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mbed SDK library sources

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Development branch of the mbed library sources. This library is kept in synch with the latest changes from the mbed SDK and it is not guaranteed to work.

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The official Mbed 2 C/C++ SDK provides the software platform and libraries to build your applications.

Last commit 20 Feb 2019 by mbed official

api/CAN.h@37:88e9030f311f, 2013-10-23 (annotated)

Committer:
mbed_official
Date:
Wed Oct 23 15:30:04 2013 +0100
Revision:
37:88e9030f311f
Parent:
15:4892fe388435
Child:
41:e8b66477f5bf
Synchronized with git revision 5742abe6d9771e0bbfb5477645d7357c7d595702

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bogdanm 15:4892fe388435 1 /* mbed Microcontroller Library
bogdanm 15:4892fe388435 2 * Copyright (c) 2006-2013 ARM Limited
bogdanm 15:4892fe388435 3 *
bogdanm 15:4892fe388435 4 * Licensed under the Apache License, Version 2.0 (the "License");
bogdanm 15:4892fe388435 5 * you may not use this file except in compliance with the License.
bogdanm 15:4892fe388435 6 * You may obtain a copy of the License at
bogdanm 15:4892fe388435 7 *
bogdanm 15:4892fe388435 8 * http://www.apache.org/licenses/LICENSE-2.0
bogdanm 15:4892fe388435 9 *
bogdanm 15:4892fe388435 10 * Unless required by applicable law or agreed to in writing, software
bogdanm 15:4892fe388435 11 * distributed under the License is distributed on an "AS IS" BASIS,
bogdanm 15:4892fe388435 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
bogdanm 15:4892fe388435 13 * See the License for the specific language governing permissions and
bogdanm 15:4892fe388435 14 * limitations under the License.
bogdanm 15:4892fe388435 15 */
bogdanm 15:4892fe388435 16 #ifndef MBED_CAN_H
bogdanm 15:4892fe388435 17 #define MBED_CAN_H
bogdanm 15:4892fe388435 18
bogdanm 15:4892fe388435 19 #include "platform.h"
bogdanm 15:4892fe388435 20
bogdanm 15:4892fe388435 21 #if DEVICE_CAN
bogdanm 15:4892fe388435 22
bogdanm 15:4892fe388435 23 #include "can_api.h"
bogdanm 15:4892fe388435 24 #include "can_helper.h"
bogdanm 15:4892fe388435 25 #include "FunctionPointer.h"
bogdanm 15:4892fe388435 26
bogdanm 15:4892fe388435 27 namespace mbed {
bogdanm 15:4892fe388435 28
bogdanm 15:4892fe388435 29 /** CANMessage class
bogdanm 15:4892fe388435 30 */
bogdanm 15:4892fe388435 31 class CANMessage : public CAN_Message {
bogdanm 15:4892fe388435 32
bogdanm 15:4892fe388435 33 public:
bogdanm 15:4892fe388435 34 /** Creates empty CAN message.
bogdanm 15:4892fe388435 35 */
bogdanm 15:4892fe388435 36 CANMessage() {
bogdanm 15:4892fe388435 37 len = 8;
bogdanm 15:4892fe388435 38 type = CANData;
bogdanm 15:4892fe388435 39 format = CANStandard;
bogdanm 15:4892fe388435 40 id = 0;
bogdanm 15:4892fe388435 41 memset(data, 0, 8);
bogdanm 15:4892fe388435 42 }
bogdanm 15:4892fe388435 43
bogdanm 15:4892fe388435 44 /** Creates CAN message with specific content.
bogdanm 15:4892fe388435 45 */
bogdanm 15:4892fe388435 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
bogdanm 15:4892fe388435 47 len = _len & 0xF;
bogdanm 15:4892fe388435 48 type = _type;
bogdanm 15:4892fe388435 49 format = _format;
bogdanm 15:4892fe388435 50 id = _id;
bogdanm 15:4892fe388435 51 memcpy(data, _data, _len);
bogdanm 15:4892fe388435 52 }
bogdanm 15:4892fe388435 53
bogdanm 15:4892fe388435 54 /** Creates CAN remote message.
bogdanm 15:4892fe388435 55 */
bogdanm 15:4892fe388435 56 CANMessage(int _id, CANFormat _format = CANStandard) {
bogdanm 15:4892fe388435 57 len = 0;
bogdanm 15:4892fe388435 58 type = CANRemote;
bogdanm 15:4892fe388435 59 format = _format;
bogdanm 15:4892fe388435 60 id = _id;
bogdanm 15:4892fe388435 61 memset(data, 0, 8);
bogdanm 15:4892fe388435 62 }
bogdanm 15:4892fe388435 63 };
bogdanm 15:4892fe388435 64
bogdanm 15:4892fe388435 65 /** A can bus client, used for communicating with can devices
bogdanm 15:4892fe388435 66 */
bogdanm 15:4892fe388435 67 class CAN {
bogdanm 15:4892fe388435 68
bogdanm 15:4892fe388435 69 public:
bogdanm 15:4892fe388435 70 /** Creates an CAN interface connected to specific pins.
bogdanm 15:4892fe388435 71 *
bogdanm 15:4892fe388435 72 * @param rd read from transmitter
bogdanm 15:4892fe388435 73 * @param td transmit to transmitter
bogdanm 15:4892fe388435 74 *
bogdanm 15:4892fe388435 75 * Example:
bogdanm 15:4892fe388435 76 * @code
bogdanm 15:4892fe388435 77 * #include "mbed.h"
bogdanm 15:4892fe388435 78 *
bogdanm 15:4892fe388435 79 * Ticker ticker;
bogdanm 15:4892fe388435 80 * DigitalOut led1(LED1);
bogdanm 15:4892fe388435 81 * DigitalOut led2(LED2);
bogdanm 15:4892fe388435 82 * CAN can1(p9, p10);
bogdanm 15:4892fe388435 83 * CAN can2(p30, p29);
bogdanm 15:4892fe388435 84 *
bogdanm 15:4892fe388435 85 * char counter = 0;
bogdanm 15:4892fe388435 86 *
bogdanm 15:4892fe388435 87 * void send() {
bogdanm 15:4892fe388435 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
bogdanm 15:4892fe388435 89 * printf("Message sent: %d\n", counter);
bogdanm 15:4892fe388435 90 * counter++;
bogdanm 15:4892fe388435 91 * }
bogdanm 15:4892fe388435 92 * led1 = !led1;
bogdanm 15:4892fe388435 93 * }
bogdanm 15:4892fe388435 94 *
bogdanm 15:4892fe388435 95 * int main() {
bogdanm 15:4892fe388435 96 * ticker.attach(&send, 1);
bogdanm 15:4892fe388435 97 * CANMessage msg;
bogdanm 15:4892fe388435 98 * while(1) {
bogdanm 15:4892fe388435 99 * if(can2.read(msg)) {
bogdanm 15:4892fe388435 100 * printf("Message received: %d\n\n", msg.data[0]);
bogdanm 15:4892fe388435 101 * led2 = !led2;
bogdanm 15:4892fe388435 102 * }
bogdanm 15:4892fe388435 103 * wait(0.2);
bogdanm 15:4892fe388435 104 * }
bogdanm 15:4892fe388435 105 * }
bogdanm 15:4892fe388435 106 * @endcode
bogdanm 15:4892fe388435 107 */
bogdanm 15:4892fe388435 108 CAN(PinName rd, PinName td);
bogdanm 15:4892fe388435 109 virtual ~CAN();
bogdanm 15:4892fe388435 110
bogdanm 15:4892fe388435 111 /** Set the frequency of the CAN interface
bogdanm 15:4892fe388435 112 *
bogdanm 15:4892fe388435 113 * @param hz The bus frequency in hertz
bogdanm 15:4892fe388435 114 *
bogdanm 15:4892fe388435 115 * @returns
bogdanm 15:4892fe388435 116 * 1 if successful,
bogdanm 15:4892fe388435 117 * 0 otherwise
bogdanm 15:4892fe388435 118 */
bogdanm 15:4892fe388435 119 int frequency(int hz);
bogdanm 15:4892fe388435 120
bogdanm 15:4892fe388435 121 /** Write a CANMessage to the bus.
bogdanm 15:4892fe388435 122 *
bogdanm 15:4892fe388435 123 * @param msg The CANMessage to write.
bogdanm 15:4892fe388435 124 *
bogdanm 15:4892fe388435 125 * @returns
bogdanm 15:4892fe388435 126 * 0 if write failed,
bogdanm 15:4892fe388435 127 * 1 if write was successful
bogdanm 15:4892fe388435 128 */
bogdanm 15:4892fe388435 129 int write(CANMessage msg);
bogdanm 15:4892fe388435 130
bogdanm 15:4892fe388435 131 /** Read a CANMessage from the bus.
bogdanm 15:4892fe388435 132 *
bogdanm 15:4892fe388435 133 * @param msg A CANMessage to read to.
bogdanm 15:4892fe388435 134 *
bogdanm 15:4892fe388435 135 * @returns
bogdanm 15:4892fe388435 136 * 0 if no message arrived,
bogdanm 15:4892fe388435 137 * 1 if message arrived
bogdanm 15:4892fe388435 138 */
bogdanm 15:4892fe388435 139 int read(CANMessage &msg);
bogdanm 15:4892fe388435 140
bogdanm 15:4892fe388435 141 /** Reset CAN interface.
bogdanm 15:4892fe388435 142 *
bogdanm 15:4892fe388435 143 * To use after error overflow.
bogdanm 15:4892fe388435 144 */
bogdanm 15:4892fe388435 145 void reset();
bogdanm 15:4892fe388435 146
bogdanm 15:4892fe388435 147 /** Puts or removes the CAN interface into silent monitoring mode
bogdanm 15:4892fe388435 148 *
bogdanm 15:4892fe388435 149 * @param silent boolean indicating whether to go into silent mode or not
bogdanm 15:4892fe388435 150 */
bogdanm 15:4892fe388435 151 void monitor(bool silent);
bogdanm 15:4892fe388435 152
bogdanm 15:4892fe388435 153 enum Mode {
bogdanm 15:4892fe388435 154 Reset = 0,
bogdanm 15:4892fe388435 155 Normal,
bogdanm 15:4892fe388435 156 Silent,
bogdanm 15:4892fe388435 157 LocalTest,
bogdanm 15:4892fe388435 158 GlobalTest,
bogdanm 15:4892fe388435 159 SilentTest
bogdanm 15:4892fe388435 160 };
bogdanm 15:4892fe388435 161
bogdanm 15:4892fe388435 162 /** Change CAN operation to the specified mode
bogdanm 15:4892fe388435 163 *
bogdanm 15:4892fe388435 164 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
bogdanm 15:4892fe388435 165 *
bogdanm 15:4892fe388435 166 * @returns
bogdanm 15:4892fe388435 167 * 0 if mode change failed or unsupported,
bogdanm 15:4892fe388435 168 * 1 if mode change was successful
bogdanm 15:4892fe388435 169 */
bogdanm 15:4892fe388435 170 int mode(Mode mode);
bogdanm 15:4892fe388435 171
bogdanm 15:4892fe388435 172 /** Returns number of read errors to detect read overflow errors.
bogdanm 15:4892fe388435 173 */
bogdanm 15:4892fe388435 174 unsigned char rderror();
bogdanm 15:4892fe388435 175
bogdanm 15:4892fe388435 176 /** Returns number of write errors to detect write overflow errors.
bogdanm 15:4892fe388435 177 */
bogdanm 15:4892fe388435 178 unsigned char tderror();
bogdanm 15:4892fe388435 179
bogdanm 15:4892fe388435 180 enum IrqType {
bogdanm 15:4892fe388435 181 RxIrq = 0,
bogdanm 15:4892fe388435 182 TxIrq,
bogdanm 15:4892fe388435 183 EwIrq,
bogdanm 15:4892fe388435 184 DoIrq,
bogdanm 15:4892fe388435 185 WuIrq,
bogdanm 15:4892fe388435 186 EpIrq,
bogdanm 15:4892fe388435 187 AlIrq,
bogdanm 15:4892fe388435 188 BeIrq,
bogdanm 15:4892fe388435 189 IdIrq
bogdanm 15:4892fe388435 190 };
bogdanm 15:4892fe388435 191
bogdanm 15:4892fe388435 192 /** Attach a function to call whenever a CAN frame received interrupt is
bogdanm 15:4892fe388435 193 * generated.
bogdanm 15:4892fe388435 194 *
bogdanm 15:4892fe388435 195 * @param fptr A pointer to a void function, or 0 to set as none
bogdanm 15:4892fe388435 196 * @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)
bogdanm 15:4892fe388435 197 */
bogdanm 15:4892fe388435 198 void attach(void (*fptr)(void), IrqType type=RxIrq);
bogdanm 15:4892fe388435 199
bogdanm 15:4892fe388435 200 /** Attach a member function to call whenever a CAN frame received interrupt
bogdanm 15:4892fe388435 201 * is generated.
bogdanm 15:4892fe388435 202 *
bogdanm 15:4892fe388435 203 * @param tptr pointer to the object to call the member function on
bogdanm 15:4892fe388435 204 * @param mptr pointer to the member function to be called
bogdanm 15:4892fe388435 205 * @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)
bogdanm 15:4892fe388435 206 */
bogdanm 15:4892fe388435 207 template<typename T>
bogdanm 15:4892fe388435 208 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
bogdanm 15:4892fe388435 209 if((mptr != NULL) && (tptr != NULL)) {
bogdanm 15:4892fe388435 210 _irq[type].attach(tptr, mptr);
bogdanm 15:4892fe388435 211 can_irq_set(&_can, (CanIrqType)type, 1);
bogdanm 15:4892fe388435 212 }
bogdanm 15:4892fe388435 213 else {
bogdanm 15:4892fe388435 214 can_irq_set(&_can, (CanIrqType)type, 0);
bogdanm 15:4892fe388435 215 }
bogdanm 15:4892fe388435 216 }
bogdanm 15:4892fe388435 217
bogdanm 15:4892fe388435 218 static void _irq_handler(uint32_t id, CanIrqType type);
bogdanm 15:4892fe388435 219
bogdanm 15:4892fe388435 220 protected:
bogdanm 15:4892fe388435 221 can_t _can;
bogdanm 15:4892fe388435 222 FunctionPointer _irq[9];
bogdanm 15:4892fe388435 223 };
bogdanm 15:4892fe388435 224
bogdanm 15:4892fe388435 225 } // namespace mbed
bogdanm 15:4892fe388435 226
bogdanm 15:4892fe388435 227 #endif
bogdanm 15:4892fe388435 228
bogdanm 15:4892fe388435 229 #endif // MBED_CAN_H