Jonne Valola / PokittoLib Featured

PokittoLib is the library needed for programming the Pokitto DIY game console (www.pokitto.com)

Dependents:   YATTT sd_map_test cPong SnowDemo ... more

PokittoLib

Library for programming Pokitto hardware

How to Use

  1. Import this library to online compiler (see button "import" on the right hand side
  2. DO NOT import mbed-src anymore, a better version is now included inside PokittoLib
  3. Change My_settings.h according to your project
  4. Start coding!

mbed-pokitto/api/CAN.h@71:531419862202, 2019-12-25 (annotated)

Committer:
Pokitto
Date:
Wed Dec 25 23:59:52 2019 +0000
Revision:
71:531419862202
Parent:
5:ea7377f3d1af 
Changed Mode2 C++ refresh code (graphical errors)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Pokitto 5:ea7377f3d1af 1 /* mbed Microcontroller Library
Pokitto 5:ea7377f3d1af 2 * Copyright (c) 2006-2013 ARM Limited
Pokitto 5:ea7377f3d1af 3 *
Pokitto 5:ea7377f3d1af 4 * Licensed under the Apache License, Version 2.0 (the "License");
Pokitto 5:ea7377f3d1af 5 * you may not use this file except in compliance with the License.
Pokitto 5:ea7377f3d1af 6 * You may obtain a copy of the License at
Pokitto 5:ea7377f3d1af 7 *
Pokitto 5:ea7377f3d1af 8 * http://www.apache.org/licenses/LICENSE-2.0
Pokitto 5:ea7377f3d1af 9 *
Pokitto 5:ea7377f3d1af 10 * Unless required by applicable law or agreed to in writing, software
Pokitto 5:ea7377f3d1af 11 * distributed under the License is distributed on an "AS IS" BASIS,
Pokitto 5:ea7377f3d1af 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
Pokitto 5:ea7377f3d1af 13 * See the License for the specific language governing permissions and
Pokitto 5:ea7377f3d1af 14 * limitations under the License.
Pokitto 5:ea7377f3d1af 15 */
Pokitto 5:ea7377f3d1af 16 #ifndef MBED_CAN_H
Pokitto 5:ea7377f3d1af 17 #define MBED_CAN_H
Pokitto 5:ea7377f3d1af 18
Pokitto 5:ea7377f3d1af 19 #include "platform.h"
Pokitto 5:ea7377f3d1af 20
Pokitto 5:ea7377f3d1af 21 #if DEVICE_CAN
Pokitto 5:ea7377f3d1af 22
Pokitto 5:ea7377f3d1af 23 #include "can_api.h"
Pokitto 5:ea7377f3d1af 24 #include "can_helper.h"
Pokitto 5:ea7377f3d1af 25 #include "FunctionPointer.h"
Pokitto 5:ea7377f3d1af 26
Pokitto 5:ea7377f3d1af 27 namespace mbed {
Pokitto 5:ea7377f3d1af 28
Pokitto 5:ea7377f3d1af 29 /** CANMessage class
Pokitto 5:ea7377f3d1af 30 */
Pokitto 5:ea7377f3d1af 31 class CANMessage : public CAN_Message {
Pokitto 5:ea7377f3d1af 32
Pokitto 5:ea7377f3d1af 33 public:
Pokitto 5:ea7377f3d1af 34 /** Creates empty CAN message.
Pokitto 5:ea7377f3d1af 35 */
Pokitto 5:ea7377f3d1af 36 CANMessage() : CAN_Message() {
Pokitto 5:ea7377f3d1af 37 len = 8;
Pokitto 5:ea7377f3d1af 38 type = CANData;
Pokitto 5:ea7377f3d1af 39 format = CANStandard;
Pokitto 5:ea7377f3d1af 40 id = 0;
Pokitto 5:ea7377f3d1af 41 memset(data, 0, 8);
Pokitto 5:ea7377f3d1af 42 }
Pokitto 5:ea7377f3d1af 43
Pokitto 5:ea7377f3d1af 44 /** Creates CAN message with specific content.
Pokitto 5:ea7377f3d1af 45 */
Pokitto 5:ea7377f3d1af 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
Pokitto 5:ea7377f3d1af 47 len = _len & 0xF;
Pokitto 5:ea7377f3d1af 48 type = _type;
Pokitto 5:ea7377f3d1af 49 format = _format;
Pokitto 5:ea7377f3d1af 50 id = _id;
Pokitto 5:ea7377f3d1af 51 memcpy(data, _data, _len);
Pokitto 5:ea7377f3d1af 52 }
Pokitto 5:ea7377f3d1af 53
Pokitto 5:ea7377f3d1af 54 /** Creates CAN remote message.
Pokitto 5:ea7377f3d1af 55 */
Pokitto 5:ea7377f3d1af 56 CANMessage(int _id, CANFormat _format = CANStandard) {
Pokitto 5:ea7377f3d1af 57 len = 0;
Pokitto 5:ea7377f3d1af 58 type = CANRemote;
Pokitto 5:ea7377f3d1af 59 format = _format;
Pokitto 5:ea7377f3d1af 60 id = _id;
Pokitto 5:ea7377f3d1af 61 memset(data, 0, 8);
Pokitto 5:ea7377f3d1af 62 }
Pokitto 5:ea7377f3d1af 63 };
Pokitto 5:ea7377f3d1af 64
Pokitto 5:ea7377f3d1af 65 /** A can bus client, used for communicating with can devices
Pokitto 5:ea7377f3d1af 66 */
Pokitto 5:ea7377f3d1af 67 class CAN {
Pokitto 5:ea7377f3d1af 68
Pokitto 5:ea7377f3d1af 69 public:
Pokitto 5:ea7377f3d1af 70 /** Creates an CAN interface connected to specific pins.
Pokitto 5:ea7377f3d1af 71 *
Pokitto 5:ea7377f3d1af 72 * @param rd read from transmitter
Pokitto 5:ea7377f3d1af 73 * @param td transmit to transmitter
Pokitto 5:ea7377f3d1af 74 *
Pokitto 5:ea7377f3d1af 75 * Example:
Pokitto 5:ea7377f3d1af 76 * @code
Pokitto 5:ea7377f3d1af 77 * #include "mbed.h"
Pokitto 5:ea7377f3d1af 78 *
Pokitto 5:ea7377f3d1af 79 * Ticker ticker;
Pokitto 5:ea7377f3d1af 80 * DigitalOut led1(LED1);
Pokitto 5:ea7377f3d1af 81 * DigitalOut led2(LED2);
Pokitto 5:ea7377f3d1af 82 * CAN can1(p9, p10);
Pokitto 5:ea7377f3d1af 83 * CAN can2(p30, p29);
Pokitto 5:ea7377f3d1af 84 *
Pokitto 5:ea7377f3d1af 85 * char counter = 0;
Pokitto 5:ea7377f3d1af 86 *
Pokitto 5:ea7377f3d1af 87 * void send() {
Pokitto 5:ea7377f3d1af 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
Pokitto 5:ea7377f3d1af 89 * printf("Message sent: %d\n", counter);
Pokitto 5:ea7377f3d1af 90 * counter++;
Pokitto 5:ea7377f3d1af 91 * }
Pokitto 5:ea7377f3d1af 92 * led1 = !led1;
Pokitto 5:ea7377f3d1af 93 * }
Pokitto 5:ea7377f3d1af 94 *
Pokitto 5:ea7377f3d1af 95 * int main() {
Pokitto 5:ea7377f3d1af 96 * ticker.attach(&send, 1);
Pokitto 5:ea7377f3d1af 97 * CANMessage msg;
Pokitto 5:ea7377f3d1af 98 * while(1) {
Pokitto 5:ea7377f3d1af 99 * if(can2.read(msg)) {
Pokitto 5:ea7377f3d1af 100 * printf("Message received: %d\n\n", msg.data[0]);
Pokitto 5:ea7377f3d1af 101 * led2 = !led2;
Pokitto 5:ea7377f3d1af 102 * }
Pokitto 5:ea7377f3d1af 103 * wait(0.2);
Pokitto 5:ea7377f3d1af 104 * }
Pokitto 5:ea7377f3d1af 105 * }
Pokitto 5:ea7377f3d1af 106 * @endcode
Pokitto 5:ea7377f3d1af 107 */
Pokitto 5:ea7377f3d1af 108 CAN(PinName rd, PinName td);
Pokitto 5:ea7377f3d1af 109 virtual ~CAN();
Pokitto 5:ea7377f3d1af 110
Pokitto 5:ea7377f3d1af 111 /** Set the frequency of the CAN interface
Pokitto 5:ea7377f3d1af 112 *
Pokitto 5:ea7377f3d1af 113 * @param hz The bus frequency in hertz
Pokitto 5:ea7377f3d1af 114 *
Pokitto 5:ea7377f3d1af 115 * @returns
Pokitto 5:ea7377f3d1af 116 * 1 if successful,
Pokitto 5:ea7377f3d1af 117 * 0 otherwise
Pokitto 5:ea7377f3d1af 118 */
Pokitto 5:ea7377f3d1af 119 int frequency(int hz);
Pokitto 5:ea7377f3d1af 120
Pokitto 5:ea7377f3d1af 121 /** Write a CANMessage to the bus.
Pokitto 5:ea7377f3d1af 122 *
Pokitto 5:ea7377f3d1af 123 * @param msg The CANMessage to write.
Pokitto 5:ea7377f3d1af 124 *
Pokitto 5:ea7377f3d1af 125 * @returns
Pokitto 5:ea7377f3d1af 126 * 0 if write failed,
Pokitto 5:ea7377f3d1af 127 * 1 if write was successful
Pokitto 5:ea7377f3d1af 128 */
Pokitto 5:ea7377f3d1af 129 int write(CANMessage msg);
Pokitto 5:ea7377f3d1af 130
Pokitto 5:ea7377f3d1af 131 /** Read a CANMessage from the bus.
Pokitto 5:ea7377f3d1af 132 *
Pokitto 5:ea7377f3d1af 133 * @param msg A CANMessage to read to.
Pokitto 5:ea7377f3d1af 134 * @param handle message filter handle (0 for any message)
Pokitto 5:ea7377f3d1af 135 *
Pokitto 5:ea7377f3d1af 136 * @returns
Pokitto 5:ea7377f3d1af 137 * 0 if no message arrived,
Pokitto 5:ea7377f3d1af 138 * 1 if message arrived
Pokitto 5:ea7377f3d1af 139 */
Pokitto 5:ea7377f3d1af 140 int read(CANMessage &msg, int handle = 0);
Pokitto 5:ea7377f3d1af 141
Pokitto 5:ea7377f3d1af 142 /** Reset CAN interface.
Pokitto 5:ea7377f3d1af 143 *
Pokitto 5:ea7377f3d1af 144 * To use after error overflow.
Pokitto 5:ea7377f3d1af 145 */
Pokitto 5:ea7377f3d1af 146 void reset();
Pokitto 5:ea7377f3d1af 147
Pokitto 5:ea7377f3d1af 148 /** Puts or removes the CAN interface into silent monitoring mode
Pokitto 5:ea7377f3d1af 149 *
Pokitto 5:ea7377f3d1af 150 * @param silent boolean indicating whether to go into silent mode or not
Pokitto 5:ea7377f3d1af 151 */
Pokitto 5:ea7377f3d1af 152 void monitor(bool silent);
Pokitto 5:ea7377f3d1af 153
Pokitto 5:ea7377f3d1af 154 enum Mode {
Pokitto 5:ea7377f3d1af 155 Reset = 0,
Pokitto 5:ea7377f3d1af 156 Normal,
Pokitto 5:ea7377f3d1af 157 Silent,
Pokitto 5:ea7377f3d1af 158 LocalTest,
Pokitto 5:ea7377f3d1af 159 GlobalTest,
Pokitto 5:ea7377f3d1af 160 SilentTest
Pokitto 5:ea7377f3d1af 161 };
Pokitto 5:ea7377f3d1af 162
Pokitto 5:ea7377f3d1af 163 /** Change CAN operation to the specified mode
Pokitto 5:ea7377f3d1af 164 *
Pokitto 5:ea7377f3d1af 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
Pokitto 5:ea7377f3d1af 166 *
Pokitto 5:ea7377f3d1af 167 * @returns
Pokitto 5:ea7377f3d1af 168 * 0 if mode change failed or unsupported,
Pokitto 5:ea7377f3d1af 169 * 1 if mode change was successful
Pokitto 5:ea7377f3d1af 170 */
Pokitto 5:ea7377f3d1af 171 int mode(Mode mode);
Pokitto 5:ea7377f3d1af 172
Pokitto 5:ea7377f3d1af 173 /** Filter out incomming messages
Pokitto 5:ea7377f3d1af 174 *
Pokitto 5:ea7377f3d1af 175 * @param id the id to filter on
Pokitto 5:ea7377f3d1af 176 * @param mask the mask applied to the id
Pokitto 5:ea7377f3d1af 177 * @param format format to filter on (Default CANAny)
Pokitto 5:ea7377f3d1af 178 * @param handle message filter handle (Optional)
Pokitto 5:ea7377f3d1af 179 *
Pokitto 5:ea7377f3d1af 180 * @returns
Pokitto 5:ea7377f3d1af 181 * 0 if filter change failed or unsupported,
Pokitto 5:ea7377f3d1af 182 * new filter handle if successful
Pokitto 5:ea7377f3d1af 183 */
Pokitto 5:ea7377f3d1af 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
Pokitto 5:ea7377f3d1af 185
Pokitto 5:ea7377f3d1af 186 /** Returns number of read errors to detect read overflow errors.
Pokitto 5:ea7377f3d1af 187 */
Pokitto 5:ea7377f3d1af 188 unsigned char rderror();
Pokitto 5:ea7377f3d1af 189
Pokitto 5:ea7377f3d1af 190 /** Returns number of write errors to detect write overflow errors.
Pokitto 5:ea7377f3d1af 191 */
Pokitto 5:ea7377f3d1af 192 unsigned char tderror();
Pokitto 5:ea7377f3d1af 193
Pokitto 5:ea7377f3d1af 194 enum IrqType {
Pokitto 5:ea7377f3d1af 195 RxIrq = 0,
Pokitto 5:ea7377f3d1af 196 TxIrq,
Pokitto 5:ea7377f3d1af 197 EwIrq,
Pokitto 5:ea7377f3d1af 198 DoIrq,
Pokitto 5:ea7377f3d1af 199 WuIrq,
Pokitto 5:ea7377f3d1af 200 EpIrq,
Pokitto 5:ea7377f3d1af 201 AlIrq,
Pokitto 5:ea7377f3d1af 202 BeIrq,
Pokitto 5:ea7377f3d1af 203 IdIrq
Pokitto 5:ea7377f3d1af 204 };
Pokitto 5:ea7377f3d1af 205
Pokitto 5:ea7377f3d1af 206 /** Attach a function to call whenever a CAN frame received interrupt is
Pokitto 5:ea7377f3d1af 207 * generated.
Pokitto 5:ea7377f3d1af 208 *
Pokitto 5:ea7377f3d1af 209 * @param fptr A pointer to a void function, or 0 to set as none
Pokitto 5:ea7377f3d1af 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)
Pokitto 5:ea7377f3d1af 211 */
Pokitto 5:ea7377f3d1af 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
Pokitto 5:ea7377f3d1af 213
Pokitto 5:ea7377f3d1af 214 /** Attach a member function to call whenever a CAN frame received interrupt
Pokitto 5:ea7377f3d1af 215 * is generated.
Pokitto 5:ea7377f3d1af 216 *
Pokitto 5:ea7377f3d1af 217 * @param tptr pointer to the object to call the member function on
Pokitto 5:ea7377f3d1af 218 * @param mptr pointer to the member function to be called
Pokitto 5:ea7377f3d1af 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)
Pokitto 5:ea7377f3d1af 220 */
Pokitto 5:ea7377f3d1af 221 template<typename T>
Pokitto 5:ea7377f3d1af 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
Pokitto 5:ea7377f3d1af 223 if((mptr != NULL) && (tptr != NULL)) {
Pokitto 5:ea7377f3d1af 224 _irq[type].attach(tptr, mptr);
Pokitto 5:ea7377f3d1af 225 can_irq_set(&_can, (CanIrqType)type, 1);
Pokitto 5:ea7377f3d1af 226 }
Pokitto 5:ea7377f3d1af 227 else {
Pokitto 5:ea7377f3d1af 228 can_irq_set(&_can, (CanIrqType)type, 0);
Pokitto 5:ea7377f3d1af 229 }
Pokitto 5:ea7377f3d1af 230 }
Pokitto 5:ea7377f3d1af 231
Pokitto 5:ea7377f3d1af 232 static void _irq_handler(uint32_t id, CanIrqType type);
Pokitto 5:ea7377f3d1af 233
Pokitto 5:ea7377f3d1af 234 protected:
Pokitto 5:ea7377f3d1af 235 can_t _can;
Pokitto 5:ea7377f3d1af 236 FunctionPointer _irq[9];
Pokitto 5:ea7377f3d1af 237 };
Pokitto 5:ea7377f3d1af 238
Pokitto 5:ea7377f3d1af 239 } // namespace mbed
Pokitto 5:ea7377f3d1af 240
Pokitto 5:ea7377f3d1af 241 #endif
Pokitto 5:ea7377f3d1af 242
Pokitto 5:ea7377f3d1af 243 #endif // MBED_CAN_H