Gonzalo Matarrubia / Mbed LPC1549 mod

This repo contains the libraries of Mbed for LPC1549 with following changes: - IAP commands. - EEPROM write and read. - UART write and read (public) - CAN can_s -> LPC_C_CAN0_Type *can

mbed/CAN.h@0:820a69dfd200, 2015-04-14 (annotated)

Committer:
gmatarrubia
Date:
Tue Apr 14 15:00:13 2015 +0200
Revision:
0:820a69dfd200
Initial repo. IAP commands, EEPROM write/read, UART write/read, CAN

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gmatarrubia 0:820a69dfd200 1 /* mbed Microcontroller Library
gmatarrubia 0:820a69dfd200 2 * Copyright (c) 2006-2013 ARM Limited
gmatarrubia 0:820a69dfd200 3 *
gmatarrubia 0:820a69dfd200 4 * Licensed under the Apache License, Version 2.0 (the "License");
gmatarrubia 0:820a69dfd200 5 * you may not use this file except in compliance with the License.
gmatarrubia 0:820a69dfd200 6 * You may obtain a copy of the License at
gmatarrubia 0:820a69dfd200 7 *
gmatarrubia 0:820a69dfd200 8 * http://www.apache.org/licenses/LICENSE-2.0
gmatarrubia 0:820a69dfd200 9 *
gmatarrubia 0:820a69dfd200 10 * Unless required by applicable law or agreed to in writing, software
gmatarrubia 0:820a69dfd200 11 * distributed under the License is distributed on an "AS IS" BASIS,
gmatarrubia 0:820a69dfd200 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
gmatarrubia 0:820a69dfd200 13 * See the License for the specific language governing permissions and
gmatarrubia 0:820a69dfd200 14 * limitations under the License.
gmatarrubia 0:820a69dfd200 15 */
gmatarrubia 0:820a69dfd200 16 #ifndef MBED_CAN_H
gmatarrubia 0:820a69dfd200 17 #define MBED_CAN_H
gmatarrubia 0:820a69dfd200 18
gmatarrubia 0:820a69dfd200 19 #include "platform.h"
gmatarrubia 0:820a69dfd200 20
gmatarrubia 0:820a69dfd200 21 #if DEVICE_CAN
gmatarrubia 0:820a69dfd200 22
gmatarrubia 0:820a69dfd200 23 #include "can_api.h"
gmatarrubia 0:820a69dfd200 24 #include "can_helper.h"
gmatarrubia 0:820a69dfd200 25 #include "FunctionPointer.h"
gmatarrubia 0:820a69dfd200 26
gmatarrubia 0:820a69dfd200 27 namespace mbed {
gmatarrubia 0:820a69dfd200 28
gmatarrubia 0:820a69dfd200 29 /** CANMessage class
gmatarrubia 0:820a69dfd200 30 */
gmatarrubia 0:820a69dfd200 31 class CANMessage : public CAN_Message {
gmatarrubia 0:820a69dfd200 32
gmatarrubia 0:820a69dfd200 33 public:
gmatarrubia 0:820a69dfd200 34 /** Creates empty CAN message.
gmatarrubia 0:820a69dfd200 35 */
gmatarrubia 0:820a69dfd200 36 CANMessage() : CAN_Message() {
gmatarrubia 0:820a69dfd200 37 len = 8;
gmatarrubia 0:820a69dfd200 38 type = CANData;
gmatarrubia 0:820a69dfd200 39 format = CANStandard;
gmatarrubia 0:820a69dfd200 40 id = 0;
gmatarrubia 0:820a69dfd200 41 memset(data, 0, 8);
gmatarrubia 0:820a69dfd200 42 }
gmatarrubia 0:820a69dfd200 43
gmatarrubia 0:820a69dfd200 44 /** Creates CAN message with specific content.
gmatarrubia 0:820a69dfd200 45 */
gmatarrubia 0:820a69dfd200 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
gmatarrubia 0:820a69dfd200 47 len = _len & 0xF;
gmatarrubia 0:820a69dfd200 48 type = _type;
gmatarrubia 0:820a69dfd200 49 format = _format;
gmatarrubia 0:820a69dfd200 50 id = _id;
gmatarrubia 0:820a69dfd200 51 memcpy(data, _data, _len);
gmatarrubia 0:820a69dfd200 52 }
gmatarrubia 0:820a69dfd200 53
gmatarrubia 0:820a69dfd200 54 /** Creates CAN remote message.
gmatarrubia 0:820a69dfd200 55 */
gmatarrubia 0:820a69dfd200 56 CANMessage(int _id, CANFormat _format = CANStandard) {
gmatarrubia 0:820a69dfd200 57 len = 0;
gmatarrubia 0:820a69dfd200 58 type = CANRemote;
gmatarrubia 0:820a69dfd200 59 format = _format;
gmatarrubia 0:820a69dfd200 60 id = _id;
gmatarrubia 0:820a69dfd200 61 memset(data, 0, 8);
gmatarrubia 0:820a69dfd200 62 }
gmatarrubia 0:820a69dfd200 63 };
gmatarrubia 0:820a69dfd200 64
gmatarrubia 0:820a69dfd200 65 /** A can bus client, used for communicating with can devices
gmatarrubia 0:820a69dfd200 66 */
gmatarrubia 0:820a69dfd200 67 class CAN {
gmatarrubia 0:820a69dfd200 68
gmatarrubia 0:820a69dfd200 69 public:
gmatarrubia 0:820a69dfd200 70 /** Creates an CAN interface connected to specific pins.
gmatarrubia 0:820a69dfd200 71 *
gmatarrubia 0:820a69dfd200 72 * @param rd read from transmitter
gmatarrubia 0:820a69dfd200 73 * @param td transmit to transmitter
gmatarrubia 0:820a69dfd200 74 *
gmatarrubia 0:820a69dfd200 75 * Example:
gmatarrubia 0:820a69dfd200 76 * @code
gmatarrubia 0:820a69dfd200 77 * #include "mbed.h"
gmatarrubia 0:820a69dfd200 78 *
gmatarrubia 0:820a69dfd200 79 * Ticker ticker;
gmatarrubia 0:820a69dfd200 80 * DigitalOut led1(LED1);
gmatarrubia 0:820a69dfd200 81 * DigitalOut led2(LED2);
gmatarrubia 0:820a69dfd200 82 * CAN can1(p9, p10);
gmatarrubia 0:820a69dfd200 83 * CAN can2(p30, p29);
gmatarrubia 0:820a69dfd200 84 *
gmatarrubia 0:820a69dfd200 85 * char counter = 0;
gmatarrubia 0:820a69dfd200 86 *
gmatarrubia 0:820a69dfd200 87 * void send() {
gmatarrubia 0:820a69dfd200 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
gmatarrubia 0:820a69dfd200 89 * printf("Message sent: %d\n", counter);
gmatarrubia 0:820a69dfd200 90 * counter++;
gmatarrubia 0:820a69dfd200 91 * }
gmatarrubia 0:820a69dfd200 92 * led1 = !led1;
gmatarrubia 0:820a69dfd200 93 * }
gmatarrubia 0:820a69dfd200 94 *
gmatarrubia 0:820a69dfd200 95 * int main() {
gmatarrubia 0:820a69dfd200 96 * ticker.attach(&send, 1);
gmatarrubia 0:820a69dfd200 97 * CANMessage msg;
gmatarrubia 0:820a69dfd200 98 * while(1) {
gmatarrubia 0:820a69dfd200 99 * if(can2.read(msg)) {
gmatarrubia 0:820a69dfd200 100 * printf("Message received: %d\n\n", msg.data[0]);
gmatarrubia 0:820a69dfd200 101 * led2 = !led2;
gmatarrubia 0:820a69dfd200 102 * }
gmatarrubia 0:820a69dfd200 103 * wait(0.2);
gmatarrubia 0:820a69dfd200 104 * }
gmatarrubia 0:820a69dfd200 105 * }
gmatarrubia 0:820a69dfd200 106 * @endcode
gmatarrubia 0:820a69dfd200 107 */
gmatarrubia 0:820a69dfd200 108 CAN(PinName rd, PinName td);
gmatarrubia 0:820a69dfd200 109 virtual ~CAN();
gmatarrubia 0:820a69dfd200 110
gmatarrubia 0:820a69dfd200 111 /** Set the frequency of the CAN interface
gmatarrubia 0:820a69dfd200 112 *
gmatarrubia 0:820a69dfd200 113 * @param hz The bus frequency in hertz
gmatarrubia 0:820a69dfd200 114 *
gmatarrubia 0:820a69dfd200 115 * @returns
gmatarrubia 0:820a69dfd200 116 * 1 if successful,
gmatarrubia 0:820a69dfd200 117 * 0 otherwise
gmatarrubia 0:820a69dfd200 118 */
gmatarrubia 0:820a69dfd200 119 int frequency(int hz);
gmatarrubia 0:820a69dfd200 120
gmatarrubia 0:820a69dfd200 121 /** Write a CANMessage to the bus.
gmatarrubia 0:820a69dfd200 122 *
gmatarrubia 0:820a69dfd200 123 * @param msg The CANMessage to write.
gmatarrubia 0:820a69dfd200 124 *
gmatarrubia 0:820a69dfd200 125 * @returns
gmatarrubia 0:820a69dfd200 126 * 0 if write failed,
gmatarrubia 0:820a69dfd200 127 * 1 if write was successful
gmatarrubia 0:820a69dfd200 128 */
gmatarrubia 0:820a69dfd200 129 int write(CANMessage msg);
gmatarrubia 0:820a69dfd200 130
gmatarrubia 0:820a69dfd200 131 /** Read a CANMessage from the bus.
gmatarrubia 0:820a69dfd200 132 *
gmatarrubia 0:820a69dfd200 133 * @param msg A CANMessage to read to.
gmatarrubia 0:820a69dfd200 134 * @param handle message filter handle (0 for any message)
gmatarrubia 0:820a69dfd200 135 *
gmatarrubia 0:820a69dfd200 136 * @returns
gmatarrubia 0:820a69dfd200 137 * 0 if no message arrived,
gmatarrubia 0:820a69dfd200 138 * 1 if message arrived
gmatarrubia 0:820a69dfd200 139 */
gmatarrubia 0:820a69dfd200 140 int read(CANMessage &msg, int handle = 0);
gmatarrubia 0:820a69dfd200 141
gmatarrubia 0:820a69dfd200 142 /** Reset CAN interface.
gmatarrubia 0:820a69dfd200 143 *
gmatarrubia 0:820a69dfd200 144 * To use after error overflow.
gmatarrubia 0:820a69dfd200 145 */
gmatarrubia 0:820a69dfd200 146 void reset();
gmatarrubia 0:820a69dfd200 147
gmatarrubia 0:820a69dfd200 148 /** Puts or removes the CAN interface into silent monitoring mode
gmatarrubia 0:820a69dfd200 149 *
gmatarrubia 0:820a69dfd200 150 * @param silent boolean indicating whether to go into silent mode or not
gmatarrubia 0:820a69dfd200 151 */
gmatarrubia 0:820a69dfd200 152 void monitor(bool silent);
gmatarrubia 0:820a69dfd200 153
gmatarrubia 0:820a69dfd200 154 enum Mode {
gmatarrubia 0:820a69dfd200 155 Reset = 0,
gmatarrubia 0:820a69dfd200 156 Normal,
gmatarrubia 0:820a69dfd200 157 Silent,
gmatarrubia 0:820a69dfd200 158 LocalTest,
gmatarrubia 0:820a69dfd200 159 GlobalTest,
gmatarrubia 0:820a69dfd200 160 SilentTest
gmatarrubia 0:820a69dfd200 161 };
gmatarrubia 0:820a69dfd200 162
gmatarrubia 0:820a69dfd200 163 /** Change CAN operation to the specified mode
gmatarrubia 0:820a69dfd200 164 *
gmatarrubia 0:820a69dfd200 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
gmatarrubia 0:820a69dfd200 166 *
gmatarrubia 0:820a69dfd200 167 * @returns
gmatarrubia 0:820a69dfd200 168 * 0 if mode change failed or unsupported,
gmatarrubia 0:820a69dfd200 169 * 1 if mode change was successful
gmatarrubia 0:820a69dfd200 170 */
gmatarrubia 0:820a69dfd200 171 int mode(Mode mode);
gmatarrubia 0:820a69dfd200 172
gmatarrubia 0:820a69dfd200 173 /** Filter out incomming messages
gmatarrubia 0:820a69dfd200 174 *
gmatarrubia 0:820a69dfd200 175 * @param id the id to filter on
gmatarrubia 0:820a69dfd200 176 * @param mask the mask applied to the id
gmatarrubia 0:820a69dfd200 177 * @param format format to filter on (Default CANAny)
gmatarrubia 0:820a69dfd200 178 * @param handle message filter handle (Optional)
gmatarrubia 0:820a69dfd200 179 *
gmatarrubia 0:820a69dfd200 180 * @returns
gmatarrubia 0:820a69dfd200 181 * 0 if filter change failed or unsupported,
gmatarrubia 0:820a69dfd200 182 * new filter handle if successful
gmatarrubia 0:820a69dfd200 183 */
gmatarrubia 0:820a69dfd200 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
gmatarrubia 0:820a69dfd200 185
gmatarrubia 0:820a69dfd200 186 /** Returns number of read errors to detect read overflow errors.
gmatarrubia 0:820a69dfd200 187 */
gmatarrubia 0:820a69dfd200 188 unsigned char rderror();
gmatarrubia 0:820a69dfd200 189
gmatarrubia 0:820a69dfd200 190 /** Returns number of write errors to detect write overflow errors.
gmatarrubia 0:820a69dfd200 191 */
gmatarrubia 0:820a69dfd200 192 unsigned char tderror();
gmatarrubia 0:820a69dfd200 193
gmatarrubia 0:820a69dfd200 194 enum IrqType {
gmatarrubia 0:820a69dfd200 195 RxIrq = 0,
gmatarrubia 0:820a69dfd200 196 TxIrq,
gmatarrubia 0:820a69dfd200 197 EwIrq,
gmatarrubia 0:820a69dfd200 198 DoIrq,
gmatarrubia 0:820a69dfd200 199 WuIrq,
gmatarrubia 0:820a69dfd200 200 EpIrq,
gmatarrubia 0:820a69dfd200 201 AlIrq,
gmatarrubia 0:820a69dfd200 202 BeIrq,
gmatarrubia 0:820a69dfd200 203 IdIrq
gmatarrubia 0:820a69dfd200 204 };
gmatarrubia 0:820a69dfd200 205
gmatarrubia 0:820a69dfd200 206 /** Attach a function to call whenever a CAN frame received interrupt is
gmatarrubia 0:820a69dfd200 207 * generated.
gmatarrubia 0:820a69dfd200 208 *
gmatarrubia 0:820a69dfd200 209 * @param fptr A pointer to a void function, or 0 to set as none
gmatarrubia 0:820a69dfd200 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)
gmatarrubia 0:820a69dfd200 211 */
gmatarrubia 0:820a69dfd200 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
gmatarrubia 0:820a69dfd200 213
gmatarrubia 0:820a69dfd200 214 /** Attach a member function to call whenever a CAN frame received interrupt
gmatarrubia 0:820a69dfd200 215 * is generated.
gmatarrubia 0:820a69dfd200 216 *
gmatarrubia 0:820a69dfd200 217 * @param tptr pointer to the object to call the member function on
gmatarrubia 0:820a69dfd200 218 * @param mptr pointer to the member function to be called
gmatarrubia 0:820a69dfd200 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)
gmatarrubia 0:820a69dfd200 220 */
gmatarrubia 0:820a69dfd200 221 template<typename T>
gmatarrubia 0:820a69dfd200 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
gmatarrubia 0:820a69dfd200 223 if((mptr != NULL) && (tptr != NULL)) {
gmatarrubia 0:820a69dfd200 224 _irq[type].attach(tptr, mptr);
gmatarrubia 0:820a69dfd200 225 can_irq_set(&_can, (CanIrqType)type, 1);
gmatarrubia 0:820a69dfd200 226 }
gmatarrubia 0:820a69dfd200 227 else {
gmatarrubia 0:820a69dfd200 228 can_irq_set(&_can, (CanIrqType)type, 0);
gmatarrubia 0:820a69dfd200 229 }
gmatarrubia 0:820a69dfd200 230 }
gmatarrubia 0:820a69dfd200 231
gmatarrubia 0:820a69dfd200 232 static void _irq_handler(uint32_t id, CanIrqType type);
gmatarrubia 0:820a69dfd200 233
gmatarrubia 0:820a69dfd200 234 protected:
gmatarrubia 0:820a69dfd200 235 can_t _can;
gmatarrubia 0:820a69dfd200 236 FunctionPointer _irq[9];
gmatarrubia 0:820a69dfd200 237 };
gmatarrubia 0:820a69dfd200 238
gmatarrubia 0:820a69dfd200 239 } // namespace mbed
gmatarrubia 0:820a69dfd200 240
gmatarrubia 0:820a69dfd200 241 #endif
gmatarrubia 0:820a69dfd200 242
gmatarrubia 0:820a69dfd200 243 #endif // MBED_CAN_H