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mbed-os/drivers/CAN.h

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/* mbed Microcontroller Library
* Copyright (c) 2006-2013 ARM Limited
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef MBED_CAN_H
#define MBED_CAN_H
#include "platform/platform.h"
#if defined (DEVICE_CAN) || defined(DOXYGEN_ONLY)
#include "hal/can_api.h"
#include "platform/Callback.h"
#include "platform/PlatformMutex.h"
#include "platform/NonCopyable.h"
namespace mbed {
/** \addtogroup drivers */
/** CANMessage class
*
* @note Synchronization level: Thread safe
* @ingroup drivers
*/
class CANMessage : public CAN_Message {
public:
/** Creates empty CAN message.
*/
CANMessage() : CAN_Message()
{
len = 8;
type = CANData;
format = CANStandard;
id = 0;
memset(data, 0, 8);
}
/** Creates CAN message with specific content.
*
* @param _id Message ID
* @param _data Mesaage Data
* @param _len Message Data length
* @param _type Type of Data: Use enum CANType for valid parameter values
* @param _format Data Format: Use enum CANFormat for valid parameter values
*/
CANMessage(unsigned _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard)
{
len = _len & 0xF;
type = _type;
format = _format;
id = _id;
memcpy(data, _data, _len);
}
/** Creates CAN remote message.
*
* @param _id Message ID
* @param _format Data Format: Use enum CANType for valid parameter values
*/
CANMessage(unsigned _id, CANFormat _format = CANStandard)
{
len = 0;
type = CANRemote;
format = _format;
id = _id;
memset(data, 0, 8);
}
};
/** A can bus client, used for communicating with can devices
* @ingroup drivers
*/
class CAN : private NonCopyable<CAN> {
public:
/** Creates an CAN interface connected to specific pins.
*
* @param rd read from transmitter
* @param td transmit to transmitter
*
* Example:
* @code
* #include "mbed.h"
*
* Ticker ticker;
* DigitalOut led1(LED1);
* DigitalOut led2(LED2);
* CAN can1(p9, p10);
* CAN can2(p30, p29);
*
* char counter = 0;
*
* void send() {
* if(can1.write(CANMessage(1337, &counter, 1))) {
* printf("Message sent: %d\n", counter);
* counter++;
* }
* led1 = !led1;
* }
*
* int main() {
* ticker.attach(&send, 1);
* CANMessage msg;
* while(1) {
* if(can2.read(msg)) {
* printf("Message received: %d\n\n", msg.data[0]);
* led2 = !led2;
* }
* wait(0.2);
* }
* }
* @endcode
*/
CAN(PinName rd, PinName td);
/** Initialize CAN interface and set the frequency
*
* @param rd the rd pin
* @param td the td pin
* @param hz the bus frequency in hertz
*/
CAN(PinName rd, PinName td, int hz);
virtual ~CAN();
/** Set the frequency of the CAN interface
*
* @param hz The bus frequency in hertz
*
* @returns
* 1 if successful,
* 0 otherwise
*/
int frequency(int hz);
/** Write a CANMessage to the bus.
*
* @param msg The CANMessage to write.
*
* @returns
* 0 if write failed,
* 1 if write was successful
*/
int write(CANMessage msg);
/** Read a CANMessage from the bus.
*
* @param msg A CANMessage to read to.
* @param handle message filter handle (0 for any message)
*
* @returns
* 0 if no message arrived,
* 1 if message arrived
*/
int read(CANMessage &msg, int handle = 0);
/** Reset CAN interface.
*
* To use after error overflow.
*/
void reset();
/** Puts or removes the CAN interface into silent monitoring mode
*
* @param silent boolean indicating whether to go into silent mode or not
*/
void monitor(bool silent);
enum Mode {
Reset = 0,
Normal,
Silent,
LocalTest,
GlobalTest,
SilentTest
};
/** Change CAN operation to the specified mode
*
* @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
*
* @returns
* 0 if mode change failed or unsupported,
* 1 if mode change was successful
*/
int mode(Mode mode);
/** Filter out incomming messages
*
* @param id the id to filter on
* @param mask the mask applied to the id
* @param format format to filter on (Default CANAny)
* @param handle message filter handle (Optional)
*
* @returns
* 0 if filter change failed or unsupported,
* new filter handle if successful
*/
int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
/** Detects read errors - Used to detect read overflow errors.
*
* @returns number of read errors
*/
unsigned char rderror();
/** Detects write errors - Used to detect write overflow errors.
*
* @returns number of write errors
*/
unsigned char tderror();
enum IrqType {
RxIrq = 0,
TxIrq,
EwIrq,
DoIrq,
WuIrq,
EpIrq,
AlIrq,
BeIrq,
IdIrq,
IrqCnt
};
/** Attach a function to call whenever a CAN frame received interrupt is
* generated.
*
* This function locks the deep sleep while a callback is attached
*
* @param func A pointer to a void function, or 0 to set as none
* @param type 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)
*/
void attach(Callback<void()> func, IrqType type = RxIrq);
/** Attach a member function to call whenever a CAN frame received interrupt
* is generated.
*
* @param obj pointer to the object to call the member function on
* @param method pointer to the member function to be called
* @param type 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)
* @deprecated
* The attach function does not support cv-qualifiers. Replaced by
* attach(callback(obj, method), type).
*/
template<typename T>
MBED_DEPRECATED_SINCE("mbed-os-5.1",
"The attach function does not support cv-qualifiers. Replaced by "
"attach(callback(obj, method), type).")
void attach(T *obj, void (T::*method)(), IrqType type = RxIrq)
{
// Underlying call thread safe
attach(callback(obj, method), type);
}
/** Attach a member function to call whenever a CAN frame received interrupt
* is generated.
*
* @param obj pointer to the object to call the member function on
* @param method pointer to the member function to be called
* @param type 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)
* @deprecated
* The attach function does not support cv-qualifiers. Replaced by
* attach(callback(obj, method), type).
*/
template<typename T>
MBED_DEPRECATED_SINCE("mbed-os-5.1",
"The attach function does not support cv-qualifiers. Replaced by "
"attach(callback(obj, method), type).")
void attach(T *obj, void (*method)(T *), IrqType type = RxIrq)
{
// Underlying call thread safe
attach(callback(obj, method), type);
}
static void _irq_handler(uint32_t id, CanIrqType type);
protected:
virtual void lock();
virtual void unlock();
can_t _can;
Callback<void()> _irq[IrqCnt];
PlatformMutex _mutex;
};
} // namespace mbed
#endif
#endif // MBED_CAN_H
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