stefan frey / CANnucleo

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Fork of CANnucleo by Zoltan Hudak

CANnucleo.cpp@28:eed6929956ea, 2017-03-07 (annotated)

Committer:
hudakz
Date:
Tue Mar 07 18:51:35 2017 +0000
Revision:
28:eed6929956ea
Parent:
25:353237492903
Child:
29:5a6ce4dc88c6
Updated.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:e29bc8e0dddd 1 /* mbed Microcontroller Library
hudakz 0:e29bc8e0dddd 2 * Copyright (c) 2006-2013 ARM Limited
hudakz 0:e29bc8e0dddd 3 *
hudakz 0:e29bc8e0dddd 4 * Licensed under the Apache License, Version 2.0 (the "License");
hudakz 0:e29bc8e0dddd 5 * you may not use this file except in compliance with the License.
hudakz 0:e29bc8e0dddd 6 * You may obtain a copy of the License at
hudakz 0:e29bc8e0dddd 7 *
hudakz 0:e29bc8e0dddd 8 * http://www.apache.org/licenses/LICENSE-2.0
hudakz 0:e29bc8e0dddd 9 *
hudakz 0:e29bc8e0dddd 10 * Unless required by applicable law or agreed to in writing, software
hudakz 0:e29bc8e0dddd 11 * distributed under the License is distributed on an "AS IS" BASIS,
hudakz 0:e29bc8e0dddd 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
hudakz 0:e29bc8e0dddd 13 * See the License for the specific language governing permissions and
hudakz 0:e29bc8e0dddd 14 * limitations under the License.
hudakz 0:e29bc8e0dddd 15 *
hudakz 28:eed6929956ea 16 * Modified by Zoltan Hudak <hudakz@outlook.com>
hudakz 0:e29bc8e0dddd 17 *
hudakz 0:e29bc8e0dddd 18 */
hudakz 21:d51e1617975f 19 #include "CANnucleo.h"
hudakz 0:e29bc8e0dddd 20 #include "cmsis.h"
hudakz 0:e29bc8e0dddd 21
hudakz 23:ea766d08c9db 22 namespace CANnucleo
hudakz 0:e29bc8e0dddd 23 {
hudakz 0:e29bc8e0dddd 24
hudakz 0:e29bc8e0dddd 25 /**
hudakz 6:c5a40d5fd9f1 26 * @brief Constructor
hudakz 6:c5a40d5fd9f1 27 * @note Constructs an instance of CAN class
hudakz 6:c5a40d5fd9f1 28 * @param rxPin: CAN Rx pin name
hudakz 6:c5a40d5fd9f1 29 * @param txPin: CAN Tx pin name
hudakz 6:c5a40d5fd9f1 30 * @param abom: Automatic recovery from bus-off state (defaults to enabled)
hudakz 0:e29bc8e0dddd 31 * @retval
hudakz 0:e29bc8e0dddd 32 */
hudakz 6:c5a40d5fd9f1 33 CAN::CAN(PinName rxPin, PinName txPin, FunctionalState abom /* = ENABLE */) :
hudakz 0:e29bc8e0dddd 34 _irq() {
hudakz 20:bcd8161f8f6c 35 can_init(rxPin, txPin, abom);
hudakz 20:bcd8161f8f6c 36 can_irq_init((uint32_t)this, (&CAN::_irq_handler));
hudakz 0:e29bc8e0dddd 37 }
hudakz 0:e29bc8e0dddd 38
hudakz 0:e29bc8e0dddd 39 /**
hudakz 0:e29bc8e0dddd 40 * @brief
hudakz 0:e29bc8e0dddd 41 * @note
hudakz 0:e29bc8e0dddd 42 * @param
hudakz 0:e29bc8e0dddd 43 * @retval
hudakz 0:e29bc8e0dddd 44 */
hudakz 0:e29bc8e0dddd 45 CAN::~CAN(void) {
hudakz 20:bcd8161f8f6c 46 can_irq_free();
hudakz 20:bcd8161f8f6c 47 can_free();
hudakz 0:e29bc8e0dddd 48 }
hudakz 0:e29bc8e0dddd 49
hudakz 0:e29bc8e0dddd 50 /**
hudakz 0:e29bc8e0dddd 51 * @brief
hudakz 0:e29bc8e0dddd 52 * @note
hudakz 0:e29bc8e0dddd 53 * @param
hudakz 0:e29bc8e0dddd 54 * @retval
hudakz 0:e29bc8e0dddd 55 */
hudakz 0:e29bc8e0dddd 56 int CAN::frequency(int f) {
hudakz 25:353237492903 57 lock();
hudakz 25:353237492903 58 int ret = can_frequency(f);
hudakz 25:353237492903 59 unlock();
hudakz 25:353237492903 60 return ret;
hudakz 0:e29bc8e0dddd 61 }
hudakz 0:e29bc8e0dddd 62
hudakz 0:e29bc8e0dddd 63 /**
hudakz 0:e29bc8e0dddd 64 * @brief
hudakz 0:e29bc8e0dddd 65 * @note
hudakz 0:e29bc8e0dddd 66 * @param
hudakz 0:e29bc8e0dddd 67 * @retval
hudakz 0:e29bc8e0dddd 68 */
hudakz 0:e29bc8e0dddd 69 int CAN::write(CANMessage msg) {
hudakz 25:353237492903 70 lock();
hudakz 25:353237492903 71 int ret = can_write(msg, 0);
hudakz 25:353237492903 72 unlock();
hudakz 25:353237492903 73 return ret;
hudakz 0:e29bc8e0dddd 74 }
hudakz 0:e29bc8e0dddd 75
hudakz 0:e29bc8e0dddd 76 /**
hudakz 0:e29bc8e0dddd 77 * @brief
hudakz 0:e29bc8e0dddd 78 * @note
hudakz 0:e29bc8e0dddd 79 * @param
hudakz 0:e29bc8e0dddd 80 * @retval
hudakz 0:e29bc8e0dddd 81 */
hudakz 0:e29bc8e0dddd 82 int CAN::read(CANMessage& msg, int handle) {
hudakz 25:353237492903 83 lock();
hudakz 25:353237492903 84 int ret = can_read(&msg, handle);
hudakz 25:353237492903 85 unlock();
hudakz 25:353237492903 86 return ret;
hudakz 0:e29bc8e0dddd 87 }
hudakz 0:e29bc8e0dddd 88
hudakz 0:e29bc8e0dddd 89 /**
hudakz 0:e29bc8e0dddd 90 * @brief
hudakz 0:e29bc8e0dddd 91 * @note
hudakz 0:e29bc8e0dddd 92 * @param
hudakz 0:e29bc8e0dddd 93 * @retval
hudakz 0:e29bc8e0dddd 94 */
hudakz 0:e29bc8e0dddd 95 void CAN::reset(void) {
hudakz 25:353237492903 96 lock();
hudakz 20:bcd8161f8f6c 97 can_reset();
hudakz 25:353237492903 98 unlock();
hudakz 0:e29bc8e0dddd 99 }
hudakz 0:e29bc8e0dddd 100
hudakz 0:e29bc8e0dddd 101 /**
hudakz 0:e29bc8e0dddd 102 * @brief
hudakz 0:e29bc8e0dddd 103 * @note
hudakz 0:e29bc8e0dddd 104 * @param
hudakz 0:e29bc8e0dddd 105 * @retval
hudakz 0:e29bc8e0dddd 106 */
hudakz 0:e29bc8e0dddd 107 unsigned char CAN::rderror(void) {
hudakz 25:353237492903 108 lock();
hudakz 25:353237492903 109 unsigned char ret = can_rderror();
hudakz 25:353237492903 110 unlock();
hudakz 25:353237492903 111 return ret;
hudakz 0:e29bc8e0dddd 112 }
hudakz 0:e29bc8e0dddd 113
hudakz 0:e29bc8e0dddd 114 /**
hudakz 0:e29bc8e0dddd 115 * @brief
hudakz 0:e29bc8e0dddd 116 * @note
hudakz 0:e29bc8e0dddd 117 * @param
hudakz 0:e29bc8e0dddd 118 * @retval
hudakz 0:e29bc8e0dddd 119 */
hudakz 0:e29bc8e0dddd 120 unsigned char CAN::tderror(void) {
hudakz 25:353237492903 121 lock();
hudakz 25:353237492903 122 unsigned char ret = can_tderror();
hudakz 25:353237492903 123 unlock();
hudakz 25:353237492903 124 return ret;
hudakz 0:e29bc8e0dddd 125 }
hudakz 0:e29bc8e0dddd 126
hudakz 0:e29bc8e0dddd 127 /**
hudakz 0:e29bc8e0dddd 128 * @brief
hudakz 0:e29bc8e0dddd 129 * @note
hudakz 0:e29bc8e0dddd 130 * @param
hudakz 0:e29bc8e0dddd 131 * @retval
hudakz 0:e29bc8e0dddd 132 */
hudakz 0:e29bc8e0dddd 133 void CAN::monitor(bool silent) {
hudakz 25:353237492903 134 lock();
hudakz 20:bcd8161f8f6c 135 can_monitor((silent) ? 1 : 0);
hudakz 25:353237492903 136 unlock();
hudakz 0:e29bc8e0dddd 137 }
hudakz 0:e29bc8e0dddd 138
hudakz 0:e29bc8e0dddd 139 /**
hudakz 0:e29bc8e0dddd 140 * @brief
hudakz 0:e29bc8e0dddd 141 * @note
hudakz 0:e29bc8e0dddd 142 * @param
hudakz 0:e29bc8e0dddd 143 * @retval
hudakz 0:e29bc8e0dddd 144 */
hudakz 0:e29bc8e0dddd 145 int CAN::mode(Mode mode) {
hudakz 25:353237492903 146 lock();
hudakz 25:353237492903 147 int ret = can_mode((CanMode) mode);
hudakz 25:353237492903 148 unlock();
hudakz 25:353237492903 149 return ret;
hudakz 0:e29bc8e0dddd 150 }
hudakz 0:e29bc8e0dddd 151
hudakz 0:e29bc8e0dddd 152 /**
hudakz 9:e9224f2c6d37 153 * @brief Sets up a CAN filter
hudakz 8:5c90d6b9a382 154 * @note At the present, CANnucleo supports only mask mode and 32-bit filter scale.
hudakz 8:5c90d6b9a382 155 * Identifier list mode filtering and 16-bit filter scale are not supported.
hudakz 9:e9224f2c6d37 156 * There are 14 filters available (0 - 13) for the application to set up.
hudakz 8:5c90d6b9a382 157 * Each filter is a 32-bit filter defined by a filter ID and a filter mask.
hudakz 9:e9224f2c6d37 158 * If no filter is set up then no CAN message is accepted (received)!
hudakz 9:e9224f2c6d37 159 * That's why filter #0 is set up in the constructor to receive all CAN messages by default.
hudakz 8:5c90d6b9a382 160 * On reception of a message it is compared with filter #0. If there is a match, the message is stored.
hudakz 8:5c90d6b9a382 161 * If there is no match, the incoming identifier is then compared with the next filter.
hudakz 8:5c90d6b9a382 162 * If the received identifier does not match any of the identifiers configured in the filters,
hudakz 8:5c90d6b9a382 163 * the message is discarded by hardware without disturbing the software.
hudakz 8:5c90d6b9a382 164 *
hudakz 8:5c90d6b9a382 165 * @param id: 'Filter ID' defines the bit values to be compared with the corresponding received bits
hudakz 8:5c90d6b9a382 166 *
hudakz 8:5c90d6b9a382 167 * Mapping of 32-bits (4-bytes) : | STID[10:3] | STID[2:0] EXID[17:13] | EXID[12:5] | EXID[4:0] IDE RTR 0 |
hudakz 8:5c90d6b9a382 168 *
hudakz 8:5c90d6b9a382 169 * STID - Stardard Identifier bits
hudakz 8:5c90d6b9a382 170 * EXID - Extended Identifier bits
hudakz 8:5c90d6b9a382 171 * [x:y]- bit range
hudakz 8:5c90d6b9a382 172 * IDE - Identifier Extension bit (0 -> Standard Identifier, 1 -> Extended Identifier)
hudakz 9:e9224f2c6d37 173 * RTR - Remote Transmission Request bit (0 -> Remote Transmission Request, 1 -> Standard message)
hudakz 8:5c90d6b9a382 174 *
hudakz 8:5c90d6b9a382 175 * @param mask: 'Filter mask' defines which bits of the 'Filter ID' are compared with the received bits
hudakz 8:5c90d6b9a382 176 * and which bits are disregarded.
hudakz 8:5c90d6b9a382 177
hudakz 8:5c90d6b9a382 178 * Mapping of 32-bits (4-bytes) : | STID[10:3] | STID[2:0] EXID[17:13] | EXID[12:5] | EXID[4:0] IDE RTR 0 |
hudakz 8:5c90d6b9a382 179 *
hudakz 8:5c90d6b9a382 180 * STID - Stardard Identifier bits
hudakz 8:5c90d6b9a382 181 * EXID - Extended Identifier bits
hudakz 8:5c90d6b9a382 182 * [x:y]- bit range
hudakz 8:5c90d6b9a382 183 * IDE - Identifier Extension bit
hudakz 8:5c90d6b9a382 184 * RTR - Remote Transmission Request bit
hudakz 8:5c90d6b9a382 185 *
hudakz 10:227a455d0f9f 186 * 1 -> bit is considered
hudakz 10:227a455d0f9f 187 * 0 -> bit is disregarded
hudakz 8:5c90d6b9a382 188 *
hudakz 10:227a455d0f9f 189 * ----------------------------------------
hudakz 10:227a455d0f9f 190 * Example of filter set up and filtering:
hudakz 10:227a455d0f9f 191 * ----------------------------------------
hudakz 10:227a455d0f9f 192 *
hudakz 10:227a455d0f9f 193 * Let's assume we would like to receive only messages
hudakz 10:227a455d0f9f 194 * with standard identifier STID = 0x0207 (STID[15:0] = 00000010 00000111)
hudakz 8:5c90d6b9a382 195 *
hudakz 8:5c90d6b9a382 196 * We map the STID to filter ID by shifting the bits appropriately:
hudakz 8:5c90d6b9a382 197 * Filter id = STID << (16 + (15 - 10)) = STID << 21 = 01000000 11100000 00000000 00000000 = 0x40E00000
hudakz 8:5c90d6b9a382 198 *
hudakz 8:5c90d6b9a382 199 * To compare only the bits representing STID we set the filter mask adequately:
hudakz 9:e9224f2c6d37 200 * Filter mask = 11111111 11100000 00000000 00000100 = 0xFFE00004
hudakz 14:0344705e6fb8 201 * |||||||| ||| |
hudakz 14:0344705e6fb8 202 * -------- --- |
hudakz 14:0344705e6fb8 203 * | | |
hudakz 14:0344705e6fb8 204 * STID[10:3] STID[2:0] IDE
hudakz 8:5c90d6b9a382 205 *
hudakz 20:bcd8161f8f6c 206 * Recall that filter #0 has been set up in the constructor to receive all CAN messages by default.
hudakz 9:e9224f2c6d37 207 * So we have to reconfigure it. If we were set up filter #1 here then filter #0 would receive all the messages
hudakz 8:5c90d6b9a382 208 * and no message would reach filter #1!
hudakz 9:e9224f2c6d37 209 *
hudakz 20:bcd8161f8f6c 210 * To reconfigure (set up) filter #0 we call:
hudakz 9:e9224f2c6d37 211 * can.filter(0x0207 << 21, 0xFFE00004, CANAny, 0);
hudakz 8:5c90d6b9a382 212 *
hudakz 20:bcd8161f8f6c 213 * Only these bits of 'Filter id' (set to 1 here in 'Filter mask') are compared with the corresponding
hudakz 9:e9224f2c6d37 214 * bits of received message (the others are disregarded)
hudakz 11:439f3a34c42e 215 * |
hudakz 11:439f3a34c42e 216 * ---------------------------------
hudakz 11:439f3a34c42e 217 * |||||||| ||| |
hudakz 9:e9224f2c6d37 218 * Filter mask = 11111111 11100000 00000000 00000100 (= 0xFFE00004)
hudakz 9:e9224f2c6d37 219 * Filter id = 01000000 11100000 00000000 00000000 (= 0x40E00000)
hudakz 11:439f3a34c42e 220 * |||||||| ||| |
hudakz 11:439f3a34c42e 221 * ---------------------------------
hudakz 11:439f3a34c42e 222 * |
hudakz 11:439f3a34c42e 223 * To receive the message the values of these bits must match.
hudakz 11:439f3a34c42e 224 * Otherwise the message is passed to the next filter or
hudakz 9:e9224f2c6d37 225 * discarded if this was the last active filter.
hudakz 11:439f3a34c42e 226 * |
hudakz 11:439f3a34c42e 227 * ---------------------------------
hudakz 11:439f3a34c42e 228 * |||||||| ||| |
hudakz 9:e9224f2c6d37 229 * Received id = 01000000 11100000 00000000 00000010 (= 0x40E00002)
hudakz 11:439f3a34c42e 230 * ||||| |||||||| ||||| ||
hudakz 11:439f3a34c42e 231 * -----------------------
hudakz 11:439f3a34c42e 232 * |
hudakz 20:bcd8161f8f6c 233 * These bits (set to 0 in 'Filter mask') are disregarded (masked).
hudakz 9:e9224f2c6d37 234 * They can have arbitrary values.
hudakz 8:5c90d6b9a382 235 *
hudakz 8:5c90d6b9a382 236 * NOTE: For the meaning of individual bits see the mapping of 32-bits explained above.
hudakz 8:5c90d6b9a382 237 *
hudakz 9:e9224f2c6d37 238 * @param format: This parameter must be CANAny
hudakz 9:e9224f2c6d37 239 * @param handle: Selects the filter. This parameter must be a number between 0 and 13.
hudakz 20:bcd8161f8f6c 240 * @retval 0 - successful
hudakz 20:bcd8161f8f6c 241 * 1 - error
hudakz 20:bcd8161f8f6c 242 * 2 - busy
hudakz 20:bcd8161f8f6c 243 * 3 - time out
hudakz 0:e29bc8e0dddd 244 */
hudakz 8:5c90d6b9a382 245 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format /* = CANAny */, int handle /* = 0 */) {
hudakz 25:353237492903 246 lock();
hudakz 25:353237492903 247 int ret = can_filter(id, mask, format, handle);
hudakz 25:353237492903 248 unlock();
hudakz 25:353237492903 249 return ret;
hudakz 0:e29bc8e0dddd 250 }
hudakz 0:e29bc8e0dddd 251
hudakz 0:e29bc8e0dddd 252 /**
hudakz 0:e29bc8e0dddd 253 * @brief Attaches handler funcion to CAN1 RX0 Interrupt
hudakz 0:e29bc8e0dddd 254 * @note Only CAN1 RX0 Interrupt supported
hudakz 0:e29bc8e0dddd 255 * @param fptr: pointer to a void (*)(void) function
hudakz 0:e29bc8e0dddd 256 * @param type: not used (only CAN1 RX0 Interrupt supported)
hudakz 0:e29bc8e0dddd 257 * @retval
hudakz 0:e29bc8e0dddd 258 */
hudakz 25:353237492903 259 void CAN::attach(mbed::Callback<void()> func, IrqType type) {
hudakz 25:353237492903 260 lock();
hudakz 14:0344705e6fb8 261 HAL_NVIC_DisableIRQ(CAN_IRQ);
hudakz 25:353237492903 262 if (func)
hudakz 25:353237492903 263 _irq[(CanIrqType)type].attach(func);
hudakz 14:0344705e6fb8 264 HAL_NVIC_EnableIRQ(CAN_IRQ);
hudakz 25:353237492903 265 unlock();
hudakz 0:e29bc8e0dddd 266 }
hudakz 0:e29bc8e0dddd 267
hudakz 0:e29bc8e0dddd 268 /**
hudakz 0:e29bc8e0dddd 269 * @brief
hudakz 0:e29bc8e0dddd 270 * @note
hudakz 0:e29bc8e0dddd 271 * @param
hudakz 0:e29bc8e0dddd 272 * @retval
hudakz 0:e29bc8e0dddd 273 */
hudakz 0:e29bc8e0dddd 274 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
hudakz 0:e29bc8e0dddd 275 CAN* handler = (CAN*)id;
hudakz 0:e29bc8e0dddd 276 handler->_irq[type].call();
hudakz 0:e29bc8e0dddd 277 }
hudakz 0:e29bc8e0dddd 278
hudakz 25:353237492903 279 void CAN::lock() {
hudakz 25:353237492903 280 _mutex.lock();
hudakz 25:353237492903 281 }
hudakz 25:353237492903 282
hudakz 25:353237492903 283 void CAN::unlock() {
hudakz 25:353237492903 284 _mutex.unlock();
hudakz 25:353237492903 285 }
hudakz 25:353237492903 286
hudakz 23:ea766d08c9db 287 } // namespace CANnucleo
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