Ricardo Benitez / mbed

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CAN.h@118:16969dd821af, 2016-04-05 (annotated)

Committer:
ricardobtez
Date:
Tue Apr 05 23:51:21 2016 +0000
Revision:
118:16969dd821af
Parent:
85:024bf7f99721 
dgdgr

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bogdanm 66:9c8f0e3462fb 1 /* mbed Microcontroller Library
bogdanm 66:9c8f0e3462fb 2 * Copyright (c) 2006-2013 ARM Limited
bogdanm 66:9c8f0e3462fb 3 *
bogdanm 66:9c8f0e3462fb 4 * Licensed under the Apache License, Version 2.0 (the "License");
bogdanm 66:9c8f0e3462fb 5 * you may not use this file except in compliance with the License.
bogdanm 66:9c8f0e3462fb 6 * You may obtain a copy of the License at
bogdanm 66:9c8f0e3462fb 7 *
bogdanm 66:9c8f0e3462fb 8 * http://www.apache.org/licenses/LICENSE-2.0
bogdanm 66:9c8f0e3462fb 9 *
bogdanm 66:9c8f0e3462fb 10 * Unless required by applicable law or agreed to in writing, software
bogdanm 66:9c8f0e3462fb 11 * distributed under the License is distributed on an "AS IS" BASIS,
bogdanm 66:9c8f0e3462fb 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
bogdanm 66:9c8f0e3462fb 13 * See the License for the specific language governing permissions and
bogdanm 66:9c8f0e3462fb 14 * limitations under the License.
bogdanm 66:9c8f0e3462fb 15 */
bogdanm 66:9c8f0e3462fb 16 #ifndef MBED_CAN_H
bogdanm 66:9c8f0e3462fb 17 #define MBED_CAN_H
bogdanm 66:9c8f0e3462fb 18
bogdanm 66:9c8f0e3462fb 19 #include "platform.h"
bogdanm 66:9c8f0e3462fb 20
bogdanm 66:9c8f0e3462fb 21 #if DEVICE_CAN
bogdanm 66:9c8f0e3462fb 22
bogdanm 66:9c8f0e3462fb 23 #include "can_api.h"
bogdanm 66:9c8f0e3462fb 24 #include "can_helper.h"
bogdanm 66:9c8f0e3462fb 25 #include "FunctionPointer.h"
bogdanm 66:9c8f0e3462fb 26
bogdanm 66:9c8f0e3462fb 27 namespace mbed {
bogdanm 66:9c8f0e3462fb 28
bogdanm 66:9c8f0e3462fb 29 /** CANMessage class
bogdanm 66:9c8f0e3462fb 30 */
bogdanm 66:9c8f0e3462fb 31 class CANMessage : public CAN_Message {
bogdanm 66:9c8f0e3462fb 32
bogdanm 66:9c8f0e3462fb 33 public:
bogdanm 66:9c8f0e3462fb 34 /** Creates empty CAN message.
bogdanm 66:9c8f0e3462fb 35 */
bogdanm 85:024bf7f99721 36 CANMessage() : CAN_Message() {
bogdanm 66:9c8f0e3462fb 37 len = 8;
bogdanm 66:9c8f0e3462fb 38 type = CANData;
bogdanm 66:9c8f0e3462fb 39 format = CANStandard;
bogdanm 66:9c8f0e3462fb 40 id = 0;
bogdanm 66:9c8f0e3462fb 41 memset(data, 0, 8);
bogdanm 66:9c8f0e3462fb 42 }
bogdanm 66:9c8f0e3462fb 43
bogdanm 66:9c8f0e3462fb 44 /** Creates CAN message with specific content.
bogdanm 66:9c8f0e3462fb 45 */
bogdanm 66:9c8f0e3462fb 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
bogdanm 66:9c8f0e3462fb 47 len = _len & 0xF;
bogdanm 66:9c8f0e3462fb 48 type = _type;
bogdanm 66:9c8f0e3462fb 49 format = _format;
bogdanm 66:9c8f0e3462fb 50 id = _id;
bogdanm 66:9c8f0e3462fb 51 memcpy(data, _data, _len);
bogdanm 66:9c8f0e3462fb 52 }
bogdanm 66:9c8f0e3462fb 53
bogdanm 66:9c8f0e3462fb 54 /** Creates CAN remote message.
bogdanm 66:9c8f0e3462fb 55 */
bogdanm 66:9c8f0e3462fb 56 CANMessage(int _id, CANFormat _format = CANStandard) {
bogdanm 66:9c8f0e3462fb 57 len = 0;
bogdanm 66:9c8f0e3462fb 58 type = CANRemote;
bogdanm 66:9c8f0e3462fb 59 format = _format;
bogdanm 66:9c8f0e3462fb 60 id = _id;
bogdanm 66:9c8f0e3462fb 61 memset(data, 0, 8);
bogdanm 66:9c8f0e3462fb 62 }
bogdanm 66:9c8f0e3462fb 63 };
bogdanm 66:9c8f0e3462fb 64
bogdanm 66:9c8f0e3462fb 65 /** A can bus client, used for communicating with can devices
bogdanm 66:9c8f0e3462fb 66 */
bogdanm 66:9c8f0e3462fb 67 class CAN {
bogdanm 66:9c8f0e3462fb 68
bogdanm 66:9c8f0e3462fb 69 public:
bogdanm 66:9c8f0e3462fb 70 /** Creates an CAN interface connected to specific pins.
bogdanm 66:9c8f0e3462fb 71 *
bogdanm 66:9c8f0e3462fb 72 * @param rd read from transmitter
bogdanm 66:9c8f0e3462fb 73 * @param td transmit to transmitter
bogdanm 66:9c8f0e3462fb 74 *
bogdanm 66:9c8f0e3462fb 75 * Example:
bogdanm 66:9c8f0e3462fb 76 * @code
bogdanm 66:9c8f0e3462fb 77 * #include "mbed.h"
bogdanm 66:9c8f0e3462fb 78 *
bogdanm 66:9c8f0e3462fb 79 * Ticker ticker;
bogdanm 66:9c8f0e3462fb 80 * DigitalOut led1(LED1);
bogdanm 66:9c8f0e3462fb 81 * DigitalOut led2(LED2);
bogdanm 66:9c8f0e3462fb 82 * CAN can1(p9, p10);
bogdanm 66:9c8f0e3462fb 83 * CAN can2(p30, p29);
bogdanm 66:9c8f0e3462fb 84 *
bogdanm 66:9c8f0e3462fb 85 * char counter = 0;
bogdanm 66:9c8f0e3462fb 86 *
bogdanm 66:9c8f0e3462fb 87 * void send() {
bogdanm 66:9c8f0e3462fb 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
bogdanm 66:9c8f0e3462fb 89 * printf("Message sent: %d\n", counter);
bogdanm 66:9c8f0e3462fb 90 * counter++;
bogdanm 66:9c8f0e3462fb 91 * }
bogdanm 66:9c8f0e3462fb 92 * led1 = !led1;
bogdanm 66:9c8f0e3462fb 93 * }
bogdanm 66:9c8f0e3462fb 94 *
bogdanm 66:9c8f0e3462fb 95 * int main() {
bogdanm 66:9c8f0e3462fb 96 * ticker.attach(&send, 1);
bogdanm 66:9c8f0e3462fb 97 * CANMessage msg;
bogdanm 66:9c8f0e3462fb 98 * while(1) {
bogdanm 66:9c8f0e3462fb 99 * if(can2.read(msg)) {
bogdanm 66:9c8f0e3462fb 100 * printf("Message received: %d\n\n", msg.data[0]);
bogdanm 66:9c8f0e3462fb 101 * led2 = !led2;
bogdanm 66:9c8f0e3462fb 102 * }
bogdanm 66:9c8f0e3462fb 103 * wait(0.2);
bogdanm 66:9c8f0e3462fb 104 * }
bogdanm 66:9c8f0e3462fb 105 * }
bogdanm 66:9c8f0e3462fb 106 * @endcode
bogdanm 66:9c8f0e3462fb 107 */
bogdanm 66:9c8f0e3462fb 108 CAN(PinName rd, PinName td);
bogdanm 66:9c8f0e3462fb 109 virtual ~CAN();
bogdanm 66:9c8f0e3462fb 110
bogdanm 66:9c8f0e3462fb 111 /** Set the frequency of the CAN interface
bogdanm 66:9c8f0e3462fb 112 *
bogdanm 66:9c8f0e3462fb 113 * @param hz The bus frequency in hertz
bogdanm 66:9c8f0e3462fb 114 *
bogdanm 66:9c8f0e3462fb 115 * @returns
bogdanm 66:9c8f0e3462fb 116 * 1 if successful,
bogdanm 66:9c8f0e3462fb 117 * 0 otherwise
bogdanm 66:9c8f0e3462fb 118 */
bogdanm 66:9c8f0e3462fb 119 int frequency(int hz);
bogdanm 66:9c8f0e3462fb 120
bogdanm 66:9c8f0e3462fb 121 /** Write a CANMessage to the bus.
bogdanm 66:9c8f0e3462fb 122 *
bogdanm 66:9c8f0e3462fb 123 * @param msg The CANMessage to write.
bogdanm 66:9c8f0e3462fb 124 *
bogdanm 66:9c8f0e3462fb 125 * @returns
bogdanm 66:9c8f0e3462fb 126 * 0 if write failed,
bogdanm 66:9c8f0e3462fb 127 * 1 if write was successful
bogdanm 66:9c8f0e3462fb 128 */
bogdanm 66:9c8f0e3462fb 129 int write(CANMessage msg);
bogdanm 66:9c8f0e3462fb 130
bogdanm 66:9c8f0e3462fb 131 /** Read a CANMessage from the bus.
bogdanm 66:9c8f0e3462fb 132 *
bogdanm 66:9c8f0e3462fb 133 * @param msg A CANMessage to read to.
emilmont 69:4a7918f48478 134 * @param handle message filter handle (0 for any message)
bogdanm 66:9c8f0e3462fb 135 *
bogdanm 66:9c8f0e3462fb 136 * @returns
bogdanm 66:9c8f0e3462fb 137 * 0 if no message arrived,
bogdanm 66:9c8f0e3462fb 138 * 1 if message arrived
bogdanm 66:9c8f0e3462fb 139 */
emilmont 69:4a7918f48478 140 int read(CANMessage &msg, int handle = 0);
bogdanm 66:9c8f0e3462fb 141
bogdanm 66:9c8f0e3462fb 142 /** Reset CAN interface.
bogdanm 66:9c8f0e3462fb 143 *
bogdanm 66:9c8f0e3462fb 144 * To use after error overflow.
bogdanm 66:9c8f0e3462fb 145 */
bogdanm 66:9c8f0e3462fb 146 void reset();
bogdanm 66:9c8f0e3462fb 147
bogdanm 66:9c8f0e3462fb 148 /** Puts or removes the CAN interface into silent monitoring mode
bogdanm 66:9c8f0e3462fb 149 *
bogdanm 66:9c8f0e3462fb 150 * @param silent boolean indicating whether to go into silent mode or not
bogdanm 66:9c8f0e3462fb 151 */
bogdanm 66:9c8f0e3462fb 152 void monitor(bool silent);
bogdanm 66:9c8f0e3462fb 153
bogdanm 66:9c8f0e3462fb 154 enum Mode {
bogdanm 66:9c8f0e3462fb 155 Reset = 0,
bogdanm 66:9c8f0e3462fb 156 Normal,
bogdanm 66:9c8f0e3462fb 157 Silent,
bogdanm 66:9c8f0e3462fb 158 LocalTest,
bogdanm 66:9c8f0e3462fb 159 GlobalTest,
bogdanm 66:9c8f0e3462fb 160 SilentTest
bogdanm 66:9c8f0e3462fb 161 };
bogdanm 85:024bf7f99721 162
bogdanm 66:9c8f0e3462fb 163 /** Change CAN operation to the specified mode
bogdanm 66:9c8f0e3462fb 164 *
bogdanm 66:9c8f0e3462fb 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
bogdanm 66:9c8f0e3462fb 166 *
bogdanm 66:9c8f0e3462fb 167 * @returns
bogdanm 66:9c8f0e3462fb 168 * 0 if mode change failed or unsupported,
bogdanm 85:024bf7f99721 169 * 1 if mode change was successful
bogdanm 66:9c8f0e3462fb 170 */
bogdanm 66:9c8f0e3462fb 171 int mode(Mode mode);
bogdanm 85:024bf7f99721 172
emilmont 69:4a7918f48478 173 /** Filter out incomming messages
emilmont 69:4a7918f48478 174 *
emilmont 69:4a7918f48478 175 * @param id the id to filter on
emilmont 69:4a7918f48478 176 * @param mask the mask applied to the id
emilmont 69:4a7918f48478 177 * @param format format to filter on (Default CANAny)
emilmont 69:4a7918f48478 178 * @param handle message filter handle (Optional)
emilmont 69:4a7918f48478 179 *
emilmont 69:4a7918f48478 180 * @returns
emilmont 69:4a7918f48478 181 * 0 if filter change failed or unsupported,
emilmont 69:4a7918f48478 182 * new filter handle if successful
emilmont 69:4a7918f48478 183 */
emilmont 69:4a7918f48478 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
bogdanm 85:024bf7f99721 185
bogdanm 66:9c8f0e3462fb 186 /** Returns number of read errors to detect read overflow errors.
bogdanm 66:9c8f0e3462fb 187 */
bogdanm 66:9c8f0e3462fb 188 unsigned char rderror();
bogdanm 66:9c8f0e3462fb 189
bogdanm 66:9c8f0e3462fb 190 /** Returns number of write errors to detect write overflow errors.
bogdanm 66:9c8f0e3462fb 191 */
bogdanm 66:9c8f0e3462fb 192 unsigned char tderror();
bogdanm 66:9c8f0e3462fb 193
bogdanm 66:9c8f0e3462fb 194 enum IrqType {
bogdanm 66:9c8f0e3462fb 195 RxIrq = 0,
bogdanm 66:9c8f0e3462fb 196 TxIrq,
bogdanm 66:9c8f0e3462fb 197 EwIrq,
bogdanm 66:9c8f0e3462fb 198 DoIrq,
bogdanm 66:9c8f0e3462fb 199 WuIrq,
bogdanm 66:9c8f0e3462fb 200 EpIrq,
bogdanm 66:9c8f0e3462fb 201 AlIrq,
bogdanm 66:9c8f0e3462fb 202 BeIrq,
bogdanm 66:9c8f0e3462fb 203 IdIrq
bogdanm 66:9c8f0e3462fb 204 };
bogdanm 85:024bf7f99721 205
bogdanm 66:9c8f0e3462fb 206 /** Attach a function to call whenever a CAN frame received interrupt is
bogdanm 66:9c8f0e3462fb 207 * generated.
bogdanm 66:9c8f0e3462fb 208 *
bogdanm 66:9c8f0e3462fb 209 * @param fptr A pointer to a void function, or 0 to set as none
bogdanm 66:9c8f0e3462fb 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)
bogdanm 66:9c8f0e3462fb 211 */
bogdanm 66:9c8f0e3462fb 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
bogdanm 66:9c8f0e3462fb 213
bogdanm 66:9c8f0e3462fb 214 /** Attach a member function to call whenever a CAN frame received interrupt
bogdanm 66:9c8f0e3462fb 215 * is generated.
bogdanm 66:9c8f0e3462fb 216 *
bogdanm 66:9c8f0e3462fb 217 * @param tptr pointer to the object to call the member function on
bogdanm 66:9c8f0e3462fb 218 * @param mptr pointer to the member function to be called
bogdanm 66:9c8f0e3462fb 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)
bogdanm 66:9c8f0e3462fb 220 */
bogdanm 66:9c8f0e3462fb 221 template<typename T>
bogdanm 66:9c8f0e3462fb 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
bogdanm 66:9c8f0e3462fb 223 if((mptr != NULL) && (tptr != NULL)) {
bogdanm 66:9c8f0e3462fb 224 _irq[type].attach(tptr, mptr);
bogdanm 66:9c8f0e3462fb 225 can_irq_set(&_can, (CanIrqType)type, 1);
bogdanm 66:9c8f0e3462fb 226 }
bogdanm 66:9c8f0e3462fb 227 else {
bogdanm 66:9c8f0e3462fb 228 can_irq_set(&_can, (CanIrqType)type, 0);
bogdanm 66:9c8f0e3462fb 229 }
bogdanm 66:9c8f0e3462fb 230 }
bogdanm 66:9c8f0e3462fb 231
bogdanm 66:9c8f0e3462fb 232 static void _irq_handler(uint32_t id, CanIrqType type);
bogdanm 66:9c8f0e3462fb 233
bogdanm 66:9c8f0e3462fb 234 protected:
bogdanm 66:9c8f0e3462fb 235 can_t _can;
bogdanm 66:9c8f0e3462fb 236 FunctionPointer _irq[9];
bogdanm 66:9c8f0e3462fb 237 };
bogdanm 66:9c8f0e3462fb 238
bogdanm 66:9c8f0e3462fb 239 } // namespace mbed
bogdanm 66:9c8f0e3462fb 240
bogdanm 66:9c8f0e3462fb 241 #endif
bogdanm 66:9c8f0e3462fb 242
bogdanm 66:9c8f0e3462fb 243 #endif // MBED_CAN_H