Morpheus / mbed-hal

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Dependencies:   target-freescale

api/CAN.h@0:9c59db1fbc9e, 2016-03-23 (annotated)

Committer:
screamer
Date:
Wed Mar 23 21:36:09 2016 +0000
Revision:
0:9c59db1fbc9e
Child:
7:4fdb3a44f646
Initial revision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
screamer 0:9c59db1fbc9e 1 /* mbed Microcontroller Library
screamer 0:9c59db1fbc9e 2 * Copyright (c) 2006-2013 ARM Limited
screamer 0:9c59db1fbc9e 3 *
screamer 0:9c59db1fbc9e 4 * Licensed under the Apache License, Version 2.0 (the "License");
screamer 0:9c59db1fbc9e 5 * you may not use this file except in compliance with the License.
screamer 0:9c59db1fbc9e 6 * You may obtain a copy of the License at
screamer 0:9c59db1fbc9e 7 *
screamer 0:9c59db1fbc9e 8 * http://www.apache.org/licenses/LICENSE-2.0
screamer 0:9c59db1fbc9e 9 *
screamer 0:9c59db1fbc9e 10 * Unless required by applicable law or agreed to in writing, software
screamer 0:9c59db1fbc9e 11 * distributed under the License is distributed on an "AS IS" BASIS,
screamer 0:9c59db1fbc9e 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
screamer 0:9c59db1fbc9e 13 * See the License for the specific language governing permissions and
screamer 0:9c59db1fbc9e 14 * limitations under the License.
screamer 0:9c59db1fbc9e 15 */
screamer 0:9c59db1fbc9e 16 #ifndef MBED_CAN_H
screamer 0:9c59db1fbc9e 17 #define MBED_CAN_H
screamer 0:9c59db1fbc9e 18
screamer 0:9c59db1fbc9e 19 #include "platform.h"
screamer 0:9c59db1fbc9e 20
screamer 0:9c59db1fbc9e 21 #if DEVICE_CAN
screamer 0:9c59db1fbc9e 22
screamer 0:9c59db1fbc9e 23 #include "can_api.h"
screamer 0:9c59db1fbc9e 24 #include "can_helper.h"
screamer 0:9c59db1fbc9e 25 #include "FunctionPointer.h"
screamer 0:9c59db1fbc9e 26
screamer 0:9c59db1fbc9e 27 namespace mbed {
screamer 0:9c59db1fbc9e 28
screamer 0:9c59db1fbc9e 29 /** CANMessage class
screamer 0:9c59db1fbc9e 30 */
screamer 0:9c59db1fbc9e 31 class CANMessage : public CAN_Message {
screamer 0:9c59db1fbc9e 32
screamer 0:9c59db1fbc9e 33 public:
screamer 0:9c59db1fbc9e 34 /** Creates empty CAN message.
screamer 0:9c59db1fbc9e 35 */
screamer 0:9c59db1fbc9e 36 CANMessage() : CAN_Message() {
screamer 0:9c59db1fbc9e 37 len = 8;
screamer 0:9c59db1fbc9e 38 type = CANData;
screamer 0:9c59db1fbc9e 39 format = CANStandard;
screamer 0:9c59db1fbc9e 40 id = 0;
screamer 0:9c59db1fbc9e 41 memset(data, 0, 8);
screamer 0:9c59db1fbc9e 42 }
screamer 0:9c59db1fbc9e 43
screamer 0:9c59db1fbc9e 44 /** Creates CAN message with specific content.
screamer 0:9c59db1fbc9e 45 */
screamer 0:9c59db1fbc9e 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
screamer 0:9c59db1fbc9e 47 len = _len & 0xF;
screamer 0:9c59db1fbc9e 48 type = _type;
screamer 0:9c59db1fbc9e 49 format = _format;
screamer 0:9c59db1fbc9e 50 id = _id;
screamer 0:9c59db1fbc9e 51 memcpy(data, _data, _len);
screamer 0:9c59db1fbc9e 52 }
screamer 0:9c59db1fbc9e 53
screamer 0:9c59db1fbc9e 54 /** Creates CAN remote message.
screamer 0:9c59db1fbc9e 55 */
screamer 0:9c59db1fbc9e 56 CANMessage(int _id, CANFormat _format = CANStandard) {
screamer 0:9c59db1fbc9e 57 len = 0;
screamer 0:9c59db1fbc9e 58 type = CANRemote;
screamer 0:9c59db1fbc9e 59 format = _format;
screamer 0:9c59db1fbc9e 60 id = _id;
screamer 0:9c59db1fbc9e 61 memset(data, 0, 8);
screamer 0:9c59db1fbc9e 62 }
screamer 0:9c59db1fbc9e 63 };
screamer 0:9c59db1fbc9e 64
screamer 0:9c59db1fbc9e 65 /** A can bus client, used for communicating with can devices
screamer 0:9c59db1fbc9e 66 */
screamer 0:9c59db1fbc9e 67 class CAN {
screamer 0:9c59db1fbc9e 68
screamer 0:9c59db1fbc9e 69 public:
screamer 0:9c59db1fbc9e 70 /** Creates an CAN interface connected to specific pins.
screamer 0:9c59db1fbc9e 71 *
screamer 0:9c59db1fbc9e 72 * @param rd read from transmitter
screamer 0:9c59db1fbc9e 73 * @param td transmit to transmitter
screamer 0:9c59db1fbc9e 74 *
screamer 0:9c59db1fbc9e 75 * Example:
screamer 0:9c59db1fbc9e 76 * @code
screamer 0:9c59db1fbc9e 77 * #include "mbed.h"
screamer 0:9c59db1fbc9e 78 *
screamer 0:9c59db1fbc9e 79 * Ticker ticker;
screamer 0:9c59db1fbc9e 80 * DigitalOut led1(LED1);
screamer 0:9c59db1fbc9e 81 * DigitalOut led2(LED2);
screamer 0:9c59db1fbc9e 82 * CAN can1(p9, p10);
screamer 0:9c59db1fbc9e 83 * CAN can2(p30, p29);
screamer 0:9c59db1fbc9e 84 *
screamer 0:9c59db1fbc9e 85 * char counter = 0;
screamer 0:9c59db1fbc9e 86 *
screamer 0:9c59db1fbc9e 87 * void send() {
screamer 0:9c59db1fbc9e 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
screamer 0:9c59db1fbc9e 89 * printf("Message sent: %d\n", counter);
screamer 0:9c59db1fbc9e 90 * counter++;
screamer 0:9c59db1fbc9e 91 * }
screamer 0:9c59db1fbc9e 92 * led1 = !led1;
screamer 0:9c59db1fbc9e 93 * }
screamer 0:9c59db1fbc9e 94 *
screamer 0:9c59db1fbc9e 95 * int main() {
screamer 0:9c59db1fbc9e 96 * ticker.attach(&send, 1);
screamer 0:9c59db1fbc9e 97 * CANMessage msg;
screamer 0:9c59db1fbc9e 98 * while(1) {
screamer 0:9c59db1fbc9e 99 * if(can2.read(msg)) {
screamer 0:9c59db1fbc9e 100 * printf("Message received: %d\n\n", msg.data[0]);
screamer 0:9c59db1fbc9e 101 * led2 = !led2;
screamer 0:9c59db1fbc9e 102 * }
screamer 0:9c59db1fbc9e 103 * wait(0.2);
screamer 0:9c59db1fbc9e 104 * }
screamer 0:9c59db1fbc9e 105 * }
screamer 0:9c59db1fbc9e 106 * @endcode
screamer 0:9c59db1fbc9e 107 */
screamer 0:9c59db1fbc9e 108 CAN(PinName rd, PinName td);
screamer 0:9c59db1fbc9e 109 virtual ~CAN();
screamer 0:9c59db1fbc9e 110
screamer 0:9c59db1fbc9e 111 /** Set the frequency of the CAN interface
screamer 0:9c59db1fbc9e 112 *
screamer 0:9c59db1fbc9e 113 * @param hz The bus frequency in hertz
screamer 0:9c59db1fbc9e 114 *
screamer 0:9c59db1fbc9e 115 * @returns
screamer 0:9c59db1fbc9e 116 * 1 if successful,
screamer 0:9c59db1fbc9e 117 * 0 otherwise
screamer 0:9c59db1fbc9e 118 */
screamer 0:9c59db1fbc9e 119 int frequency(int hz);
screamer 0:9c59db1fbc9e 120
screamer 0:9c59db1fbc9e 121 /** Write a CANMessage to the bus.
screamer 0:9c59db1fbc9e 122 *
screamer 0:9c59db1fbc9e 123 * @param msg The CANMessage to write.
screamer 0:9c59db1fbc9e 124 *
screamer 0:9c59db1fbc9e 125 * @returns
screamer 0:9c59db1fbc9e 126 * 0 if write failed,
screamer 0:9c59db1fbc9e 127 * 1 if write was successful
screamer 0:9c59db1fbc9e 128 */
screamer 0:9c59db1fbc9e 129 int write(CANMessage msg);
screamer 0:9c59db1fbc9e 130
screamer 0:9c59db1fbc9e 131 /** Read a CANMessage from the bus.
screamer 0:9c59db1fbc9e 132 *
screamer 0:9c59db1fbc9e 133 * @param msg A CANMessage to read to.
screamer 0:9c59db1fbc9e 134 * @param handle message filter handle (0 for any message)
screamer 0:9c59db1fbc9e 135 *
screamer 0:9c59db1fbc9e 136 * @returns
screamer 0:9c59db1fbc9e 137 * 0 if no message arrived,
screamer 0:9c59db1fbc9e 138 * 1 if message arrived
screamer 0:9c59db1fbc9e 139 */
screamer 0:9c59db1fbc9e 140 int read(CANMessage &msg, int handle = 0);
screamer 0:9c59db1fbc9e 141
screamer 0:9c59db1fbc9e 142 /** Reset CAN interface.
screamer 0:9c59db1fbc9e 143 *
screamer 0:9c59db1fbc9e 144 * To use after error overflow.
screamer 0:9c59db1fbc9e 145 */
screamer 0:9c59db1fbc9e 146 void reset();
screamer 0:9c59db1fbc9e 147
screamer 0:9c59db1fbc9e 148 /** Puts or removes the CAN interface into silent monitoring mode
screamer 0:9c59db1fbc9e 149 *
screamer 0:9c59db1fbc9e 150 * @param silent boolean indicating whether to go into silent mode or not
screamer 0:9c59db1fbc9e 151 */
screamer 0:9c59db1fbc9e 152 void monitor(bool silent);
screamer 0:9c59db1fbc9e 153
screamer 0:9c59db1fbc9e 154 enum Mode {
screamer 0:9c59db1fbc9e 155 Reset = 0,
screamer 0:9c59db1fbc9e 156 Normal,
screamer 0:9c59db1fbc9e 157 Silent,
screamer 0:9c59db1fbc9e 158 LocalTest,
screamer 0:9c59db1fbc9e 159 GlobalTest,
screamer 0:9c59db1fbc9e 160 SilentTest
screamer 0:9c59db1fbc9e 161 };
screamer 0:9c59db1fbc9e 162
screamer 0:9c59db1fbc9e 163 /** Change CAN operation to the specified mode
screamer 0:9c59db1fbc9e 164 *
screamer 0:9c59db1fbc9e 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
screamer 0:9c59db1fbc9e 166 *
screamer 0:9c59db1fbc9e 167 * @returns
screamer 0:9c59db1fbc9e 168 * 0 if mode change failed or unsupported,
screamer 0:9c59db1fbc9e 169 * 1 if mode change was successful
screamer 0:9c59db1fbc9e 170 */
screamer 0:9c59db1fbc9e 171 int mode(Mode mode);
screamer 0:9c59db1fbc9e 172
screamer 0:9c59db1fbc9e 173 /** Filter out incomming messages
screamer 0:9c59db1fbc9e 174 *
screamer 0:9c59db1fbc9e 175 * @param id the id to filter on
screamer 0:9c59db1fbc9e 176 * @param mask the mask applied to the id
screamer 0:9c59db1fbc9e 177 * @param format format to filter on (Default CANAny)
screamer 0:9c59db1fbc9e 178 * @param handle message filter handle (Optional)
screamer 0:9c59db1fbc9e 179 *
screamer 0:9c59db1fbc9e 180 * @returns
screamer 0:9c59db1fbc9e 181 * 0 if filter change failed or unsupported,
screamer 0:9c59db1fbc9e 182 * new filter handle if successful
screamer 0:9c59db1fbc9e 183 */
screamer 0:9c59db1fbc9e 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
screamer 0:9c59db1fbc9e 185
screamer 0:9c59db1fbc9e 186 /** Returns number of read errors to detect read overflow errors.
screamer 0:9c59db1fbc9e 187 */
screamer 0:9c59db1fbc9e 188 unsigned char rderror();
screamer 0:9c59db1fbc9e 189
screamer 0:9c59db1fbc9e 190 /** Returns number of write errors to detect write overflow errors.
screamer 0:9c59db1fbc9e 191 */
screamer 0:9c59db1fbc9e 192 unsigned char tderror();
screamer 0:9c59db1fbc9e 193
screamer 0:9c59db1fbc9e 194 enum IrqType {
screamer 0:9c59db1fbc9e 195 RxIrq = 0,
screamer 0:9c59db1fbc9e 196 TxIrq,
screamer 0:9c59db1fbc9e 197 EwIrq,
screamer 0:9c59db1fbc9e 198 DoIrq,
screamer 0:9c59db1fbc9e 199 WuIrq,
screamer 0:9c59db1fbc9e 200 EpIrq,
screamer 0:9c59db1fbc9e 201 AlIrq,
screamer 0:9c59db1fbc9e 202 BeIrq,
screamer 0:9c59db1fbc9e 203 IdIrq
screamer 0:9c59db1fbc9e 204 };
screamer 0:9c59db1fbc9e 205
screamer 0:9c59db1fbc9e 206 /** Attach a function to call whenever a CAN frame received interrupt is
screamer 0:9c59db1fbc9e 207 * generated.
screamer 0:9c59db1fbc9e 208 *
screamer 0:9c59db1fbc9e 209 * @param fptr A pointer to a void function, or 0 to set as none
screamer 0:9c59db1fbc9e 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)
screamer 0:9c59db1fbc9e 211 */
screamer 0:9c59db1fbc9e 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
screamer 0:9c59db1fbc9e 213
screamer 0:9c59db1fbc9e 214 /** Attach a member function to call whenever a CAN frame received interrupt
screamer 0:9c59db1fbc9e 215 * is generated.
screamer 0:9c59db1fbc9e 216 *
screamer 0:9c59db1fbc9e 217 * @param tptr pointer to the object to call the member function on
screamer 0:9c59db1fbc9e 218 * @param mptr pointer to the member function to be called
screamer 0:9c59db1fbc9e 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)
screamer 0:9c59db1fbc9e 220 */
screamer 0:9c59db1fbc9e 221 template<typename T>
screamer 0:9c59db1fbc9e 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
screamer 0:9c59db1fbc9e 223 if((mptr != NULL) && (tptr != NULL)) {
screamer 0:9c59db1fbc9e 224 _irq[type].attach(tptr, mptr);
screamer 0:9c59db1fbc9e 225 can_irq_set(&_can, (CanIrqType)type, 1);
screamer 0:9c59db1fbc9e 226 }
screamer 0:9c59db1fbc9e 227 else {
screamer 0:9c59db1fbc9e 228 can_irq_set(&_can, (CanIrqType)type, 0);
screamer 0:9c59db1fbc9e 229 }
screamer 0:9c59db1fbc9e 230 }
screamer 0:9c59db1fbc9e 231
screamer 0:9c59db1fbc9e 232 static void _irq_handler(uint32_t id, CanIrqType type);
screamer 0:9c59db1fbc9e 233
screamer 0:9c59db1fbc9e 234 protected:
screamer 0:9c59db1fbc9e 235 can_t _can;
screamer 0:9c59db1fbc9e 236 FunctionPointer _irq[9];
screamer 0:9c59db1fbc9e 237 };
screamer 0:9c59db1fbc9e 238
screamer 0:9c59db1fbc9e 239 } // namespace mbed
screamer 0:9c59db1fbc9e 240
screamer 0:9c59db1fbc9e 241 #endif
screamer 0:9c59db1fbc9e 242
screamer 0:9c59db1fbc9e 243 #endif // MBED_CAN_H
screamer 0:9c59db1fbc9e 244