EL4121 Embedded System / mbed-os

mbed-os

Dependents:   cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more

hal/can_api.h@0:b74591d5ab33, 2017-12-11 (annotated)

Committer:
be_bryan
Date:
Mon Dec 11 17:54:04 2017 +0000
Revision:
0:b74591d5ab33
motor ++

Who changed what in which revision?

UserRevisionLine numberNew contents of line
be_bryan 0:b74591d5ab33 1
be_bryan 0:b74591d5ab33 2 /** \addtogroup hal */
be_bryan 0:b74591d5ab33 3 /** @{*/
be_bryan 0:b74591d5ab33 4 /* mbed Microcontroller Library
be_bryan 0:b74591d5ab33 5 * Copyright (c) 2006-2016 ARM Limited
be_bryan 0:b74591d5ab33 6 *
be_bryan 0:b74591d5ab33 7 * Licensed under the Apache License, Version 2.0 (the "License");
be_bryan 0:b74591d5ab33 8 * you may not use this file except in compliance with the License.
be_bryan 0:b74591d5ab33 9 * You may obtain a copy of the License at
be_bryan 0:b74591d5ab33 10 *
be_bryan 0:b74591d5ab33 11 * http://www.apache.org/licenses/LICENSE-2.0
be_bryan 0:b74591d5ab33 12 *
be_bryan 0:b74591d5ab33 13 * Unless required by applicable law or agreed to in writing, software
be_bryan 0:b74591d5ab33 14 * distributed under the License is distributed on an "AS IS" BASIS,
be_bryan 0:b74591d5ab33 15 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
be_bryan 0:b74591d5ab33 16 * See the License for the specific language governing permissions and
be_bryan 0:b74591d5ab33 17 * limitations under the License.
be_bryan 0:b74591d5ab33 18 */
be_bryan 0:b74591d5ab33 19 #ifndef MBED_CAN_API_H
be_bryan 0:b74591d5ab33 20 #define MBED_CAN_API_H
be_bryan 0:b74591d5ab33 21
be_bryan 0:b74591d5ab33 22 #include "device.h"
be_bryan 0:b74591d5ab33 23
be_bryan 0:b74591d5ab33 24 #if DEVICE_CAN
be_bryan 0:b74591d5ab33 25
be_bryan 0:b74591d5ab33 26 #include "PinNames.h"
be_bryan 0:b74591d5ab33 27 #include "PeripheralNames.h"
be_bryan 0:b74591d5ab33 28 #include "hal/can_helper.h"
be_bryan 0:b74591d5ab33 29
be_bryan 0:b74591d5ab33 30 #ifdef __cplusplus
be_bryan 0:b74591d5ab33 31 extern "C" {
be_bryan 0:b74591d5ab33 32 #endif
be_bryan 0:b74591d5ab33 33
be_bryan 0:b74591d5ab33 34 typedef enum {
be_bryan 0:b74591d5ab33 35 IRQ_RX,
be_bryan 0:b74591d5ab33 36 IRQ_TX,
be_bryan 0:b74591d5ab33 37 IRQ_ERROR,
be_bryan 0:b74591d5ab33 38 IRQ_OVERRUN,
be_bryan 0:b74591d5ab33 39 IRQ_WAKEUP,
be_bryan 0:b74591d5ab33 40 IRQ_PASSIVE,
be_bryan 0:b74591d5ab33 41 IRQ_ARB,
be_bryan 0:b74591d5ab33 42 IRQ_BUS,
be_bryan 0:b74591d5ab33 43 IRQ_READY
be_bryan 0:b74591d5ab33 44 } CanIrqType;
be_bryan 0:b74591d5ab33 45
be_bryan 0:b74591d5ab33 46
be_bryan 0:b74591d5ab33 47 typedef enum {
be_bryan 0:b74591d5ab33 48 MODE_RESET,
be_bryan 0:b74591d5ab33 49 MODE_NORMAL,
be_bryan 0:b74591d5ab33 50 MODE_SILENT,
be_bryan 0:b74591d5ab33 51 MODE_TEST_LOCAL,
be_bryan 0:b74591d5ab33 52 MODE_TEST_GLOBAL,
be_bryan 0:b74591d5ab33 53 MODE_TEST_SILENT
be_bryan 0:b74591d5ab33 54 } CanMode;
be_bryan 0:b74591d5ab33 55
be_bryan 0:b74591d5ab33 56 typedef void (*can_irq_handler)(uint32_t id, CanIrqType type);
be_bryan 0:b74591d5ab33 57
be_bryan 0:b74591d5ab33 58 typedef struct can_s can_t;
be_bryan 0:b74591d5ab33 59
be_bryan 0:b74591d5ab33 60 void can_init (can_t *obj, PinName rd, PinName td);
be_bryan 0:b74591d5ab33 61 void can_init_freq (can_t *obj, PinName rd, PinName td, int hz);
be_bryan 0:b74591d5ab33 62 void can_free (can_t *obj);
be_bryan 0:b74591d5ab33 63 int can_frequency (can_t *obj, int hz);
be_bryan 0:b74591d5ab33 64
be_bryan 0:b74591d5ab33 65 void can_irq_init (can_t *obj, can_irq_handler handler, uint32_t id);
be_bryan 0:b74591d5ab33 66 void can_irq_free (can_t *obj);
be_bryan 0:b74591d5ab33 67 void can_irq_set (can_t *obj, CanIrqType irq, uint32_t enable);
be_bryan 0:b74591d5ab33 68
be_bryan 0:b74591d5ab33 69 int can_write (can_t *obj, CAN_Message, int cc);
be_bryan 0:b74591d5ab33 70 int can_read (can_t *obj, CAN_Message *msg, int handle);
be_bryan 0:b74591d5ab33 71 int can_mode (can_t *obj, CanMode mode);
be_bryan 0:b74591d5ab33 72 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle);
be_bryan 0:b74591d5ab33 73 void can_reset (can_t *obj);
be_bryan 0:b74591d5ab33 74 unsigned char can_rderror (can_t *obj);
be_bryan 0:b74591d5ab33 75 unsigned char can_tderror (can_t *obj);
be_bryan 0:b74591d5ab33 76 void can_monitor (can_t *obj, int silent);
be_bryan 0:b74591d5ab33 77
be_bryan 0:b74591d5ab33 78 #ifdef __cplusplus
be_bryan 0:b74591d5ab33 79 };
be_bryan 0:b74591d5ab33 80 #endif
be_bryan 0:b74591d5ab33 81
be_bryan 0:b74591d5ab33 82 #endif // MBED_CAN_API_H
be_bryan 0:b74591d5ab33 83
be_bryan 0:b74591d5ab33 84 #endif
be_bryan 0:b74591d5ab33 85
be_bryan 0:b74591d5ab33 86 /** @}*/