Jing Qiu
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gokmen ascioglu
Diff: CAN.h
- Revision:
- 0:a8fa94490a0a
diff -r 000000000000 -r a8fa94490a0a CAN.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN.h Sat Sep 22 10:32:07 2012 +0000
@@ -0,0 +1,252 @@
+/* mbed Microcontroller Library - can
+ * Copyright (c) 2009-2011 ARM Limited. All rights reserved.
+ */
+
+#ifndef MBED_CAN_H
+#define MBED_CAN_H
+
+#include "device.h"
+
+#if DEVICE_CAN
+
+#include "Base.h"
+#include "platform.h"
+#include "PinNames.h"
+#include "PeripheralNames.h"
+
+#include "can_helper.h"
+#include "FunctionPointer.h"
+
+#include <string.h>
+
+namespace mbed {
+
+/* Class: CANMessage
+ *
+ */
+class CANMessage : public CAN_Message {
+
+public:
+
+ /* Constructor: CANMessage
+ * Creates empty CAN message.
+ */
+ CANMessage() {
+ len = 8;
+ type = CANData;
+ format = CANStandard;
+ id = 0;
+ memset(data, 0, 8);
+ }
+
+ /* Constructor: CANMessage
+ * Creates CAN message with specific content.
+ */
+ CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
+ len = _len & 0xF;
+ type = _type;
+ format = _format;
+ id = _id;
+ memcpy(data, _data, _len);
+ }
+
+ /* Constructor: CANMessage
+ * Creates CAN remote message.
+ */
+ CANMessage(int _id, CANFormat _format = CANStandard) {
+ len = 0;
+ type = CANRemote;
+ format = _format;
+ id = _id;
+ memset(data, 0, 8);
+ }
+#if 0 // Inhereted from CAN_Message, for documentation only
+
+ /* Variable: id
+ * The message id.
+ *
+ * If format is CANStandard it must be an 11 bit long id
+ * If format is CANExtended it must be an 29 bit long id
+ */
+ unsigned int id;
+
+ /* Variable: data
+ * Space for 8 byte payload.
+ *
+ * If type is CANData data can store up to 8 byte data.
+ */
+ unsigned char data[8];
+
+ /* Variable: len
+ * Length of data in bytes.
+ *
+ * If type is CANData data can store up to 8 byte data.
+ */
+ unsigned char len;
+
+ /* Variable: format
+ * Defines if the message has standard or extended format.
+ *
+ * Defines the type of message id:
+ * Default is CANStandard which implies 11 bit id.
+ * CANExtended means 29 bit message id.
+ */
+ CANFormat format;
+
+ /* Variable: type
+ * Defines the type of a message.
+ *
+ * The message type can rather be CANData for a message with data (default).
+ * Or CANRemote for a request of a specific CAN message.
+ */
+ CANType type; // 0 - DATA FRAME, 1 - REMOTE FRAME
+#endif
+};
+
+/* Class: CAN
+ * A can bus client, used for communicating with can devices
+ */
+class CAN : public Base {
+
+public:
+
+ /* Constructor: CAN
+ * Creates an CAN interface connected to specific pins.
+ *
+ * Example:
+ * > #include "mbed.h"
+ * >
+ * > Ticker ticker;
+ * > DigitalOut led1(LED1);
+ * > DigitalOut led2(LED2);
+ * > CAN can1(p9, p10);
+ * > CAN can2(p30, p29);
+ * >
+ * > char counter = 0;
+ * >
+ * > void send() {
+ * > if(can1.write(CANMessage(1337, &counter, 1))) {
+ * > printf("Message sent: %d\n", counter);
+ * > counter++;
+ * > }
+ * > led1 = !led1;
+ * > }
+ * >
+ * > int main() {
+ * > ticker.attach(&send, 1);
+ * > CANMessage msg;
+ * > while(1) {
+ * > if(can2.read(msg)) {
+ * > printf("Message received: %d\n\n", msg.data[0]);
+ * > led2 = !led2;
+ * > }
+ * > wait(0.2);
+ * > }
+ * > }
+ *
+ * Variables:
+ * rd - read from transmitter
+ * td - transmit to transmitter
+ */
+ CAN(PinName rd, PinName td);
+ virtual ~CAN();
+
+ /* Function: frequency
+ * Set the frequency of the CAN interface
+ *
+ * Variables:
+ * hz - The bus frequency in hertz
+ * returns - 1 if successful, 0 otherwise
+ */
+ int frequency(int hz);
+
+ /* Function: write
+ * Write a CANMessage to the bus.
+ *
+ * Variables:
+ * msg - The CANMessage to write.
+ *
+ * Returns:
+ * 0 - If write failed.
+ * 1 - If write was successful.
+ */
+ int write(CANMessage msg);
+
+ /* Function: read
+ * Read a CANMessage from the bus.
+ *
+ * Variables:
+ * msg - A CANMessage to read to.
+ *
+ * Returns:
+ * 0 - If no message arrived.
+ * 1 - If message arrived.
+ */
+ int read(CANMessage &msg);
+
+ /* Function: reset
+ * Reset CAN interface.
+ *
+ * To use after error overflow.
+ */
+ void reset();
+
+ /* Function: monitor
+ * Puts or removes the CAN interface into silent monitoring mode
+ *
+ * Variables:
+ * silent - boolean indicating whether to go into silent mode or not
+ */
+ void monitor(bool silent);
+
+ /* Function: rderror
+ * Returns number of read errors to detect read overflow errors.
+ */
+ unsigned char rderror();
+
+ /* Function: tderror
+ * Returns number of write errors to detect write overflow errors.
+ */
+ unsigned char tderror();
+
+ /* Function: attach
+ * Attach a function to call whenever a CAN frame received interrupt is
+ * generated.
+ *
+ * Variables:
+ * fptr - A pointer to a void function, or 0 to set as none
+ */
+ void attach(void (*fptr)(void));
+
+ /* Function attach
+ * Attach a member function to call whenever a CAN frame received interrupt
+ * is generated.
+ *
+ * Variables:
+ * tptr - pointer to the object to call the member function on
+ * mptr - pointer to the member function to be called
+ */
+ template<typename T>
+ void attach(T* tptr, void (T::*mptr)(void)) {
+ if((mptr != NULL) && (tptr != NULL)) {
+ _rxirq.attach(tptr, mptr);
+ setup_interrupt();
+ } else {
+ remove_interrupt();
+ }
+ }
+
+private:
+
+ CANName _id;
+ FunctionPointer _rxirq;
+
+ void setup_interrupt(void);
+ void remove_interrupt(void);
+};
+
+} // namespace mbed
+
+#endif // MBED_CAN_H
+
+#endif