CAN driver implementation using an mbed-supported CAN device. More...

Inheritance diagram for MbedCanDriver:

Public Types
enum	Instance { CAN1 , CAN2 }
	Which hardware device to use. More...

Public Member Functions
	MbedCanDriver (Instance instance, const char *dev, int frequency)
	Constructor.

Public Member Functions inherited from Can
int	available ()

int	availableForWrite ()

int	read (struct can_frame *frame)
	Read a frame if there is one available.

int	write (const struct can_frame *frame)
	Send a frame if there is space available.

Public Member Functions inherited from Device
	Device (const char *name)
	Constructor.

virtual	~Device ()
	Destructor.

Private Member Functions
void	enable () override
	function to enable device

void	disable () override
	function to enable device

void	flush_buffers () override
	function to disable device

void	interrupt ()
	called after disabling the dev

void	tx_msg () OVERRIDE
	Try and transmit a message.

Private Attributes
mbed::CAN	mbedCan_
	mBed CAN implementation object.

volatile uint32_t *	SR_
	Status register.

char	txPending_
	Whether we have an output frame pending (1) or the output frame is free (0).

Additional Inherited Members
Static Public Member Functions inherited from Device
static int	open (struct _reent reent, const char path, int flags, int mode)
	Open a file or device.

static int	close (struct _reent *reent, int fd)
	Close a file or device.

static int	stat (struct _reent reent, const char path, struct stat *stat)
	Get the status information of a file or device.

static int	select (int nfds, fd_set readfds, fd_set writefds, fd_set *exceptfds, long long timeout)
	POSIX select().

static void	select_clear ()
	Clears the current thread's select bits.

Static Public Member Functions inherited from FileIO
static ssize_t	read (struct _reent reent, int fd, void buf, size_t count)
	Read from a file or device.

static ssize_t	write (struct _reent reent, int fd, const void buf, size_t count)
	Write to a file or device.

static _off_t	lseek (struct _reent *reent, int fd, _off_t offset, int whence)
	Change the offset index of a file or device.

static int	fstat (struct _reent reent, int fd, struct stat stat)
	Get the status information of a file or device.

static int	ioctl (int fd, unsigned long int key, unsigned long data)
	Request and ioctl transaction.

static int	fcntl (int fd, int cmd, unsigned long data)
	Manipulate a file descriptor.

static bool	is_device (int fd)
	Test if the file descriptor belongs to a device.

Static Public Attributes inherited from Can
static unsigned	numReceivedPackets_ {0}

static unsigned	numTransmittedPackets_ {0}

Protected Member Functions inherited from Can
	Can (const char *ignored)
	Constructor.

	~Can ()
	Destructor.

	Can (const char *name, size_t tx_buffer_size=config_can_tx_buffer_size(), size_t rx_buffer_size=config_can_rx_buffer_size())
	Constructor.

	~Can ()
	Destructor.

bool	has_tx_buffer_space () OVERRIDE

bool	has_rx_buffer_data () OVERRIDE

ssize_t	read (File file, void buf, size_t count) OVERRIDE
	Read from a file or device.

ssize_t	write (File file, const void buf, size_t count) OVERRIDE
	Write to a file or device.

bool	select (File *file, int mode) OVERRIDE
	Device select method.

Protected Member Functions inherited from Atomic
void	lock ()

void	unlock ()

Protected Member Functions inherited from NonBlockNode
	NonBlockNode (const char *name)
	Constructor.

int	ioctl (File *file, unsigned long int key, unsigned long data) OVERRIDE
	Request an ioctl transaction.

Protected Member Functions inherited from Node
	Node (const char *name)
	Constructor.

virtual	~Node ()
	Destructor.

int	open (File , const char , int, int) OVERRIDE
	Open method.

int	close (File *) OVERRIDE
	Close method.

virtual int	fstat (File file, struct stat stat) override
	Get the status information of a file or device.

	Device (const char *name)
	Constructor.

virtual	~Device ()
	Destructor.

Protected Member Functions inherited from FileIO
	FileIO (const char *name)
	Constructor.

virtual	~FileIO ()
	Destructor.

virtual off_t	lseek (File *f, off_t offset, int whence)
	Seek method.

virtual int	fcntl (File *file, int cmd, unsigned long data)
	Manipulate a file descriptor.

Static Protected Member Functions inherited from Device
static void	select_insert (SelectInfo *info)
	Add client to list of clients needing woken.

static void	select_wakeup (SelectInfo *info)
	Wakeup the list of clients needing woken.

static void	select_wakeup_from_isr (SelectInfo info, int woken)
	Wakeup the list of clients needing woken.

static int	open (struct _reent reent, const char path, int flags, int mode)
	Open a file or device.

static int	close (struct _reent *reent, int fd)
	Close a file or device.

static int	stat (struct _reent reent, const char path, struct stat *stat)
	Get the status information of a file or device.

static int	select (int nfds, fd_set readfds, fd_set writefds, fd_set *exceptfds, long long timeout)
	POSIX select().

static void	select_clear ()
	Clears the current thread's select bits.

Static Protected Member Functions inherited from FileIO
static int	fd_alloc (void)
	Allocate a free file descriptor.

static void	fd_free (int fd)
	Free up a file descriptor.

static File *	file_lookup (int fd)
	Looks up a reference to a File corresponding to a given file descriptor.

static int	fd_lookup (File *file)
	Looks up a file descriptor corresponding to a given File reference.

static ssize_t	read (struct _reent reent, int fd, void buf, size_t count)
	Read from a file or device.

static ssize_t	write (struct _reent reent, int fd, const void buf, size_t count)
	Write to a file or device.

static _off_t	lseek (struct _reent *reent, int fd, _off_t offset, int whence)
	Change the offset index of a file or device.

static int	fstat (struct _reent reent, int fd, struct stat stat)
	Get the status information of a file or device.

static int	ioctl (int fd, unsigned long int key, unsigned long data)
	Request and ioctl transaction.

static int	fcntl (int fd, int cmd, unsigned long data)
	Manipulate a file descriptor.

static bool	is_device (int fd)
	Test if the file descriptor belongs to a device.

Protected Attributes inherited from Can
DeviceBuffer< struct can_frame > *	txBuf
	transmit buffer

DeviceBuffer< struct can_frame > *	rxBuf
	receive buffer

unsigned int	overrunCount
	overrun count

unsigned int	busOffCount
	bus-off count

unsigned int	softErrorCount
	soft error count

Protected Attributes inherited from NonBlockNode
Notifiable *	readableNotify_
	This will be notified if the device has data avilable for read.

Notifiable *	writableNotify_
	This will be notified if the device has buffer avilable for write.

Protected Attributes inherited from Node
OSMutex	lock_
	protects internal structures.

mode_t	mode_
	File open mode, such as O_NONBLOCK.

unsigned int	references_
	number of open references

Protected Attributes inherited from FileIO
const char *	name
	device name

Static Protected Attributes inherited from FileIO
static const unsigned int	numOpenFiles = 20

static File	files []
	File descriptor pool.

static OSMutex	mutex
	mutual exclusion for fileio

Detailed Description

CAN driver implementation using an mbed-supported CAN device.

Currently the pin numbers are hard-coded for the LPC1768 and LPC2387 devices.

This driver does supports select-based asynchronous operation.

Definition at line 59 of file mbed_can.cpp.

Member Enumeration Documentation

◆ Instance

enum MbedCanDriver::Instance

Which hardware device to use.

Definition at line 63 of file mbed_can.cpp.

Constructor & Destructor Documentation

◆ MbedCanDriver()

MbedCanDriver::MbedCanDriver	(	Instance	instance,
		const char *	dev,
		int	frequency
	)

inline

Constructor.

Parameters

instance	Which hardware device to use.
dev	filename of the device to export (e.g. "/dev/can0");
frequency	CAN bus speed (e.g. 125000).

Definition at line 72 of file mbed_can.cpp.

Member Function Documentation

◆ disable()

void MbedCanDriver::disable ( )

inlineoverrideprivatevirtual

function to enable device

Implements Can.

Definition at line 83 of file mbed_can.cpp.

◆ enable()

void MbedCanDriver::enable ( )

inlineoverrideprivatevirtual

function to enable device

Implements Can.

Definition at line 82 of file mbed_can.cpp.

◆ flush_buffers()

void MbedCanDriver::flush_buffers ( )

inlineoverrideprivatevirtual

function to disable device

Reimplemented from Can.

Definition at line 84 of file mbed_can.cpp.

◆ interrupt()

void MbedCanDriver::interrupt ( )

private

called after disabling the dev

Handler for CAN device.

Called from the mbed irq handler.

Todo:: (balazs.racz): need to see what needs to be done for acking the interrupt, depending on what the interrupt fnction attributes say.

Definition at line 141 of file mbed_can.cpp.

◆ tx_msg()

void MbedCanDriver::tx_msg ( )

privatevirtual

Try and transmit a message.

Does nothing if there is no message to transmit or no write buffers to transmit via.

Todo:: (balazs.racz): think about how we could do with a shorter critical section. The problem is that an ISR might decide to send off the next frame ahead of us.

Implements Can.

Definition at line 101 of file mbed_can.cpp.

Member Data Documentation

◆ mbedCan_

mbed::CAN MbedCanDriver::mbedCan_

private

mBed CAN implementation object.

Definition at line 90 of file mbed_can.cpp.

◆ SR_

volatile uint32_t* MbedCanDriver::SR_

private

Status register.

Definition at line 92 of file mbed_can.cpp.

◆ txPending_

char MbedCanDriver::txPending_

private

Whether we have an output frame pending (1) or the output frame is free (0).

Definition at line 95 of file mbed_can.cpp.

The documentation for this class was generated from the following file:

mbed_can.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Instance

Constructor & Destructor Documentation

◆ MbedCanDriver()

Member Function Documentation

◆ disable()

◆ enable()

◆ flush_buffers()

◆ interrupt()

◆ tx_msg()

Member Data Documentation

◆ mbedCan_

◆ SR_

◆ txPending_