Commit Iniziale, progetto funzionante caricato su box ETcontroller in
cantina
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262
mbed/drivers/CAN.h
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262
mbed/drivers/CAN.h
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/* mbed Microcontroller Library
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* Copyright (c) 2006-2013 ARM Limited
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef MBED_CAN_H
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#define MBED_CAN_H
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#include "platform/platform.h"
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#if DEVICE_CAN
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#include "hal/can_api.h"
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#include "platform/Callback.h"
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#include "platform/PlatformMutex.h"
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namespace mbed {
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/** \addtogroup drivers */
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/** @{*/
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/** CANMessage class
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*
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* @Note Synchronization level: Thread safe
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*/
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class CANMessage : public CAN_Message {
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public:
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/** Creates empty CAN message.
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*/
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CANMessage() : CAN_Message() {
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len = 8;
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type = CANData;
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format = CANStandard;
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id = 0;
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memset(data, 0, 8);
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}
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/** Creates CAN message with specific content.
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*/
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CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
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len = _len & 0xF;
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type = _type;
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format = _format;
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id = _id;
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memcpy(data, _data, _len);
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}
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/** Creates CAN remote message.
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*/
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CANMessage(int _id, CANFormat _format = CANStandard) {
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len = 0;
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type = CANRemote;
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format = _format;
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id = _id;
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memset(data, 0, 8);
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}
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};
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/** A can bus client, used for communicating with can devices
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*/
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class CAN {
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public:
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/** Creates an CAN interface connected to specific pins.
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*
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* @param rd read from transmitter
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* @param td transmit to transmitter
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*
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* Example:
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* @code
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* #include "mbed.h"
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*
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* Ticker ticker;
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* DigitalOut led1(LED1);
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* DigitalOut led2(LED2);
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* CAN can1(p9, p10);
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* CAN can2(p30, p29);
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*
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* char counter = 0;
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*
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* void send() {
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* if(can1.write(CANMessage(1337, &counter, 1))) {
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* printf("Message sent: %d\n", counter);
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* counter++;
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* }
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* led1 = !led1;
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* }
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*
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* int main() {
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* ticker.attach(&send, 1);
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* CANMessage msg;
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* while(1) {
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* if(can2.read(msg)) {
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* printf("Message received: %d\n\n", msg.data[0]);
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* led2 = !led2;
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* }
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* wait(0.2);
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* }
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* }
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* @endcode
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*/
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CAN(PinName rd, PinName td);
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virtual ~CAN();
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/** Set the frequency of the CAN interface
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*
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* @param hz The bus frequency in hertz
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*
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* @returns
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* 1 if successful,
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* 0 otherwise
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*/
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int frequency(int hz);
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/** Write a CANMessage to the bus.
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*
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* @param msg The CANMessage to write.
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*
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* @returns
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* 0 if write failed,
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* 1 if write was successful
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*/
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int write(CANMessage msg);
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/** Read a CANMessage from the bus.
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*
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* @param msg A CANMessage to read to.
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* @param handle message filter handle (0 for any message)
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*
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* @returns
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* 0 if no message arrived,
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* 1 if message arrived
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*/
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int read(CANMessage &msg, int handle = 0);
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/** Reset CAN interface.
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*
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* To use after error overflow.
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*/
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void reset();
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/** Puts or removes the CAN interface into silent monitoring mode
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*
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* @param silent boolean indicating whether to go into silent mode or not
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*/
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void monitor(bool silent);
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enum Mode {
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Reset = 0,
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Normal,
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Silent,
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LocalTest,
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GlobalTest,
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SilentTest
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};
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/** Change CAN operation to the specified mode
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*
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* @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
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*
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* @returns
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* 0 if mode change failed or unsupported,
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* 1 if mode change was successful
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*/
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int mode(Mode mode);
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/** Filter out incomming messages
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*
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* @param id the id to filter on
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* @param mask the mask applied to the id
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* @param format format to filter on (Default CANAny)
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* @param handle message filter handle (Optional)
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*
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* @returns
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* 0 if filter change failed or unsupported,
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* new filter handle if successful
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*/
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int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
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/** Returns number of read errors to detect read overflow errors.
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*/
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unsigned char rderror();
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/** Returns number of write errors to detect write overflow errors.
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*/
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unsigned char tderror();
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enum IrqType {
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RxIrq = 0,
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TxIrq,
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EwIrq,
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DoIrq,
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WuIrq,
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EpIrq,
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AlIrq,
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BeIrq,
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IdIrq,
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IrqCnt
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};
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/** Attach a function to call whenever a CAN frame received interrupt is
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* generated.
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*
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* @param func A pointer to a void function, or 0 to set as none
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* @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)
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*/
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void attach(Callback<void()> func, IrqType type=RxIrq);
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/** Attach a member function to call whenever a CAN frame received interrupt
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* is generated.
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*
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* @param obj pointer to the object to call the member function on
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* @param method pointer to the member function to be called
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* @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)
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*/
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template<typename T>
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void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
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// Underlying call thread safe
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attach(Callback<void()>(obj, method), type);
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}
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/** Attach a member function to call whenever a CAN frame received interrupt
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* is generated.
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*
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* @param obj pointer to the object to call the member function on
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* @param method pointer to the member function to be called
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* @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)
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*/
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template<typename T>
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void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
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// Underlying call thread safe
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attach(Callback<void()>(obj, method), type);
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}
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static void _irq_handler(uint32_t id, CanIrqType type);
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protected:
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virtual void lock();
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virtual void unlock();
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can_t _can;
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Callback<void()> _irq[IrqCnt];
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PlatformMutex _mutex;
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};
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} // namespace mbed
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#endif
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#endif // MBED_CAN_H
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/** @}*/
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