MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/drivers/CAN.h@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2013 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #ifndef MBED_CAN_H
sahilmgandhi 18:6a4db94011d3 17 #define MBED_CAN_H
sahilmgandhi 18:6a4db94011d3 18
sahilmgandhi 18:6a4db94011d3 19 #include "platform/platform.h"
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21 #if DEVICE_CAN
sahilmgandhi 18:6a4db94011d3 22
sahilmgandhi 18:6a4db94011d3 23 #include "hal/can_api.h"
sahilmgandhi 18:6a4db94011d3 24 #include "platform/Callback.h"
sahilmgandhi 18:6a4db94011d3 25 #include "platform/PlatformMutex.h"
sahilmgandhi 18:6a4db94011d3 26
sahilmgandhi 18:6a4db94011d3 27 namespace mbed {
sahilmgandhi 18:6a4db94011d3 28 /** \addtogroup drivers */
sahilmgandhi 18:6a4db94011d3 29 /** @{*/
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31 /** CANMessage class
sahilmgandhi 18:6a4db94011d3 32 *
sahilmgandhi 18:6a4db94011d3 33 * @Note Synchronization level: Thread safe
sahilmgandhi 18:6a4db94011d3 34 */
sahilmgandhi 18:6a4db94011d3 35 class CANMessage : public CAN_Message {
sahilmgandhi 18:6a4db94011d3 36
sahilmgandhi 18:6a4db94011d3 37 public:
sahilmgandhi 18:6a4db94011d3 38 /** Creates empty CAN message.
sahilmgandhi 18:6a4db94011d3 39 */
sahilmgandhi 18:6a4db94011d3 40 CANMessage() : CAN_Message() {
sahilmgandhi 18:6a4db94011d3 41 len = 8;
sahilmgandhi 18:6a4db94011d3 42 type = CANData;
sahilmgandhi 18:6a4db94011d3 43 format = CANStandard;
sahilmgandhi 18:6a4db94011d3 44 id = 0;
sahilmgandhi 18:6a4db94011d3 45 memset(data, 0, 8);
sahilmgandhi 18:6a4db94011d3 46 }
sahilmgandhi 18:6a4db94011d3 47
sahilmgandhi 18:6a4db94011d3 48 /** Creates CAN message with specific content.
sahilmgandhi 18:6a4db94011d3 49 */
sahilmgandhi 18:6a4db94011d3 50 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
sahilmgandhi 18:6a4db94011d3 51 len = _len & 0xF;
sahilmgandhi 18:6a4db94011d3 52 type = _type;
sahilmgandhi 18:6a4db94011d3 53 format = _format;
sahilmgandhi 18:6a4db94011d3 54 id = _id;
sahilmgandhi 18:6a4db94011d3 55 memcpy(data, _data, _len);
sahilmgandhi 18:6a4db94011d3 56 }
sahilmgandhi 18:6a4db94011d3 57
sahilmgandhi 18:6a4db94011d3 58 /** Creates CAN remote message.
sahilmgandhi 18:6a4db94011d3 59 */
sahilmgandhi 18:6a4db94011d3 60 CANMessage(int _id, CANFormat _format = CANStandard) {
sahilmgandhi 18:6a4db94011d3 61 len = 0;
sahilmgandhi 18:6a4db94011d3 62 type = CANRemote;
sahilmgandhi 18:6a4db94011d3 63 format = _format;
sahilmgandhi 18:6a4db94011d3 64 id = _id;
sahilmgandhi 18:6a4db94011d3 65 memset(data, 0, 8);
sahilmgandhi 18:6a4db94011d3 66 }
sahilmgandhi 18:6a4db94011d3 67 };
sahilmgandhi 18:6a4db94011d3 68
sahilmgandhi 18:6a4db94011d3 69 /** A can bus client, used for communicating with can devices
sahilmgandhi 18:6a4db94011d3 70 */
sahilmgandhi 18:6a4db94011d3 71 class CAN {
sahilmgandhi 18:6a4db94011d3 72
sahilmgandhi 18:6a4db94011d3 73 public:
sahilmgandhi 18:6a4db94011d3 74 /** Creates an CAN interface connected to specific pins.
sahilmgandhi 18:6a4db94011d3 75 *
sahilmgandhi 18:6a4db94011d3 76 * @param rd read from transmitter
sahilmgandhi 18:6a4db94011d3 77 * @param td transmit to transmitter
sahilmgandhi 18:6a4db94011d3 78 *
sahilmgandhi 18:6a4db94011d3 79 * Example:
sahilmgandhi 18:6a4db94011d3 80 * @code
sahilmgandhi 18:6a4db94011d3 81 * #include "mbed.h"
sahilmgandhi 18:6a4db94011d3 82 *
sahilmgandhi 18:6a4db94011d3 83 * Ticker ticker;
sahilmgandhi 18:6a4db94011d3 84 * DigitalOut led1(LED1);
sahilmgandhi 18:6a4db94011d3 85 * DigitalOut led2(LED2);
sahilmgandhi 18:6a4db94011d3 86 * CAN can1(p9, p10);
sahilmgandhi 18:6a4db94011d3 87 * CAN can2(p30, p29);
sahilmgandhi 18:6a4db94011d3 88 *
sahilmgandhi 18:6a4db94011d3 89 * char counter = 0;
sahilmgandhi 18:6a4db94011d3 90 *
sahilmgandhi 18:6a4db94011d3 91 * void send() {
sahilmgandhi 18:6a4db94011d3 92 * if(can1.write(CANMessage(1337, &counter, 1))) {
sahilmgandhi 18:6a4db94011d3 93 * printf("Message sent: %d\n", counter);
sahilmgandhi 18:6a4db94011d3 94 * counter++;
sahilmgandhi 18:6a4db94011d3 95 * }
sahilmgandhi 18:6a4db94011d3 96 * led1 = !led1;
sahilmgandhi 18:6a4db94011d3 97 * }
sahilmgandhi 18:6a4db94011d3 98 *
sahilmgandhi 18:6a4db94011d3 99 * int main() {
sahilmgandhi 18:6a4db94011d3 100 * ticker.attach(&send, 1);
sahilmgandhi 18:6a4db94011d3 101 * CANMessage msg;
sahilmgandhi 18:6a4db94011d3 102 * while(1) {
sahilmgandhi 18:6a4db94011d3 103 * if(can2.read(msg)) {
sahilmgandhi 18:6a4db94011d3 104 * printf("Message received: %d\n\n", msg.data[0]);
sahilmgandhi 18:6a4db94011d3 105 * led2 = !led2;
sahilmgandhi 18:6a4db94011d3 106 * }
sahilmgandhi 18:6a4db94011d3 107 * wait(0.2);
sahilmgandhi 18:6a4db94011d3 108 * }
sahilmgandhi 18:6a4db94011d3 109 * }
sahilmgandhi 18:6a4db94011d3 110 * @endcode
sahilmgandhi 18:6a4db94011d3 111 */
sahilmgandhi 18:6a4db94011d3 112 CAN(PinName rd, PinName td);
sahilmgandhi 18:6a4db94011d3 113 virtual ~CAN();
sahilmgandhi 18:6a4db94011d3 114
sahilmgandhi 18:6a4db94011d3 115 /** Set the frequency of the CAN interface
sahilmgandhi 18:6a4db94011d3 116 *
sahilmgandhi 18:6a4db94011d3 117 * @param hz The bus frequency in hertz
sahilmgandhi 18:6a4db94011d3 118 *
sahilmgandhi 18:6a4db94011d3 119 * @returns
sahilmgandhi 18:6a4db94011d3 120 * 1 if successful,
sahilmgandhi 18:6a4db94011d3 121 * 0 otherwise
sahilmgandhi 18:6a4db94011d3 122 */
sahilmgandhi 18:6a4db94011d3 123 int frequency(int hz);
sahilmgandhi 18:6a4db94011d3 124
sahilmgandhi 18:6a4db94011d3 125 /** Write a CANMessage to the bus.
sahilmgandhi 18:6a4db94011d3 126 *
sahilmgandhi 18:6a4db94011d3 127 * @param msg The CANMessage to write.
sahilmgandhi 18:6a4db94011d3 128 *
sahilmgandhi 18:6a4db94011d3 129 * @returns
sahilmgandhi 18:6a4db94011d3 130 * 0 if write failed,
sahilmgandhi 18:6a4db94011d3 131 * 1 if write was successful
sahilmgandhi 18:6a4db94011d3 132 */
sahilmgandhi 18:6a4db94011d3 133 int write(CANMessage msg);
sahilmgandhi 18:6a4db94011d3 134
sahilmgandhi 18:6a4db94011d3 135 /** Read a CANMessage from the bus.
sahilmgandhi 18:6a4db94011d3 136 *
sahilmgandhi 18:6a4db94011d3 137 * @param msg A CANMessage to read to.
sahilmgandhi 18:6a4db94011d3 138 * @param handle message filter handle (0 for any message)
sahilmgandhi 18:6a4db94011d3 139 *
sahilmgandhi 18:6a4db94011d3 140 * @returns
sahilmgandhi 18:6a4db94011d3 141 * 0 if no message arrived,
sahilmgandhi 18:6a4db94011d3 142 * 1 if message arrived
sahilmgandhi 18:6a4db94011d3 143 */
sahilmgandhi 18:6a4db94011d3 144 int read(CANMessage &msg, int handle = 0);
sahilmgandhi 18:6a4db94011d3 145
sahilmgandhi 18:6a4db94011d3 146 /** Reset CAN interface.
sahilmgandhi 18:6a4db94011d3 147 *
sahilmgandhi 18:6a4db94011d3 148 * To use after error overflow.
sahilmgandhi 18:6a4db94011d3 149 */
sahilmgandhi 18:6a4db94011d3 150 void reset();
sahilmgandhi 18:6a4db94011d3 151
sahilmgandhi 18:6a4db94011d3 152 /** Puts or removes the CAN interface into silent monitoring mode
sahilmgandhi 18:6a4db94011d3 153 *
sahilmgandhi 18:6a4db94011d3 154 * @param silent boolean indicating whether to go into silent mode or not
sahilmgandhi 18:6a4db94011d3 155 */
sahilmgandhi 18:6a4db94011d3 156 void monitor(bool silent);
sahilmgandhi 18:6a4db94011d3 157
sahilmgandhi 18:6a4db94011d3 158 enum Mode {
sahilmgandhi 18:6a4db94011d3 159 Reset = 0,
sahilmgandhi 18:6a4db94011d3 160 Normal,
sahilmgandhi 18:6a4db94011d3 161 Silent,
sahilmgandhi 18:6a4db94011d3 162 LocalTest,
sahilmgandhi 18:6a4db94011d3 163 GlobalTest,
sahilmgandhi 18:6a4db94011d3 164 SilentTest
sahilmgandhi 18:6a4db94011d3 165 };
sahilmgandhi 18:6a4db94011d3 166
sahilmgandhi 18:6a4db94011d3 167 /** Change CAN operation to the specified mode
sahilmgandhi 18:6a4db94011d3 168 *
sahilmgandhi 18:6a4db94011d3 169 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
sahilmgandhi 18:6a4db94011d3 170 *
sahilmgandhi 18:6a4db94011d3 171 * @returns
sahilmgandhi 18:6a4db94011d3 172 * 0 if mode change failed or unsupported,
sahilmgandhi 18:6a4db94011d3 173 * 1 if mode change was successful
sahilmgandhi 18:6a4db94011d3 174 */
sahilmgandhi 18:6a4db94011d3 175 int mode(Mode mode);
sahilmgandhi 18:6a4db94011d3 176
sahilmgandhi 18:6a4db94011d3 177 /** Filter out incomming messages
sahilmgandhi 18:6a4db94011d3 178 *
sahilmgandhi 18:6a4db94011d3 179 * @param id the id to filter on
sahilmgandhi 18:6a4db94011d3 180 * @param mask the mask applied to the id
sahilmgandhi 18:6a4db94011d3 181 * @param format format to filter on (Default CANAny)
sahilmgandhi 18:6a4db94011d3 182 * @param handle message filter handle (Optional)
sahilmgandhi 18:6a4db94011d3 183 *
sahilmgandhi 18:6a4db94011d3 184 * @returns
sahilmgandhi 18:6a4db94011d3 185 * 0 if filter change failed or unsupported,
sahilmgandhi 18:6a4db94011d3 186 * new filter handle if successful
sahilmgandhi 18:6a4db94011d3 187 */
sahilmgandhi 18:6a4db94011d3 188 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
sahilmgandhi 18:6a4db94011d3 189
sahilmgandhi 18:6a4db94011d3 190 /** Returns number of read errors to detect read overflow errors.
sahilmgandhi 18:6a4db94011d3 191 */
sahilmgandhi 18:6a4db94011d3 192 unsigned char rderror();
sahilmgandhi 18:6a4db94011d3 193
sahilmgandhi 18:6a4db94011d3 194 /** Returns number of write errors to detect write overflow errors.
sahilmgandhi 18:6a4db94011d3 195 */
sahilmgandhi 18:6a4db94011d3 196 unsigned char tderror();
sahilmgandhi 18:6a4db94011d3 197
sahilmgandhi 18:6a4db94011d3 198 enum IrqType {
sahilmgandhi 18:6a4db94011d3 199 RxIrq = 0,
sahilmgandhi 18:6a4db94011d3 200 TxIrq,
sahilmgandhi 18:6a4db94011d3 201 EwIrq,
sahilmgandhi 18:6a4db94011d3 202 DoIrq,
sahilmgandhi 18:6a4db94011d3 203 WuIrq,
sahilmgandhi 18:6a4db94011d3 204 EpIrq,
sahilmgandhi 18:6a4db94011d3 205 AlIrq,
sahilmgandhi 18:6a4db94011d3 206 BeIrq,
sahilmgandhi 18:6a4db94011d3 207 IdIrq,
sahilmgandhi 18:6a4db94011d3 208
sahilmgandhi 18:6a4db94011d3 209 IrqCnt
sahilmgandhi 18:6a4db94011d3 210 };
sahilmgandhi 18:6a4db94011d3 211
sahilmgandhi 18:6a4db94011d3 212 /** Attach a function to call whenever a CAN frame received interrupt is
sahilmgandhi 18:6a4db94011d3 213 * generated.
sahilmgandhi 18:6a4db94011d3 214 *
sahilmgandhi 18:6a4db94011d3 215 * @param func A pointer to a void function, or 0 to set as none
sahilmgandhi 18:6a4db94011d3 216 * @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)
sahilmgandhi 18:6a4db94011d3 217 */
sahilmgandhi 18:6a4db94011d3 218 void attach(Callback<void()> func, IrqType type=RxIrq);
sahilmgandhi 18:6a4db94011d3 219
sahilmgandhi 18:6a4db94011d3 220 /** Attach a member function to call whenever a CAN frame received interrupt
sahilmgandhi 18:6a4db94011d3 221 * is generated.
sahilmgandhi 18:6a4db94011d3 222 *
sahilmgandhi 18:6a4db94011d3 223 * @param obj pointer to the object to call the member function on
sahilmgandhi 18:6a4db94011d3 224 * @param method pointer to the member function to be called
sahilmgandhi 18:6a4db94011d3 225 * @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)
sahilmgandhi 18:6a4db94011d3 226 */
sahilmgandhi 18:6a4db94011d3 227 template<typename T>
sahilmgandhi 18:6a4db94011d3 228 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
sahilmgandhi 18:6a4db94011d3 229 // Underlying call thread safe
sahilmgandhi 18:6a4db94011d3 230 attach(Callback<void()>(obj, method), type);
sahilmgandhi 18:6a4db94011d3 231 }
sahilmgandhi 18:6a4db94011d3 232
sahilmgandhi 18:6a4db94011d3 233 /** Attach a member function to call whenever a CAN frame received interrupt
sahilmgandhi 18:6a4db94011d3 234 * is generated.
sahilmgandhi 18:6a4db94011d3 235 *
sahilmgandhi 18:6a4db94011d3 236 * @param obj pointer to the object to call the member function on
sahilmgandhi 18:6a4db94011d3 237 * @param method pointer to the member function to be called
sahilmgandhi 18:6a4db94011d3 238 * @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)
sahilmgandhi 18:6a4db94011d3 239 */
sahilmgandhi 18:6a4db94011d3 240 template<typename T>
sahilmgandhi 18:6a4db94011d3 241 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
sahilmgandhi 18:6a4db94011d3 242 // Underlying call thread safe
sahilmgandhi 18:6a4db94011d3 243 attach(Callback<void()>(obj, method), type);
sahilmgandhi 18:6a4db94011d3 244 }
sahilmgandhi 18:6a4db94011d3 245
sahilmgandhi 18:6a4db94011d3 246 static void _irq_handler(uint32_t id, CanIrqType type);
sahilmgandhi 18:6a4db94011d3 247
sahilmgandhi 18:6a4db94011d3 248 protected:
sahilmgandhi 18:6a4db94011d3 249 virtual void lock();
sahilmgandhi 18:6a4db94011d3 250 virtual void unlock();
sahilmgandhi 18:6a4db94011d3 251 can_t _can;
sahilmgandhi 18:6a4db94011d3 252 Callback<void()> _irq[IrqCnt];
sahilmgandhi 18:6a4db94011d3 253 PlatformMutex _mutex;
sahilmgandhi 18:6a4db94011d3 254 };
sahilmgandhi 18:6a4db94011d3 255
sahilmgandhi 18:6a4db94011d3 256 } // namespace mbed
sahilmgandhi 18:6a4db94011d3 257
sahilmgandhi 18:6a4db94011d3 258 #endif
sahilmgandhi 18:6a4db94011d3 259
sahilmgandhi 18:6a4db94011d3 260 #endif // MBED_CAN_H
sahilmgandhi 18:6a4db94011d3 261
sahilmgandhi 18:6a4db94011d3 262 /** @}*/