Ticker ticker;
vladvana 0:23d1f73bf130 80 * DigitalOut led1(LED1);
vladvana 0:23d1f73bf130 81 * DigitalOut led2(LED2);
vladvana 0:23d1f73bf130 82 * CAN can1(p9, p10);
vladvana 0:23d1f73bf130 83 * CAN can2(p30, p29);
vladvana 0:23d1f73bf130 84 *
vladvana 0:23d1f73bf130 85 * char counter = 0;
vladvana 0:23d1f73bf130 86 *
vladvana 0:23d1f73bf130 87 * void send() {
vladvana 0:23d1f73bf130 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
vladvana 0:23d1f73bf130 89 * printf("Message sent: %d\n", counter);
vladvana 0:23d1f73bf130 90 * counter++;
vladvana 0:23d1f73bf130 91 * }
vladvana 0:23d1f73bf130 92 * led1 = !led1;
vladvana 0:23d1f73bf130 93 * }
vladvana 0:23d1f73bf130 94 *
vladvana 0:23d1f73bf130 95 * int main() {
vladvana 0:23d1f73bf130 96 * ticker.attach(&send, 1);
vladvana 0:23d1f73bf130 97 * CANMessage msg;
vladvana 0:23d1f73bf130 98 * while(1) {
vladvana 0:23d1f73bf130 99 * if(can2.read(msg)) {
vladvana 0:23d1f73bf130 100 * printf("Message received: %d\n\n", msg.data[0]);
vladvana 0:23d1f73bf130 101 * led2 = !led2;
vladvana 0:23d1f73bf130 102 * }
vladvana 0:23d1f73bf130 103 * wait(0.2);
vladvana 0:23d1f73bf130 104 * }
vladvana 0:23d1f73bf130 105 * }
vladvana 0:23d1f73bf130 106 * @endcode
vladvana 0:23d1f73bf130 107 */
vladvana 0:23d1f73bf130 108 CAN(PinName rd, PinName td);
vladvana 0:23d1f73bf130 109 virtual ~CAN();
vladvana 0:23d1f73bf130 110
vladvana 0:23d1f73bf130 111 /** Set the frequency of the CAN interface
vladvana 0:23d1f73bf130 112 *
vladvana 0:23d1f73bf130 113 * @param hz The bus frequency in hertz
vladvana 0:23d1f73bf130 114 *
vladvana 0:23d1f73bf130 115 * @returns
vladvana 0:23d1f73bf130 116 * 1 if successful,
vladvana 0:23d1f73bf130 117 * 0 otherwise
vladvana 0:23d1f73bf130 118 */
vladvana 0:23d1f73bf130 119 int frequency(int hz);
vladvana 0:23d1f73bf130 120
vladvana 0:23d1f73bf130 121 /** Write a CANMessage to the bus.
vladvana 0:23d1f73bf130 122 *
vladvana 0:23d1f73bf130 123 * @param msg The CANMessage to write.
vladvana 0:23d1f73bf130 124 *
vladvana 0:23d1f73bf130 125 * @returns
vladvana 0:23d1f73bf130 126 * 0 if write failed,
vladvana 0:23d1f73bf130 127 * 1 if write was successful
vladvana 0:23d1f73bf130 128 */
vladvana 0:23d1f73bf130 129 int write(CANMessage msg);
vladvana 0:23d1f73bf130 130
vladvana 0:23d1f73bf130 131 /** Read a CANMessage from the bus.
vladvana 0:23d1f73bf130 132 *
vladvana 0:23d1f73bf130 133 * @param msg A CANMessage to read to.
vladvana 0:23d1f73bf130 134 * @param handle message filter handle (0 for any message)
vladvana 0:23d1f73bf130 135 *
vladvana 0:23d1f73bf130 136 * @returns
vladvana 0:23d1f73bf130 137 * 0 if no message arrived,
vladvana 0:23d1f73bf130 138 * 1 if message arrived
vladvana 0:23d1f73bf130 139 */
vladvana 0:23d1f73bf130 140 int read(CANMessage &msg, int handle = 0);
vladvana 0:23d1f73bf130 141
vladvana 0:23d1f73bf130 142 /** Reset CAN interface.
vladvana 0:23d1f73bf130 143 *
vladvana 0:23d1f73bf130 144 * To use after error overflow.
vladvana 0:23d1f73bf130 145 */
vladvana 0:23d1f73bf130 146 void reset();
vladvana 0:23d1f73bf130 147
vladvana 0:23d1f73bf130 148 /** Puts or removes the CAN interface into silent monitoring mode
vladvana 0:23d1f73bf130 149 *
vladvana 0:23d1f73bf130 150 * @param silent boolean indicating whether to go into silent mode or not
vladvana 0:23d1f73bf130 151 */
vladvana 0:23d1f73bf130 152 void monitor(bool silent);
vladvana 0:23d1f73bf130 153
vladvana 0:23d1f73bf130 154 enum Mode {
vladvana 0:23d1f73bf130 155 Reset = 0,
vladvana 0:23d1f73bf130 156 Normal,
vladvana 0:23d1f73bf130 157 Silent,
vladvana 0:23d1f73bf130 158 LocalTest,
vladvana 0:23d1f73bf130 159 GlobalTest,
vladvana 0:23d1f73bf130 160 SilentTest
vladvana 0:23d1f73bf130 161 };
vladvana 0:23d1f73bf130 162
vladvana 0:23d1f73bf130 163 /** Change CAN operation to the specified mode
vladvana 0:23d1f73bf130 164 *
vladvana 0:23d1f73bf130 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
vladvana 0:23d1f73bf130 166 *
vladvana 0:23d1f73bf130 167 * @returns
vladvana 0:23d1f73bf130 168 * 0 if mode change failed or unsupported,
vladvana 0:23d1f73bf130 169 * 1 if mode change was successful
vladvana 0:23d1f73bf130 170 */
vladvana 0:23d1f73bf130 171 int mode(Mode mode);
vladvana 0:23d1f73bf130 172
vladvana 0:23d1f73bf130 173 /** Filter out incomming messages
vladvana 0:23d1f73bf130 174 *
vladvana 0:23d1f73bf130 175 * @param id the id to filter on
vladvana 0:23d1f73bf130 176 * @param mask the mask applied to the id
vladvana 0:23d1f73bf130 177 * @param format format to filter on (Default CANAny)
vladvana 0:23d1f73bf130 178 * @param handle message filter handle (Optional)
vladvana 0:23d1f73bf130 179 *
vladvana 0:23d1f73bf130 180 * @returns
vladvana 0:23d1f73bf130 181 * 0 if filter change failed or unsupported,
vladvana 0:23d1f73bf130 182 * new filter handle if successful
vladvana 0:23d1f73bf130 183 */
vladvana 0:23d1f73bf130 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
vladvana 0:23d1f73bf130 185
vladvana 0:23d1f73bf130 186 /** Returns number of read errors to detect read overflow errors.
vladvana 0:23d1f73bf130 187 */
vladvana 0:23d1f73bf130 188 unsigned char rderror();
vladvana 0:23d1f73bf130 189
vladvana 0:23d1f73bf130 190 /** Returns number of write errors to detect write overflow errors.
vladvana 0:23d1f73bf130 191 */
vladvana 0:23d1f73bf130 192 unsigned char tderror();
vladvana 0:23d1f73bf130 193
vladvana 0:23d1f73bf130 194 enum IrqType {
vladvana 0:23d1f73bf130 195 RxIrq = 0,
vladvana 0:23d1f73bf130 196 TxIrq,
vladvana 0:23d1f73bf130 197 EwIrq,
vladvana 0:23d1f73bf130 198 DoIrq,
vladvana 0:23d1f73bf130 199 WuIrq,
vladvana 0:23d1f73bf130 200 EpIrq,
vladvana 0:23d1f73bf130 201 AlIrq,
vladvana 0:23d1f73bf130 202 BeIrq,
vladvana 0:23d1f73bf130 203 IdIrq
vladvana 0:23d1f73bf130 204 };
vladvana 0:23d1f73bf130 205
vladvana 0:23d1f73bf130 206 /** Attach a function to call whenever a CAN frame received interrupt is
vladvana 0:23d1f73bf130 207 * generated.
vladvana 0:23d1f73bf130 208 *
vladvana 0:23d1f73bf130 209 * @param fptr A pointer to a void function, or 0 to set as none
vladvana 0:23d1f73bf130 210 * @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)
vladvana 0:23d1f73bf130 211 */
vladvana 0:23d1f73bf130 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
vladvana 0:23d1f73bf130 213
vladvana 0:23d1f73bf130 214 /** Attach a member function to call whenever a CAN frame received interrupt
vladvana 0:23d1f73bf130 215 * is generated.
vladvana 0:23d1f73bf130 216 *
vladvana 0:23d1f73bf130 217 * @param tptr pointer to the object to call the member function on
vladvana 0:23d1f73bf130 218 * @param mptr pointer to the member function to be called
vladvana 0:23d1f73bf130 219 * @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)
vladvana 0:23d1f73bf130 220 */
vladvana 0:23d1f73bf130 221 template<typename T>
vladvana 0:23d1f73bf130 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
vladvana 0:23d1f73bf130 223 if((mptr != NULL) && (tptr != NULL)) {
vladvana 0:23d1f73bf130 224 _irq[type].attach(tptr, mptr);
vladvana 0:23d1f73bf130 225 can_irq_set(&_can, (CanIrqType)type, 1);
vladvana 0:23d1f73bf130 226 }
vladvana 0:23d1f73bf130 227 else {
vladvana 0:23d1f73bf130 228 can_irq_set(&_can, (CanIrqType)type, 0);
vladvana 0:23d1f73bf130 229 }
vladvana 0:23d1f73bf130 230 }
vladvana 0:23d1f73bf130 231
vladvana 0:23d1f73bf130 232 static void _irq_handler(uint32_t id, CanIrqType type);
vladvana 0:23d1f73bf130 233
vladvana 0:23d1f73bf130 234 protected:
vladvana 0:23d1f73bf130 235 can_t _can;
vladvana 0:23d1f73bf130 236 FunctionPointer _irq[9];
vladvana 0:23d1f73bf130 237 };
vladvana 0:23d1f73bf130 238
vladvana 0:23d1f73bf130 239 } // namespace mbed
vladvana 0:23d1f73bf130 240
vladvana 0:23d1f73bf130 241 #endif
vladvana 0:23d1f73bf130 242
vladvana 0:23d1f73bf130 243 #endif // MBED_CAN_H