Lee Kai Xuan / mbed-os

mbed-os

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drivers/CAN.h@0:f269e3021894, 2016-10-23 (annotated)

Committer:
elessair
Date:
Sun Oct 23 15:10:02 2016 +0000
Revision:
0:f269e3021894
Initial commit

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elessair 0:f269e3021894 1 /* mbed Microcontroller Library
elessair 0:f269e3021894 2 * Copyright (c) 2006-2013 ARM Limited
elessair 0:f269e3021894 3 *
elessair 0:f269e3021894 4 * Licensed under the Apache License, Version 2.0 (the "License");
elessair 0:f269e3021894 5 * you may not use this file except in compliance with the License.
elessair 0:f269e3021894 6 * You may obtain a copy of the License at
elessair 0:f269e3021894 7 *
elessair 0:f269e3021894 8 * http://www.apache.org/licenses/LICENSE-2.0
elessair 0:f269e3021894 9 *
elessair 0:f269e3021894 10 * Unless required by applicable law or agreed to in writing, software
elessair 0:f269e3021894 11 * distributed under the License is distributed on an "AS IS" BASIS,
elessair 0:f269e3021894 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
elessair 0:f269e3021894 13 * See the License for the specific language governing permissions and
elessair 0:f269e3021894 14 * limitations under the License.
elessair 0:f269e3021894 15 */
elessair 0:f269e3021894 16 #ifndef MBED_CAN_H
elessair 0:f269e3021894 17 #define MBED_CAN_H
elessair 0:f269e3021894 18
elessair 0:f269e3021894 19 #include "platform/platform.h"
elessair 0:f269e3021894 20
elessair 0:f269e3021894 21 #if DEVICE_CAN
elessair 0:f269e3021894 22
elessair 0:f269e3021894 23 #include "hal/can_api.h"
elessair 0:f269e3021894 24 #include "platform/Callback.h"
elessair 0:f269e3021894 25 #include "platform/PlatformMutex.h"
elessair 0:f269e3021894 26
elessair 0:f269e3021894 27 namespace mbed {
elessair 0:f269e3021894 28 /** \addtogroup drivers */
elessair 0:f269e3021894 29 /** @{*/
elessair 0:f269e3021894 30
elessair 0:f269e3021894 31 /** CANMessage class
elessair 0:f269e3021894 32 *
elessair 0:f269e3021894 33 * @Note Synchronization level: Thread safe
elessair 0:f269e3021894 34 */
elessair 0:f269e3021894 35 class CANMessage : public CAN_Message {
elessair 0:f269e3021894 36
elessair 0:f269e3021894 37 public:
elessair 0:f269e3021894 38 /** Creates empty CAN message.
elessair 0:f269e3021894 39 */
elessair 0:f269e3021894 40 CANMessage() : CAN_Message() {
elessair 0:f269e3021894 41 len = 8;
elessair 0:f269e3021894 42 type = CANData;
elessair 0:f269e3021894 43 format = CANStandard;
elessair 0:f269e3021894 44 id = 0;
elessair 0:f269e3021894 45 memset(data, 0, 8);
elessair 0:f269e3021894 46 }
elessair 0:f269e3021894 47
elessair 0:f269e3021894 48 /** Creates CAN message with specific content.
elessair 0:f269e3021894 49 */
elessair 0:f269e3021894 50 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
elessair 0:f269e3021894 51 len = _len & 0xF;
elessair 0:f269e3021894 52 type = _type;
elessair 0:f269e3021894 53 format = _format;
elessair 0:f269e3021894 54 id = _id;
elessair 0:f269e3021894 55 memcpy(data, _data, _len);
elessair 0:f269e3021894 56 }
elessair 0:f269e3021894 57
elessair 0:f269e3021894 58 /** Creates CAN remote message.
elessair 0:f269e3021894 59 */
elessair 0:f269e3021894 60 CANMessage(int _id, CANFormat _format = CANStandard) {
elessair 0:f269e3021894 61 len = 0;
elessair 0:f269e3021894 62 type = CANRemote;
elessair 0:f269e3021894 63 format = _format;
elessair 0:f269e3021894 64 id = _id;
elessair 0:f269e3021894 65 memset(data, 0, 8);
elessair 0:f269e3021894 66 }
elessair 0:f269e3021894 67 };
elessair 0:f269e3021894 68
elessair 0:f269e3021894 69 /** A can bus client, used for communicating with can devices
elessair 0:f269e3021894 70 */
elessair 0:f269e3021894 71 class CAN {
elessair 0:f269e3021894 72
elessair 0:f269e3021894 73 public:
elessair 0:f269e3021894 74 /** Creates an CAN interface connected to specific pins.
elessair 0:f269e3021894 75 *
elessair 0:f269e3021894 76 * @param rd read from transmitter
elessair 0:f269e3021894 77 * @param td transmit to transmitter
elessair 0:f269e3021894 78 *
elessair 0:f269e3021894 79 * Example:
elessair 0:f269e3021894 80 * @code
elessair 0:f269e3021894 81 * #include "mbed.h"
elessair 0:f269e3021894 82 *
elessair 0:f269e3021894 83 * Ticker ticker;
elessair 0:f269e3021894 84 * DigitalOut led1(LED1);
elessair 0:f269e3021894 85 * DigitalOut led2(LED2);
elessair 0:f269e3021894 86 * CAN can1(p9, p10);
elessair 0:f269e3021894 87 * CAN can2(p30, p29);
elessair 0:f269e3021894 88 *
elessair 0:f269e3021894 89 * char counter = 0;
elessair 0:f269e3021894 90 *
elessair 0:f269e3021894 91 * void send() {
elessair 0:f269e3021894 92 * if(can1.write(CANMessage(1337, &counter, 1))) {
elessair 0:f269e3021894 93 * printf("Message sent: %d\n", counter);
elessair 0:f269e3021894 94 * counter++;
elessair 0:f269e3021894 95 * }
elessair 0:f269e3021894 96 * led1 = !led1;
elessair 0:f269e3021894 97 * }
elessair 0:f269e3021894 98 *
elessair 0:f269e3021894 99 * int main() {
elessair 0:f269e3021894 100 * ticker.attach(&send, 1);
elessair 0:f269e3021894 101 * CANMessage msg;
elessair 0:f269e3021894 102 * while(1) {
elessair 0:f269e3021894 103 * if(can2.read(msg)) {
elessair 0:f269e3021894 104 * printf("Message received: %d\n\n", msg.data[0]);
elessair 0:f269e3021894 105 * led2 = !led2;
elessair 0:f269e3021894 106 * }
elessair 0:f269e3021894 107 * wait(0.2);
elessair 0:f269e3021894 108 * }
elessair 0:f269e3021894 109 * }
elessair 0:f269e3021894 110 * @endcode
elessair 0:f269e3021894 111 */
elessair 0:f269e3021894 112 CAN(PinName rd, PinName td);
elessair 0:f269e3021894 113 virtual ~CAN();
elessair 0:f269e3021894 114
elessair 0:f269e3021894 115 /** Set the frequency of the CAN interface
elessair 0:f269e3021894 116 *
elessair 0:f269e3021894 117 * @param hz The bus frequency in hertz
elessair 0:f269e3021894 118 *
elessair 0:f269e3021894 119 * @returns
elessair 0:f269e3021894 120 * 1 if successful,
elessair 0:f269e3021894 121 * 0 otherwise
elessair 0:f269e3021894 122 */
elessair 0:f269e3021894 123 int frequency(int hz);
elessair 0:f269e3021894 124
elessair 0:f269e3021894 125 /** Write a CANMessage to the bus.
elessair 0:f269e3021894 126 *
elessair 0:f269e3021894 127 * @param msg The CANMessage to write.
elessair 0:f269e3021894 128 *
elessair 0:f269e3021894 129 * @returns
elessair 0:f269e3021894 130 * 0 if write failed,
elessair 0:f269e3021894 131 * 1 if write was successful
elessair 0:f269e3021894 132 */
elessair 0:f269e3021894 133 int write(CANMessage msg);
elessair 0:f269e3021894 134
elessair 0:f269e3021894 135 /** Read a CANMessage from the bus.
elessair 0:f269e3021894 136 *
elessair 0:f269e3021894 137 * @param msg A CANMessage to read to.
elessair 0:f269e3021894 138 * @param handle message filter handle (0 for any message)
elessair 0:f269e3021894 139 *
elessair 0:f269e3021894 140 * @returns
elessair 0:f269e3021894 141 * 0 if no message arrived,
elessair 0:f269e3021894 142 * 1 if message arrived
elessair 0:f269e3021894 143 */
elessair 0:f269e3021894 144 int read(CANMessage &msg, int handle = 0);
elessair 0:f269e3021894 145
elessair 0:f269e3021894 146 /** Reset CAN interface.
elessair 0:f269e3021894 147 *
elessair 0:f269e3021894 148 * To use after error overflow.
elessair 0:f269e3021894 149 */
elessair 0:f269e3021894 150 void reset();
elessair 0:f269e3021894 151
elessair 0:f269e3021894 152 /** Puts or removes the CAN interface into silent monitoring mode
elessair 0:f269e3021894 153 *
elessair 0:f269e3021894 154 * @param silent boolean indicating whether to go into silent mode or not
elessair 0:f269e3021894 155 */
elessair 0:f269e3021894 156 void monitor(bool silent);
elessair 0:f269e3021894 157
elessair 0:f269e3021894 158 enum Mode {
elessair 0:f269e3021894 159 Reset = 0,
elessair 0:f269e3021894 160 Normal,
elessair 0:f269e3021894 161 Silent,
elessair 0:f269e3021894 162 LocalTest,
elessair 0:f269e3021894 163 GlobalTest,
elessair 0:f269e3021894 164 SilentTest
elessair 0:f269e3021894 165 };
elessair 0:f269e3021894 166
elessair 0:f269e3021894 167 /** Change CAN operation to the specified mode
elessair 0:f269e3021894 168 *
elessair 0:f269e3021894 169 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
elessair 0:f269e3021894 170 *
elessair 0:f269e3021894 171 * @returns
elessair 0:f269e3021894 172 * 0 if mode change failed or unsupported,
elessair 0:f269e3021894 173 * 1 if mode change was successful
elessair 0:f269e3021894 174 */
elessair 0:f269e3021894 175 int mode(Mode mode);
elessair 0:f269e3021894 176
elessair 0:f269e3021894 177 /** Filter out incomming messages
elessair 0:f269e3021894 178 *
elessair 0:f269e3021894 179 * @param id the id to filter on
elessair 0:f269e3021894 180 * @param mask the mask applied to the id
elessair 0:f269e3021894 181 * @param format format to filter on (Default CANAny)
elessair 0:f269e3021894 182 * @param handle message filter handle (Optional)
elessair 0:f269e3021894 183 *
elessair 0:f269e3021894 184 * @returns
elessair 0:f269e3021894 185 * 0 if filter change failed or unsupported,
elessair 0:f269e3021894 186 * new filter handle if successful
elessair 0:f269e3021894 187 */
elessair 0:f269e3021894 188 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
elessair 0:f269e3021894 189
elessair 0:f269e3021894 190 /** Returns number of read errors to detect read overflow errors.
elessair 0:f269e3021894 191 */
elessair 0:f269e3021894 192 unsigned char rderror();
elessair 0:f269e3021894 193
elessair 0:f269e3021894 194 /** Returns number of write errors to detect write overflow errors.
elessair 0:f269e3021894 195 */
elessair 0:f269e3021894 196 unsigned char tderror();
elessair 0:f269e3021894 197
elessair 0:f269e3021894 198 enum IrqType {
elessair 0:f269e3021894 199 RxIrq = 0,
elessair 0:f269e3021894 200 TxIrq,
elessair 0:f269e3021894 201 EwIrq,
elessair 0:f269e3021894 202 DoIrq,
elessair 0:f269e3021894 203 WuIrq,
elessair 0:f269e3021894 204 EpIrq,
elessair 0:f269e3021894 205 AlIrq,
elessair 0:f269e3021894 206 BeIrq,
elessair 0:f269e3021894 207 IdIrq,
elessair 0:f269e3021894 208
elessair 0:f269e3021894 209 IrqCnt
elessair 0:f269e3021894 210 };
elessair 0:f269e3021894 211
elessair 0:f269e3021894 212 /** Attach a function to call whenever a CAN frame received interrupt is
elessair 0:f269e3021894 213 * generated.
elessair 0:f269e3021894 214 *
elessair 0:f269e3021894 215 * @param func A pointer to a void function, or 0 to set as none
elessair 0:f269e3021894 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)
elessair 0:f269e3021894 217 */
elessair 0:f269e3021894 218 void attach(Callback<void()> func, IrqType type=RxIrq);
elessair 0:f269e3021894 219
elessair 0:f269e3021894 220 /** Attach a member function to call whenever a CAN frame received interrupt
elessair 0:f269e3021894 221 * is generated.
elessair 0:f269e3021894 222 *
elessair 0:f269e3021894 223 * @param obj pointer to the object to call the member function on
elessair 0:f269e3021894 224 * @param method pointer to the member function to be called
elessair 0:f269e3021894 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)
elessair 0:f269e3021894 226 */
elessair 0:f269e3021894 227 template<typename T>
elessair 0:f269e3021894 228 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
elessair 0:f269e3021894 229 // Underlying call thread safe
elessair 0:f269e3021894 230 attach(Callback<void()>(obj, method), type);
elessair 0:f269e3021894 231 }
elessair 0:f269e3021894 232
elessair 0:f269e3021894 233 /** Attach a member function to call whenever a CAN frame received interrupt
elessair 0:f269e3021894 234 * is generated.
elessair 0:f269e3021894 235 *
elessair 0:f269e3021894 236 * @param obj pointer to the object to call the member function on
elessair 0:f269e3021894 237 * @param method pointer to the member function to be called
elessair 0:f269e3021894 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)
elessair 0:f269e3021894 239 */
elessair 0:f269e3021894 240 template<typename T>
elessair 0:f269e3021894 241 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
elessair 0:f269e3021894 242 // Underlying call thread safe
elessair 0:f269e3021894 243 attach(Callback<void()>(obj, method), type);
elessair 0:f269e3021894 244 }
elessair 0:f269e3021894 245
elessair 0:f269e3021894 246 static void _irq_handler(uint32_t id, CanIrqType type);
elessair 0:f269e3021894 247
elessair 0:f269e3021894 248 protected:
elessair 0:f269e3021894 249 virtual void lock();
elessair 0:f269e3021894 250 virtual void unlock();
elessair 0:f269e3021894 251 can_t _can;
elessair 0:f269e3021894 252 Callback<void()> _irq[IrqCnt];
elessair 0:f269e3021894 253 PlatformMutex _mutex;
elessair 0:f269e3021894 254 };
elessair 0:f269e3021894 255
elessair 0:f269e3021894 256 } // namespace mbed
elessair 0:f269e3021894 257
elessair 0:f269e3021894 258 #endif
elessair 0:f269e3021894 259
elessair 0:f269e3021894 260 #endif // MBED_CAN_H
elessair 0:f269e3021894 261
elessair 0:f269e3021894 262 /** @}*/