Daniel Gonzalez / CAN_FIFO_USMA

CAN library containing a CAN controller object handling a FIFO, and CAN peripherals attached to it.

ControllerCAN.h@2:c81dff9c8a93, 2016-02-18 (annotated)

Committer:
garivetm
Date:
Thu Feb 18 15:40:24 2016 +0000
Revision:
2:c81dff9c8a93
Parent:
1:b69d05604535
Child:
3:e6f72461e31f
Adding a use case example in the documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garivetm 0:ebe6f5e97160 1 #ifndef CONTROLLERCAN_H
garivetm 0:ebe6f5e97160 2 #define CONTROLLERCAN_H
garivetm 0:ebe6f5e97160 3
garivetm 0:ebe6f5e97160 4 #include "mbed.h"
garivetm 1:b69d05604535 5 #include "PeripheralCAN.h"
garivetm 0:ebe6f5e97160 6 #include <vector>
garivetm 0:ebe6f5e97160 7
garivetm 0:ebe6f5e97160 8 #define SIZE_FIFO 32
garivetm 0:ebe6f5e97160 9
garivetm 1:b69d05604535 10 class PeripheralCAN;
garivetm 0:ebe6f5e97160 11
garivetm 0:ebe6f5e97160 12 /** My CAN Controller class
garivetm 0:ebe6f5e97160 13 * Used to manage reading and writing procedures on a CAN Bus
garivetm 0:ebe6f5e97160 14 *
garivetm 0:ebe6f5e97160 15 * Examples :
garivetm 0:ebe6f5e97160 16 * @code
garivetm 2:c81dff9c8a93 17 * class Motor : public PeripheralCAN{ // Your own Peripheral class (here a motor)
garivetm 2:c81dff9c8a93 18 * public :
garivetm 2:c81dff9c8a93 19 * Motor(ControllerCAN* controller, unsigned short Id1, unsigned short Id2) : PeripheralCAN(controller), Id1_m(Id1), Id2_m(Id2){
garivetm 2:c81dff9c8a93 20 * // Your stuffs
garivetm 2:c81dff9c8a93 21 * };
garivetm 2:c81dff9c8a93 22 *
garivetm 2:c81dff9c8a93 23 * void init(void){
garivetm 2:c81dff9c8a93 24 * addIdRead(&Id1); // To be done for each incomming Id
garivetm 2:c81dff9c8a93 25 * addIdRead(&Id2); // To be done for each incomming Id
garivetm 2:c81dff9c8a93 26 * // Your stuffs
garivetm 2:c81dff9c8a93 27 * };
garivetm 2:c81dff9c8a93 28 *
garivetm 2:c81dff9c8a93 29 * void update(const unsigned short& Id, const CANMessage& msg){
garivetm 2:c81dff9c8a93 30 * if(Id == Id1){
garivetm 2:c81dff9c8a93 31 * // update your own attributes with msg content
garivetm 2:c81dff9c8a93 32 * }
garivetm 2:c81dff9c8a93 33 * else if(Id == Id2){
garivetm 2:c81dff9c8a93 34 * // update your own attributes with msg content
garivetm 2:c81dff9c8a93 35 * }
garivetm 2:c81dff9c8a93 36 * };
garivetm 2:c81dff9c8a93 37 *
garivetm 2:c81dff9c8a93 38 * private :
garivetm 2:c81dff9c8a93 39 * unsigned short Id1_m;
garivetm 2:c81dff9c8a93 40 * unsigned short Id2_m;
garivetm 2:c81dff9c8a93 41 * };
garivetm 2:c81dff9c8a93 42 *
garivetm 2:c81dff9c8a93 43 * int main(){
garivetm 2:c81dff9c8a93 44 * ControllerCAN controller;
garivetm 2:c81dff9c8a93 45 * Motor peripherial(&controller, 0x100, 0x101);
garivetm 2:c81dff9c8a93 46 *
garivetm 2:c81dff9c8a93 47 * while(1){
garivetm 2:c81dff9c8a93 48 * controller.FIFOread(); // Treatement of the FIFO CAN messages
garivetm 2:c81dff9c8a93 49 * // Your stuffs
garivetm 2:c81dff9c8a93 50 * }
garivetm 2:c81dff9c8a93 51 * }
garivetm 0:ebe6f5e97160 52 * @endcode
garivetm 0:ebe6f5e97160 53 */
garivetm 0:ebe6f5e97160 54 class ControllerCAN {
garivetm 0:ebe6f5e97160 55 public :
garivetm 0:ebe6f5e97160 56 /** Create ControllerCAN instance
garivetm 0:ebe6f5e97160 57 */
garivetm 0:ebe6f5e97160 58 ControllerCAN();
garivetm 0:ebe6f5e97160 59
garivetm 0:ebe6f5e97160 60 /** Destroy ControllerCAN instance
garivetm 0:ebe6f5e97160 61 */
garivetm 0:ebe6f5e97160 62 ~ControllerCAN();
garivetm 0:ebe6f5e97160 63
garivetm 0:ebe6f5e97160 64 /** Write a CANMessage on CAN Bus
garivetm 0:ebe6f5e97160 65 *
garivetm 0:ebe6f5e97160 66 * @param Id Id message
garivetm 0:ebe6f5e97160 67 * @param data char array containing data to be send
garivetm 0:ebe6f5e97160 68 * @param len size of the data array
garivetm 0:ebe6f5e97160 69 * @returns
garivetm 0:ebe6f5e97160 70 * 1 if write was successful,
garivetm 0:ebe6f5e97160 71 * 0 if write failed
garivetm 0:ebe6f5e97160 72 */
garivetm 0:ebe6f5e97160 73 long writeData(long Id, const char *data, char len);
garivetm 0:ebe6f5e97160 74
garivetm 0:ebe6f5e97160 75 /** Write a remote CANMessage on CAN Bus
garivetm 0:ebe6f5e97160 76 *
garivetm 0:ebe6f5e97160 77 * @param Id Id message
garivetm 0:ebe6f5e97160 78 * @returns
garivetm 0:ebe6f5e97160 79 * 1 if write was successful,
garivetm 0:ebe6f5e97160 80 * 0 if write failed
garivetm 0:ebe6f5e97160 81 */
garivetm 0:ebe6f5e97160 82 long writeRemote(long Id);
garivetm 0:ebe6f5e97160 83
garivetm 1:b69d05604535 84 /** Attach a PeripheralCAN instance to a ControllerCAN
garivetm 0:ebe6f5e97160 85 *
garivetm 1:b69d05604535 86 * @param peripheral Pointer on a PeripheralCAN instance
garivetm 0:ebe6f5e97160 87 */
garivetm 1:b69d05604535 88 void attach(PeripheralCAN* peripheral);
garivetm 0:ebe6f5e97160 89
garivetm 0:ebe6f5e97160 90 /** Read one message on the CAN FIFO
garivetm 0:ebe6f5e97160 91 *
garivetm 0:ebe6f5e97160 92 * @returns
garivetm 0:ebe6f5e97160 93 * -1 if no match is found between the message Id and all Ids of
garivetm 1:b69d05604535 94 * the PeripheralCAN instances attached to the ControllerCAN,
garivetm 0:ebe6f5e97160 95 * 1 if a match is found
garivetm 0:ebe6f5e97160 96 */
garivetm 0:ebe6f5e97160 97 char FIFOread(void);
garivetm 0:ebe6f5e97160 98 //void FIFO_remove_msg(void);
garivetm 0:ebe6f5e97160 99
garivetm 0:ebe6f5e97160 100 private :
garivetm 0:ebe6f5e97160 101
garivetm 0:ebe6f5e97160 102 CAN can;
garivetm 1:b69d05604535 103 vector<PeripheralCAN*> peripherals;
garivetm 0:ebe6f5e97160 104 unsigned char FIFO_ecriture;
garivetm 0:ebe6f5e97160 105 signed char FIFO_lecture;
garivetm 0:ebe6f5e97160 106 signed char FIFO_occupation;
garivetm 0:ebe6f5e97160 107 signed char FIFO_max_occupation;
garivetm 0:ebe6f5e97160 108 CANMessage can_MsgRx[SIZE_FIFO];
garivetm 0:ebe6f5e97160 109
garivetm 0:ebe6f5e97160 110 /** Interrupt Service Routine called whenever a CAN frame received interrupt
garivetm 0:ebe6f5e97160 111 * is generated.
garivetm 0:ebe6f5e97160 112 */
garivetm 0:ebe6f5e97160 113 void can_ISR_Reader(void);
garivetm 0:ebe6f5e97160 114
garivetm 0:ebe6f5e97160 115 //static void CAN_automate_reception(void);
garivetm 0:ebe6f5e97160 116 };
garivetm 0:ebe6f5e97160 117
garivetm 0:ebe6f5e97160 118 #endif