Neil Johnson / microbit-ARMBand

Official Sheffield ARMBand micro:bit program

microbit/microbit-dal/mbed-dev-bin/CAN.h@0:b9164b348919, 2016-10-17 (annotated)

Committer:
MrBedfordVan
Date:
Mon Oct 17 12:41:20 2016 +0000
Revision:
0:b9164b348919
Official Sheffield ARMBand Micro:bit program

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MrBedfordVan 0:b9164b348919 1 /* mbed Microcontroller Library
MrBedfordVan 0:b9164b348919 2 * Copyright (c) 2006-2013 ARM Limited
MrBedfordVan 0:b9164b348919 3 *
MrBedfordVan 0:b9164b348919 4 * Licensed under the Apache License, Version 2.0 (the "License");
MrBedfordVan 0:b9164b348919 5 * you may not use this file except in compliance with the License.
MrBedfordVan 0:b9164b348919 6 * You may obtain a copy of the License at
MrBedfordVan 0:b9164b348919 7 *
MrBedfordVan 0:b9164b348919 8 * http://www.apache.org/licenses/LICENSE-2.0
MrBedfordVan 0:b9164b348919 9 *
MrBedfordVan 0:b9164b348919 10 * Unless required by applicable law or agreed to in writing, software
MrBedfordVan 0:b9164b348919 11 * distributed under the License is distributed on an "AS IS" BASIS,
MrBedfordVan 0:b9164b348919 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
MrBedfordVan 0:b9164b348919 13 * See the License for the specific language governing permissions and
MrBedfordVan 0:b9164b348919 14 * limitations under the License.
MrBedfordVan 0:b9164b348919 15 */
MrBedfordVan 0:b9164b348919 16 #ifndef MBED_CAN_H
MrBedfordVan 0:b9164b348919 17 #define MBED_CAN_H
MrBedfordVan 0:b9164b348919 18
MrBedfordVan 0:b9164b348919 19 #include "platform.h"
MrBedfordVan 0:b9164b348919 20
MrBedfordVan 0:b9164b348919 21 #if DEVICE_CAN
MrBedfordVan 0:b9164b348919 22
MrBedfordVan 0:b9164b348919 23 #include "can_api.h"
MrBedfordVan 0:b9164b348919 24 #include "can_helper.h"
MrBedfordVan 0:b9164b348919 25 #include "FunctionPointer.h"
MrBedfordVan 0:b9164b348919 26
MrBedfordVan 0:b9164b348919 27 namespace mbed {
MrBedfordVan 0:b9164b348919 28
MrBedfordVan 0:b9164b348919 29 /** CANMessage class
MrBedfordVan 0:b9164b348919 30 */
MrBedfordVan 0:b9164b348919 31 class CANMessage : public CAN_Message {
MrBedfordVan 0:b9164b348919 32
MrBedfordVan 0:b9164b348919 33 public:
MrBedfordVan 0:b9164b348919 34 /** Creates empty CAN message.
MrBedfordVan 0:b9164b348919 35 */
MrBedfordVan 0:b9164b348919 36 CANMessage() : CAN_Message() {
MrBedfordVan 0:b9164b348919 37 len = 8;
MrBedfordVan 0:b9164b348919 38 type = CANData;
MrBedfordVan 0:b9164b348919 39 format = CANStandard;
MrBedfordVan 0:b9164b348919 40 id = 0;
MrBedfordVan 0:b9164b348919 41 memset(data, 0, 8);
MrBedfordVan 0:b9164b348919 42 }
MrBedfordVan 0:b9164b348919 43
MrBedfordVan 0:b9164b348919 44 /** Creates CAN message with specific content.
MrBedfordVan 0:b9164b348919 45 */
MrBedfordVan 0:b9164b348919 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
MrBedfordVan 0:b9164b348919 47 len = _len & 0xF;
MrBedfordVan 0:b9164b348919 48 type = _type;
MrBedfordVan 0:b9164b348919 49 format = _format;
MrBedfordVan 0:b9164b348919 50 id = _id;
MrBedfordVan 0:b9164b348919 51 memcpy(data, _data, _len);
MrBedfordVan 0:b9164b348919 52 }
MrBedfordVan 0:b9164b348919 53
MrBedfordVan 0:b9164b348919 54 /** Creates CAN remote message.
MrBedfordVan 0:b9164b348919 55 */
MrBedfordVan 0:b9164b348919 56 CANMessage(int _id, CANFormat _format = CANStandard) {
MrBedfordVan 0:b9164b348919 57 len = 0;
MrBedfordVan 0:b9164b348919 58 type = CANRemote;
MrBedfordVan 0:b9164b348919 59 format = _format;
MrBedfordVan 0:b9164b348919 60 id = _id;
MrBedfordVan 0:b9164b348919 61 memset(data, 0, 8);
MrBedfordVan 0:b9164b348919 62 }
MrBedfordVan 0:b9164b348919 63 };
MrBedfordVan 0:b9164b348919 64
MrBedfordVan 0:b9164b348919 65 /** A can bus client, used for communicating with can devices
MrBedfordVan 0:b9164b348919 66 */
MrBedfordVan 0:b9164b348919 67 class CAN {
MrBedfordVan 0:b9164b348919 68
MrBedfordVan 0:b9164b348919 69 public:
MrBedfordVan 0:b9164b348919 70 /** Creates an CAN interface connected to specific pins.
MrBedfordVan 0:b9164b348919 71 *
MrBedfordVan 0:b9164b348919 72 * @param rd read from transmitter
MrBedfordVan 0:b9164b348919 73 * @param td transmit to transmitter
MrBedfordVan 0:b9164b348919 74 *
MrBedfordVan 0:b9164b348919 75 * Example:
MrBedfordVan 0:b9164b348919 76 * @code
MrBedfordVan 0:b9164b348919 77 * #include "mbed.h"
MrBedfordVan 0:b9164b348919 78 *
MrBedfordVan 0:b9164b348919 79 * Ticker ticker;
MrBedfordVan 0:b9164b348919 80 * DigitalOut led1(LED1);
MrBedfordVan 0:b9164b348919 81 * DigitalOut led2(LED2);
MrBedfordVan 0:b9164b348919 82 * CAN can1(p9, p10);
MrBedfordVan 0:b9164b348919 83 * CAN can2(p30, p29);
MrBedfordVan 0:b9164b348919 84 *
MrBedfordVan 0:b9164b348919 85 * char counter = 0;
MrBedfordVan 0:b9164b348919 86 *
MrBedfordVan 0:b9164b348919 87 * void send() {
MrBedfordVan 0:b9164b348919 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
MrBedfordVan 0:b9164b348919 89 * printf("Message sent: %d\n", counter);
MrBedfordVan 0:b9164b348919 90 * counter++;
MrBedfordVan 0:b9164b348919 91 * }
MrBedfordVan 0:b9164b348919 92 * led1 = !led1;
MrBedfordVan 0:b9164b348919 93 * }
MrBedfordVan 0:b9164b348919 94 *
MrBedfordVan 0:b9164b348919 95 * int main() {
MrBedfordVan 0:b9164b348919 96 * ticker.attach(&send, 1);
MrBedfordVan 0:b9164b348919 97 * CANMessage msg;
MrBedfordVan 0:b9164b348919 98 * while(1) {
MrBedfordVan 0:b9164b348919 99 * if(can2.read(msg)) {
MrBedfordVan 0:b9164b348919 100 * printf("Message received: %d\n\n", msg.data[0]);
MrBedfordVan 0:b9164b348919 101 * led2 = !led2;
MrBedfordVan 0:b9164b348919 102 * }
MrBedfordVan 0:b9164b348919 103 * wait(0.2);
MrBedfordVan 0:b9164b348919 104 * }
MrBedfordVan 0:b9164b348919 105 * }
MrBedfordVan 0:b9164b348919 106 * @endcode
MrBedfordVan 0:b9164b348919 107 */
MrBedfordVan 0:b9164b348919 108 CAN(PinName rd, PinName td);
MrBedfordVan 0:b9164b348919 109 virtual ~CAN();
MrBedfordVan 0:b9164b348919 110
MrBedfordVan 0:b9164b348919 111 /** Set the frequency of the CAN interface
MrBedfordVan 0:b9164b348919 112 *
MrBedfordVan 0:b9164b348919 113 * @param hz The bus frequency in hertz
MrBedfordVan 0:b9164b348919 114 *
MrBedfordVan 0:b9164b348919 115 * @returns
MrBedfordVan 0:b9164b348919 116 * 1 if successful,
MrBedfordVan 0:b9164b348919 117 * 0 otherwise
MrBedfordVan 0:b9164b348919 118 */
MrBedfordVan 0:b9164b348919 119 int frequency(int hz);
MrBedfordVan 0:b9164b348919 120
MrBedfordVan 0:b9164b348919 121 /** Write a CANMessage to the bus.
MrBedfordVan 0:b9164b348919 122 *
MrBedfordVan 0:b9164b348919 123 * @param msg The CANMessage to write.
MrBedfordVan 0:b9164b348919 124 *
MrBedfordVan 0:b9164b348919 125 * @returns
MrBedfordVan 0:b9164b348919 126 * 0 if write failed,
MrBedfordVan 0:b9164b348919 127 * 1 if write was successful
MrBedfordVan 0:b9164b348919 128 */
MrBedfordVan 0:b9164b348919 129 int write(CANMessage msg);
MrBedfordVan 0:b9164b348919 130
MrBedfordVan 0:b9164b348919 131 /** Read a CANMessage from the bus.
MrBedfordVan 0:b9164b348919 132 *
MrBedfordVan 0:b9164b348919 133 * @param msg A CANMessage to read to.
MrBedfordVan 0:b9164b348919 134 * @param handle message filter handle (0 for any message)
MrBedfordVan 0:b9164b348919 135 *
MrBedfordVan 0:b9164b348919 136 * @returns
MrBedfordVan 0:b9164b348919 137 * 0 if no message arrived,
MrBedfordVan 0:b9164b348919 138 * 1 if message arrived
MrBedfordVan 0:b9164b348919 139 */
MrBedfordVan 0:b9164b348919 140 int read(CANMessage &msg, int handle = 0);
MrBedfordVan 0:b9164b348919 141
MrBedfordVan 0:b9164b348919 142 /** Reset CAN interface.
MrBedfordVan 0:b9164b348919 143 *
MrBedfordVan 0:b9164b348919 144 * To use after error overflow.
MrBedfordVan 0:b9164b348919 145 */
MrBedfordVan 0:b9164b348919 146 void reset();
MrBedfordVan 0:b9164b348919 147
MrBedfordVan 0:b9164b348919 148 /** Puts or removes the CAN interface into silent monitoring mode
MrBedfordVan 0:b9164b348919 149 *
MrBedfordVan 0:b9164b348919 150 * @param silent boolean indicating whether to go into silent mode or not
MrBedfordVan 0:b9164b348919 151 */
MrBedfordVan 0:b9164b348919 152 void monitor(bool silent);
MrBedfordVan 0:b9164b348919 153
MrBedfordVan 0:b9164b348919 154 enum Mode {
MrBedfordVan 0:b9164b348919 155 Reset = 0,
MrBedfordVan 0:b9164b348919 156 Normal,
MrBedfordVan 0:b9164b348919 157 Silent,
MrBedfordVan 0:b9164b348919 158 LocalTest,
MrBedfordVan 0:b9164b348919 159 GlobalTest,
MrBedfordVan 0:b9164b348919 160 SilentTest
MrBedfordVan 0:b9164b348919 161 };
MrBedfordVan 0:b9164b348919 162
MrBedfordVan 0:b9164b348919 163 /** Change CAN operation to the specified mode
MrBedfordVan 0:b9164b348919 164 *
MrBedfordVan 0:b9164b348919 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
MrBedfordVan 0:b9164b348919 166 *
MrBedfordVan 0:b9164b348919 167 * @returns
MrBedfordVan 0:b9164b348919 168 * 0 if mode change failed or unsupported,
MrBedfordVan 0:b9164b348919 169 * 1 if mode change was successful
MrBedfordVan 0:b9164b348919 170 */
MrBedfordVan 0:b9164b348919 171 int mode(Mode mode);
MrBedfordVan 0:b9164b348919 172
MrBedfordVan 0:b9164b348919 173 /** Filter out incomming messages
MrBedfordVan 0:b9164b348919 174 *
MrBedfordVan 0:b9164b348919 175 * @param id the id to filter on
MrBedfordVan 0:b9164b348919 176 * @param mask the mask applied to the id
MrBedfordVan 0:b9164b348919 177 * @param format format to filter on (Default CANAny)
MrBedfordVan 0:b9164b348919 178 * @param handle message filter handle (Optional)
MrBedfordVan 0:b9164b348919 179 *
MrBedfordVan 0:b9164b348919 180 * @returns
MrBedfordVan 0:b9164b348919 181 * 0 if filter change failed or unsupported,
MrBedfordVan 0:b9164b348919 182 * new filter handle if successful
MrBedfordVan 0:b9164b348919 183 */
MrBedfordVan 0:b9164b348919 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
MrBedfordVan 0:b9164b348919 185
MrBedfordVan 0:b9164b348919 186 /** Returns number of read errors to detect read overflow errors.
MrBedfordVan 0:b9164b348919 187 */
MrBedfordVan 0:b9164b348919 188 unsigned char rderror();
MrBedfordVan 0:b9164b348919 189
MrBedfordVan 0:b9164b348919 190 /** Returns number of write errors to detect write overflow errors.
MrBedfordVan 0:b9164b348919 191 */
MrBedfordVan 0:b9164b348919 192 unsigned char tderror();
MrBedfordVan 0:b9164b348919 193
MrBedfordVan 0:b9164b348919 194 enum IrqType {
MrBedfordVan 0:b9164b348919 195 RxIrq = 0,
MrBedfordVan 0:b9164b348919 196 TxIrq,
MrBedfordVan 0:b9164b348919 197 EwIrq,
MrBedfordVan 0:b9164b348919 198 DoIrq,
MrBedfordVan 0:b9164b348919 199 WuIrq,
MrBedfordVan 0:b9164b348919 200 EpIrq,
MrBedfordVan 0:b9164b348919 201 AlIrq,
MrBedfordVan 0:b9164b348919 202 BeIrq,
MrBedfordVan 0:b9164b348919 203 IdIrq
MrBedfordVan 0:b9164b348919 204 };
MrBedfordVan 0:b9164b348919 205
MrBedfordVan 0:b9164b348919 206 /** Attach a function to call whenever a CAN frame received interrupt is
MrBedfordVan 0:b9164b348919 207 * generated.
MrBedfordVan 0:b9164b348919 208 *
MrBedfordVan 0:b9164b348919 209 * @param fptr A pointer to a void function, or 0 to set as none
MrBedfordVan 0:b9164b348919 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)
MrBedfordVan 0:b9164b348919 211 */
MrBedfordVan 0:b9164b348919 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
MrBedfordVan 0:b9164b348919 213
MrBedfordVan 0:b9164b348919 214 /** Attach a member function to call whenever a CAN frame received interrupt
MrBedfordVan 0:b9164b348919 215 * is generated.
MrBedfordVan 0:b9164b348919 216 *
MrBedfordVan 0:b9164b348919 217 * @param tptr pointer to the object to call the member function on
MrBedfordVan 0:b9164b348919 218 * @param mptr pointer to the member function to be called
MrBedfordVan 0:b9164b348919 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)
MrBedfordVan 0:b9164b348919 220 */
MrBedfordVan 0:b9164b348919 221 template<typename T>
MrBedfordVan 0:b9164b348919 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
MrBedfordVan 0:b9164b348919 223 if((mptr != NULL) && (tptr != NULL)) {
MrBedfordVan 0:b9164b348919 224 _irq[type].attach(tptr, mptr);
MrBedfordVan 0:b9164b348919 225 can_irq_set(&_can, (CanIrqType)type, 1);
MrBedfordVan 0:b9164b348919 226 }
MrBedfordVan 0:b9164b348919 227 else {
MrBedfordVan 0:b9164b348919 228 can_irq_set(&_can, (CanIrqType)type, 0);
MrBedfordVan 0:b9164b348919 229 }
MrBedfordVan 0:b9164b348919 230 }
MrBedfordVan 0:b9164b348919 231
MrBedfordVan 0:b9164b348919 232 static void _irq_handler(uint32_t id, CanIrqType type);
MrBedfordVan 0:b9164b348919 233
MrBedfordVan 0:b9164b348919 234 protected:
MrBedfordVan 0:b9164b348919 235 can_t _can;
MrBedfordVan 0:b9164b348919 236 FunctionPointer _irq[9];
MrBedfordVan 0:b9164b348919 237 };
MrBedfordVan 0:b9164b348919 238
MrBedfordVan 0:b9164b348919 239 } // namespace mbed
MrBedfordVan 0:b9164b348919 240
MrBedfordVan 0:b9164b348919 241 #endif
MrBedfordVan 0:b9164b348919 242
MrBedfordVan 0:b9164b348919 243 #endif // MBED_CAN_H