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Merge pull request #14336 from AGlass0fMilk/polymorphic-can
Implement polymorphism for CAN driver
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,187 @@ | ||
| /* | ||
| * Mbed-OS Microcontroller Library | ||
| * Copyright (c) 2021 Embedded Planet | ||
| * Copyright (c) 2021 ARM Limited | ||
| * SPDX-License-Identifier: Apache-2.0 | ||
| * | ||
| * 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 | ||
| */ | ||
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| #ifndef MBED_INTERFACE_CAN_H_ | ||
| #define MBED_INTERFACE_CAN_H_ | ||
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| #include "hal/can_helper.h" | ||
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| #include <cstring> | ||
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| #include "platform/Callback.h" | ||
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| namespace mbed { | ||
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| #ifndef FEATURE_EXPERIMENTAL_API | ||
| // Forward declare CAN | ||
| class CAN; | ||
| #endif | ||
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| /** \defgroup drivers-public-api-can CAN | ||
| * \ingroup drivers-public-api | ||
| */ | ||
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| /** | ||
| * \defgroup drivers_CANMessage CANMessage class | ||
| * \ingroup drivers-public-api-can | ||
| * @{ | ||
| */ | ||
|
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| /** CANMessage class | ||
| * | ||
| * @note Synchronization level: Thread safe | ||
| */ | ||
| class CANMessage : public CAN_Message { | ||
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| public: | ||
| /** Creates empty CAN message. | ||
| */ | ||
| CANMessage() : CAN_Message() | ||
| { | ||
| len = 8U; | ||
| type = CANData; | ||
| format = CANStandard; | ||
| id = 0U; | ||
| memset(data, 0, 8); | ||
| } | ||
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| /** 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 int _id, const unsigned char *_data, unsigned char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) | ||
| { | ||
| len = (_len > 8) ? 8 : _len; | ||
| type = _type; | ||
| format = _format; | ||
| id = _id; | ||
| memcpy(data, _data, len); | ||
| } | ||
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| /** 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 int _id, const char *_data, unsigned char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) | ||
| { | ||
| len = (_len > 8) ? 8 : _len; | ||
| type = _type; | ||
| format = _format; | ||
| id = _id; | ||
| memcpy(data, _data, len); | ||
| } | ||
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| /** Creates CAN remote message. | ||
| * | ||
| * @param _id Message ID | ||
| * @param _format Data Format: Use enum CANType for valid parameter values | ||
| */ | ||
| CANMessage(unsigned int _id, CANFormat _format = CANStandard) | ||
| { | ||
| len = 0; | ||
| type = CANRemote; | ||
| format = _format; | ||
| id = _id; | ||
| memset(data, 0, 8); | ||
| } | ||
| }; | ||
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| /** @}*/ | ||
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| namespace interface { | ||
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| /* Having this as a struct allows interface::CAN and/or mbed::CAN to inherit the enums */ | ||
| struct can { | ||
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| enum Mode { | ||
| Reset = 0, | ||
| Normal, | ||
| Silent, | ||
| LocalTest, | ||
| GlobalTest, | ||
| SilentTest | ||
| }; | ||
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| enum IrqType { | ||
| RxIrq = 0, | ||
| TxIrq, | ||
| EwIrq, | ||
| DoIrq, | ||
| WuIrq, | ||
| EpIrq, | ||
| AlIrq, | ||
| BeIrq, | ||
| IdIrq, | ||
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| IrqCnt | ||
| }; | ||
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| // Prevent slicing and user creation of base class. | ||
| protected: | ||
| can() = default; | ||
| ~can() = default; | ||
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| public: | ||
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| /* Copy constructor and copy assignment operators will be deleted in subclasses as well */ | ||
| can(const can &) = delete; | ||
| can &operator=(const can &) = delete; | ||
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| }; | ||
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| #ifdef FEATURE_EXPERIMENTAL_API | ||
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| // Pure virtual interface for CAN | ||
| struct CAN : public interface::can { | ||
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| virtual ~CAN() = default; | ||
| virtual int frequency(int hz) = 0; | ||
| virtual int write(CANMessage msg) = 0; | ||
| virtual int read(CANMessage &msg, int handle = 0) = 0; | ||
| virtual void reset() = 0; | ||
| virtual void monitor(bool silent) = 0; | ||
| virtual int mode(Mode mode) = 0; | ||
| virtual int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0) = 0; | ||
| virtual unsigned char rderror() = 0; | ||
| virtual unsigned char tderror() = 0; | ||
| virtual void attach(Callback<void()> func, IrqType type = IrqType::RxIrq) = 0; | ||
| }; | ||
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| #else | ||
| using CAN = ::mbed::CAN; | ||
| #endif | ||
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| } // namespace interface | ||
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| #if defined(FEATURE_EXPERIMENTAL_API) && !DEVICE_CAN | ||
| using CAN = interface::CAN; | ||
| #endif | ||
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| } // namespace mbed | ||
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| #endif /* MBED_INTERFACE_CAN_H_ */ |
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