DSP Book Yeditepe / mbed_f401re

mbed library sources with internal temperature sensor for nucleo f401

api/CAN.h@0:7e2bd16f80af, 2015-01-17 (annotated)

Committer:
elessair
Date:
Sat Jan 17 18:03:58 2015 +0000
Revision:
0:7e2bd16f80af
nucleo f401re internal temperature added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elessair 0:7e2bd16f80af 1 /* mbed Microcontroller Library
elessair 0:7e2bd16f80af 2 * Copyright (c) 2006-2013 ARM Limited
elessair 0:7e2bd16f80af 3 *
elessair 0:7e2bd16f80af 4 * Licensed under the Apache License, Version 2.0 (the "License");
elessair 0:7e2bd16f80af 5 * you may not use this file except in compliance with the License.
elessair 0:7e2bd16f80af 6 * You may obtain a copy of the License at
elessair 0:7e2bd16f80af 7 *
elessair 0:7e2bd16f80af 8 * http://www.apache.org/licenses/LICENSE-2.0
elessair 0:7e2bd16f80af 9 *
elessair 0:7e2bd16f80af 10 * Unless required by applicable law or agreed to in writing, software
elessair 0:7e2bd16f80af 11 * distributed under the License is distributed on an "AS IS" BASIS,
elessair 0:7e2bd16f80af 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
elessair 0:7e2bd16f80af 13 * See the License for the specific language governing permissions and
elessair 0:7e2bd16f80af 14 * limitations under the License.
elessair 0:7e2bd16f80af 15 */
elessair 0:7e2bd16f80af 16 #ifndef MBED_CAN_H
elessair 0:7e2bd16f80af 17 #define MBED_CAN_H
elessair 0:7e2bd16f80af 18
elessair 0:7e2bd16f80af 19 #include "platform.h"
elessair 0:7e2bd16f80af 20
elessair 0:7e2bd16f80af 21 #if DEVICE_CAN
elessair 0:7e2bd16f80af 22
elessair 0:7e2bd16f80af 23 #include "can_api.h"
elessair 0:7e2bd16f80af 24 #include "can_helper.h"
elessair 0:7e2bd16f80af 25 #include "FunctionPointer.h"
elessair 0:7e2bd16f80af 26
elessair 0:7e2bd16f80af 27 namespace mbed {
elessair 0:7e2bd16f80af 28
elessair 0:7e2bd16f80af 29 /** CANMessage class
elessair 0:7e2bd16f80af 30 */
elessair 0:7e2bd16f80af 31 class CANMessage : public CAN_Message {
elessair 0:7e2bd16f80af 32
elessair 0:7e2bd16f80af 33 public:
elessair 0:7e2bd16f80af 34 /** Creates empty CAN message.
elessair 0:7e2bd16f80af 35 */
elessair 0:7e2bd16f80af 36 CANMessage() : CAN_Message() {
elessair 0:7e2bd16f80af 37 len = 8;
elessair 0:7e2bd16f80af 38 type = CANData;
elessair 0:7e2bd16f80af 39 format = CANStandard;
elessair 0:7e2bd16f80af 40 id = 0;
elessair 0:7e2bd16f80af 41 memset(data, 0, 8);
elessair 0:7e2bd16f80af 42 }
elessair 0:7e2bd16f80af 43
elessair 0:7e2bd16f80af 44 /** Creates CAN message with specific content.
elessair 0:7e2bd16f80af 45 */
elessair 0:7e2bd16f80af 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
elessair 0:7e2bd16f80af 47 len = _len & 0xF;
elessair 0:7e2bd16f80af 48 type = _type;
elessair 0:7e2bd16f80af 49 format = _format;
elessair 0:7e2bd16f80af 50 id = _id;
elessair 0:7e2bd16f80af 51 memcpy(data, _data, _len);
elessair 0:7e2bd16f80af 52 }
elessair 0:7e2bd16f80af 53
elessair 0:7e2bd16f80af 54 /** Creates CAN remote message.
elessair 0:7e2bd16f80af 55 */
elessair 0:7e2bd16f80af 56 CANMessage(int _id, CANFormat _format = CANStandard) {
elessair 0:7e2bd16f80af 57 len = 0;
elessair 0:7e2bd16f80af 58 type = CANRemote;
elessair 0:7e2bd16f80af 59 format = _format;
elessair 0:7e2bd16f80af 60 id = _id;
elessair 0:7e2bd16f80af 61 memset(data, 0, 8);
elessair 0:7e2bd16f80af 62 }
elessair 0:7e2bd16f80af 63 };
elessair 0:7e2bd16f80af 64
elessair 0:7e2bd16f80af 65 /** A can bus client, used for communicating with can devices
elessair 0:7e2bd16f80af 66 */
elessair 0:7e2bd16f80af 67 class CAN {
elessair 0:7e2bd16f80af 68
elessair 0:7e2bd16f80af 69 public:
elessair 0:7e2bd16f80af 70 /** Creates an CAN interface connected to specific pins.
elessair 0:7e2bd16f80af 71 *
elessair 0:7e2bd16f80af 72 * @param rd read from transmitter
elessair 0:7e2bd16f80af 73 * @param td transmit to transmitter
elessair 0:7e2bd16f80af 74 *
elessair 0:7e2bd16f80af 75 * Example:
elessair 0:7e2bd16f80af 76 * @code
elessair 0:7e2bd16f80af 77 * #include "mbed.h"
elessair 0:7e2bd16f80af 78 *
elessair 0:7e2bd16f80af 79 * Ticker ticker;
elessair 0:7e2bd16f80af 80 * DigitalOut led1(LED1);
elessair 0:7e2bd16f80af 81 * DigitalOut led2(LED2);
elessair 0:7e2bd16f80af 82 * CAN can1(p9, p10);
elessair 0:7e2bd16f80af 83 * CAN can2(p30, p29);
elessair 0:7e2bd16f80af 84 *
elessair 0:7e2bd16f80af 85 * char counter = 0;
elessair 0:7e2bd16f80af 86 *
elessair 0:7e2bd16f80af 87 * void send() {
elessair 0:7e2bd16f80af 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
elessair 0:7e2bd16f80af 89 * printf("Message sent: %d\n", counter);
elessair 0:7e2bd16f80af 90 * counter++;
elessair 0:7e2bd16f80af 91 * }
elessair 0:7e2bd16f80af 92 * led1 = !led1;
elessair 0:7e2bd16f80af 93 * }
elessair 0:7e2bd16f80af 94 *
elessair 0:7e2bd16f80af 95 * int main() {
elessair 0:7e2bd16f80af 96 * ticker.attach(&send, 1);
elessair 0:7e2bd16f80af 97 * CANMessage msg;
elessair 0:7e2bd16f80af 98 * while(1) {
elessair 0:7e2bd16f80af 99 * if(can2.read(msg)) {
elessair 0:7e2bd16f80af 100 * printf("Message received: %d\n\n", msg.data[0]);
elessair 0:7e2bd16f80af 101 * led2 = !led2;
elessair 0:7e2bd16f80af 102 * }
elessair 0:7e2bd16f80af 103 * wait(0.2);
elessair 0:7e2bd16f80af 104 * }
elessair 0:7e2bd16f80af 105 * }
elessair 0:7e2bd16f80af 106 * @endcode
elessair 0:7e2bd16f80af 107 */
elessair 0:7e2bd16f80af 108 CAN(PinName rd, PinName td);
elessair 0:7e2bd16f80af 109 virtual ~CAN();
elessair 0:7e2bd16f80af 110
elessair 0:7e2bd16f80af 111 /** Set the frequency of the CAN interface
elessair 0:7e2bd16f80af 112 *
elessair 0:7e2bd16f80af 113 * @param hz The bus frequency in hertz
elessair 0:7e2bd16f80af 114 *
elessair 0:7e2bd16f80af 115 * @returns
elessair 0:7e2bd16f80af 116 * 1 if successful,
elessair 0:7e2bd16f80af 117 * 0 otherwise
elessair 0:7e2bd16f80af 118 */
elessair 0:7e2bd16f80af 119 int frequency(int hz);
elessair 0:7e2bd16f80af 120
elessair 0:7e2bd16f80af 121 /** Write a CANMessage to the bus.
elessair 0:7e2bd16f80af 122 *
elessair 0:7e2bd16f80af 123 * @param msg The CANMessage to write.
elessair 0:7e2bd16f80af 124 *
elessair 0:7e2bd16f80af 125 * @returns
elessair 0:7e2bd16f80af 126 * 0 if write failed,
elessair 0:7e2bd16f80af 127 * 1 if write was successful
elessair 0:7e2bd16f80af 128 */
elessair 0:7e2bd16f80af 129 int write(CANMessage msg);
elessair 0:7e2bd16f80af 130
elessair 0:7e2bd16f80af 131 /** Read a CANMessage from the bus.
elessair 0:7e2bd16f80af 132 *
elessair 0:7e2bd16f80af 133 * @param msg A CANMessage to read to.
elessair 0:7e2bd16f80af 134 * @param handle message filter handle (0 for any message)
elessair 0:7e2bd16f80af 135 *
elessair 0:7e2bd16f80af 136 * @returns
elessair 0:7e2bd16f80af 137 * 0 if no message arrived,
elessair 0:7e2bd16f80af 138 * 1 if message arrived
elessair 0:7e2bd16f80af 139 */
elessair 0:7e2bd16f80af 140 int read(CANMessage &msg, int handle = 0);
elessair 0:7e2bd16f80af 141
elessair 0:7e2bd16f80af 142 /** Reset CAN interface.
elessair 0:7e2bd16f80af 143 *
elessair 0:7e2bd16f80af 144 * To use after error overflow.
elessair 0:7e2bd16f80af 145 */
elessair 0:7e2bd16f80af 146 void reset();
elessair 0:7e2bd16f80af 147
elessair 0:7e2bd16f80af 148 /** Puts or removes the CAN interface into silent monitoring mode
elessair 0:7e2bd16f80af 149 *
elessair 0:7e2bd16f80af 150 * @param silent boolean indicating whether to go into silent mode or not
elessair 0:7e2bd16f80af 151 */
elessair 0:7e2bd16f80af 152 void monitor(bool silent);
elessair 0:7e2bd16f80af 153
elessair 0:7e2bd16f80af 154 enum Mode {
elessair 0:7e2bd16f80af 155 Reset = 0,
elessair 0:7e2bd16f80af 156 Normal,
elessair 0:7e2bd16f80af 157 Silent,
elessair 0:7e2bd16f80af 158 LocalTest,
elessair 0:7e2bd16f80af 159 GlobalTest,
elessair 0:7e2bd16f80af 160 SilentTest
elessair 0:7e2bd16f80af 161 };
elessair 0:7e2bd16f80af 162
elessair 0:7e2bd16f80af 163 /** Change CAN operation to the specified mode
elessair 0:7e2bd16f80af 164 *
elessair 0:7e2bd16f80af 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
elessair 0:7e2bd16f80af 166 *
elessair 0:7e2bd16f80af 167 * @returns
elessair 0:7e2bd16f80af 168 * 0 if mode change failed or unsupported,
elessair 0:7e2bd16f80af 169 * 1 if mode change was successful
elessair 0:7e2bd16f80af 170 */
elessair 0:7e2bd16f80af 171 int mode(Mode mode);
elessair 0:7e2bd16f80af 172
elessair 0:7e2bd16f80af 173 /** Filter out incomming messages
elessair 0:7e2bd16f80af 174 *
elessair 0:7e2bd16f80af 175 * @param id the id to filter on
elessair 0:7e2bd16f80af 176 * @param mask the mask applied to the id
elessair 0:7e2bd16f80af 177 * @param format format to filter on (Default CANAny)
elessair 0:7e2bd16f80af 178 * @param handle message filter handle (Optional)
elessair 0:7e2bd16f80af 179 *
elessair 0:7e2bd16f80af 180 * @returns
elessair 0:7e2bd16f80af 181 * 0 if filter change failed or unsupported,
elessair 0:7e2bd16f80af 182 * new filter handle if successful
elessair 0:7e2bd16f80af 183 */
elessair 0:7e2bd16f80af 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
elessair 0:7e2bd16f80af 185
elessair 0:7e2bd16f80af 186 /** Returns number of read errors to detect read overflow errors.
elessair 0:7e2bd16f80af 187 */
elessair 0:7e2bd16f80af 188 unsigned char rderror();
elessair 0:7e2bd16f80af 189
elessair 0:7e2bd16f80af 190 /** Returns number of write errors to detect write overflow errors.
elessair 0:7e2bd16f80af 191 */
elessair 0:7e2bd16f80af 192 unsigned char tderror();
elessair 0:7e2bd16f80af 193
elessair 0:7e2bd16f80af 194 enum IrqType {
elessair 0:7e2bd16f80af 195 RxIrq = 0,
elessair 0:7e2bd16f80af 196 TxIrq,
elessair 0:7e2bd16f80af 197 EwIrq,
elessair 0:7e2bd16f80af 198 DoIrq,
elessair 0:7e2bd16f80af 199 WuIrq,
elessair 0:7e2bd16f80af 200 EpIrq,
elessair 0:7e2bd16f80af 201 AlIrq,
elessair 0:7e2bd16f80af 202 BeIrq,
elessair 0:7e2bd16f80af 203 IdIrq
elessair 0:7e2bd16f80af 204 };
elessair 0:7e2bd16f80af 205
elessair 0:7e2bd16f80af 206 /** Attach a function to call whenever a CAN frame received interrupt is
elessair 0:7e2bd16f80af 207 * generated.
elessair 0:7e2bd16f80af 208 *
elessair 0:7e2bd16f80af 209 * @param fptr A pointer to a void function, or 0 to set as none
elessair 0:7e2bd16f80af 210 * @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)
elessair 0:7e2bd16f80af 211 */
elessair 0:7e2bd16f80af 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
elessair 0:7e2bd16f80af 213
elessair 0:7e2bd16f80af 214 /** Attach a member function to call whenever a CAN frame received interrupt
elessair 0:7e2bd16f80af 215 * is generated.
elessair 0:7e2bd16f80af 216 *
elessair 0:7e2bd16f80af 217 * @param tptr pointer to the object to call the member function on
elessair 0:7e2bd16f80af 218 * @param mptr pointer to the member function to be called
elessair 0:7e2bd16f80af 219 * @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)
elessair 0:7e2bd16f80af 220 */
elessair 0:7e2bd16f80af 221 template<typename T>
elessair 0:7e2bd16f80af 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
elessair 0:7e2bd16f80af 223 if((mptr != NULL) && (tptr != NULL)) {
elessair 0:7e2bd16f80af 224 _irq[type].attach(tptr, mptr);
elessair 0:7e2bd16f80af 225 can_irq_set(&_can, (CanIrqType)type, 1);
elessair 0:7e2bd16f80af 226 }
elessair 0:7e2bd16f80af 227 else {
elessair 0:7e2bd16f80af 228 can_irq_set(&_can, (CanIrqType)type, 0);
elessair 0:7e2bd16f80af 229 }
elessair 0:7e2bd16f80af 230 }
elessair 0:7e2bd16f80af 231
elessair 0:7e2bd16f80af 232 static void _irq_handler(uint32_t id, CanIrqType type);
elessair 0:7e2bd16f80af 233
elessair 0:7e2bd16f80af 234 protected:
elessair 0:7e2bd16f80af 235 can_t _can;
elessair 0:7e2bd16f80af 236 FunctionPointer _irq[9];
elessair 0:7e2bd16f80af 237 };
elessair 0:7e2bd16f80af 238
elessair 0:7e2bd16f80af 239 } // namespace mbed
elessair 0:7e2bd16f80af 240
elessair 0:7e2bd16f80af 241 #endif
elessair 0:7e2bd16f80af 242
elessair 0:7e2bd16f80af 243 #endif // MBED_CAN_H