Aravind Vadali / mbed-src-AV

mbed.h library with any bug fixes AV finds.

Dependents:   micromouse4_encoder_testing PID_Test Lab1_Test WorkingPID ... more

api/CAN.h@1:ebce2ad32f95, 2015-11-02 (annotated)

Committer:
aravindsv
Date:
Mon Nov 02 03:07:12 2015 +0000
Revision:
1:ebce2ad32f95
Parent:
0:ba7650f404af 
Changed the RCC timeout value to 500 ms, so total code startup time before program starts running is ~1s. Hopefully no side-effects from lower startup timeouts

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aravindsv 0:ba7650f404af 1 /* mbed Microcontroller Library
aravindsv 0:ba7650f404af 2 * Copyright (c) 2006-2013 ARM Limited
aravindsv 0:ba7650f404af 3 *
aravindsv 0:ba7650f404af 4 * Licensed under the Apache License, Version 2.0 (the "License");
aravindsv 0:ba7650f404af 5 * you may not use this file except in compliance with the License.
aravindsv 0:ba7650f404af 6 * You may obtain a copy of the License at
aravindsv 0:ba7650f404af 7 *
aravindsv 0:ba7650f404af 8 * http://www.apache.org/licenses/LICENSE-2.0
aravindsv 0:ba7650f404af 9 *
aravindsv 0:ba7650f404af 10 * Unless required by applicable law or agreed to in writing, software
aravindsv 0:ba7650f404af 11 * distributed under the License is distributed on an "AS IS" BASIS,
aravindsv 0:ba7650f404af 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
aravindsv 0:ba7650f404af 13 * See the License for the specific language governing permissions and
aravindsv 0:ba7650f404af 14 * limitations under the License.
aravindsv 0:ba7650f404af 15 */
aravindsv 0:ba7650f404af 16 #ifndef MBED_CAN_H
aravindsv 0:ba7650f404af 17 #define MBED_CAN_H
aravindsv 0:ba7650f404af 18
aravindsv 0:ba7650f404af 19 #include "platform.h"
aravindsv 0:ba7650f404af 20
aravindsv 0:ba7650f404af 21 #if DEVICE_CAN
aravindsv 0:ba7650f404af 22
aravindsv 0:ba7650f404af 23 #include "can_api.h"
aravindsv 0:ba7650f404af 24 #include "can_helper.h"
aravindsv 0:ba7650f404af 25 #include "FunctionPointer.h"
aravindsv 0:ba7650f404af 26
aravindsv 0:ba7650f404af 27 namespace mbed {
aravindsv 0:ba7650f404af 28
aravindsv 0:ba7650f404af 29 /** CANMessage class
aravindsv 0:ba7650f404af 30 */
aravindsv 0:ba7650f404af 31 class CANMessage : public CAN_Message {
aravindsv 0:ba7650f404af 32
aravindsv 0:ba7650f404af 33 public:
aravindsv 0:ba7650f404af 34 /** Creates empty CAN message.
aravindsv 0:ba7650f404af 35 */
aravindsv 0:ba7650f404af 36 CANMessage() : CAN_Message() {
aravindsv 0:ba7650f404af 37 len = 8;
aravindsv 0:ba7650f404af 38 type = CANData;
aravindsv 0:ba7650f404af 39 format = CANStandard;
aravindsv 0:ba7650f404af 40 id = 0;
aravindsv 0:ba7650f404af 41 memset(data, 0, 8);
aravindsv 0:ba7650f404af 42 }
aravindsv 0:ba7650f404af 43
aravindsv 0:ba7650f404af 44 /** Creates CAN message with specific content.
aravindsv 0:ba7650f404af 45 */
aravindsv 0:ba7650f404af 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
aravindsv 0:ba7650f404af 47 len = _len & 0xF;
aravindsv 0:ba7650f404af 48 type = _type;
aravindsv 0:ba7650f404af 49 format = _format;
aravindsv 0:ba7650f404af 50 id = _id;
aravindsv 0:ba7650f404af 51 memcpy(data, _data, _len);
aravindsv 0:ba7650f404af 52 }
aravindsv 0:ba7650f404af 53
aravindsv 0:ba7650f404af 54 /** Creates CAN remote message.
aravindsv 0:ba7650f404af 55 */
aravindsv 0:ba7650f404af 56 CANMessage(int _id, CANFormat _format = CANStandard) {
aravindsv 0:ba7650f404af 57 len = 0;
aravindsv 0:ba7650f404af 58 type = CANRemote;
aravindsv 0:ba7650f404af 59 format = _format;
aravindsv 0:ba7650f404af 60 id = _id;
aravindsv 0:ba7650f404af 61 memset(data, 0, 8);
aravindsv 0:ba7650f404af 62 }
aravindsv 0:ba7650f404af 63 };
aravindsv 0:ba7650f404af 64
aravindsv 0:ba7650f404af 65 /** A can bus client, used for communicating with can devices
aravindsv 0:ba7650f404af 66 */
aravindsv 0:ba7650f404af 67 class CAN {
aravindsv 0:ba7650f404af 68
aravindsv 0:ba7650f404af 69 public:
aravindsv 0:ba7650f404af 70 /** Creates an CAN interface connected to specific pins.
aravindsv 0:ba7650f404af 71 *
aravindsv 0:ba7650f404af 72 * @param rd read from transmitter
aravindsv 0:ba7650f404af 73 * @param td transmit to transmitter
aravindsv 0:ba7650f404af 74 *
aravindsv 0:ba7650f404af 75 * Example:
aravindsv 0:ba7650f404af 76 * @code
aravindsv 0:ba7650f404af 77 * #include "mbed.h"
aravindsv 0:ba7650f404af 78 *
aravindsv 0:ba7650f404af 79 * Ticker ticker;
aravindsv 0:ba7650f404af 80 * DigitalOut led1(LED1);
aravindsv 0:ba7650f404af 81 * DigitalOut led2(LED2);
aravindsv 0:ba7650f404af 82 * CAN can1(p9, p10);
aravindsv 0:ba7650f404af 83 * CAN can2(p30, p29);
aravindsv 0:ba7650f404af 84 *
aravindsv 0:ba7650f404af 85 * char counter = 0;
aravindsv 0:ba7650f404af 86 *
aravindsv 0:ba7650f404af 87 * void send() {
aravindsv 0:ba7650f404af 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
aravindsv 0:ba7650f404af 89 * printf("Message sent: %d\n", counter);
aravindsv 0:ba7650f404af 90 * counter++;
aravindsv 0:ba7650f404af 91 * }
aravindsv 0:ba7650f404af 92 * led1 = !led1;
aravindsv 0:ba7650f404af 93 * }
aravindsv 0:ba7650f404af 94 *
aravindsv 0:ba7650f404af 95 * int main() {
aravindsv 0:ba7650f404af 96 * ticker.attach(&send, 1);
aravindsv 0:ba7650f404af 97 * CANMessage msg;
aravindsv 0:ba7650f404af 98 * while(1) {
aravindsv 0:ba7650f404af 99 * if(can2.read(msg)) {
aravindsv 0:ba7650f404af 100 * printf("Message received: %d\n\n", msg.data[0]);
aravindsv 0:ba7650f404af 101 * led2 = !led2;
aravindsv 0:ba7650f404af 102 * }
aravindsv 0:ba7650f404af 103 * wait(0.2);
aravindsv 0:ba7650f404af 104 * }
aravindsv 0:ba7650f404af 105 * }
aravindsv 0:ba7650f404af 106 * @endcode
aravindsv 0:ba7650f404af 107 */
aravindsv 0:ba7650f404af 108 CAN(PinName rd, PinName td);
aravindsv 0:ba7650f404af 109 virtual ~CAN();
aravindsv 0:ba7650f404af 110
aravindsv 0:ba7650f404af 111 /** Set the frequency of the CAN interface
aravindsv 0:ba7650f404af 112 *
aravindsv 0:ba7650f404af 113 * @param hz The bus frequency in hertz
aravindsv 0:ba7650f404af 114 *
aravindsv 0:ba7650f404af 115 * @returns
aravindsv 0:ba7650f404af 116 * 1 if successful,
aravindsv 0:ba7650f404af 117 * 0 otherwise
aravindsv 0:ba7650f404af 118 */
aravindsv 0:ba7650f404af 119 int frequency(int hz);
aravindsv 0:ba7650f404af 120
aravindsv 0:ba7650f404af 121 /** Write a CANMessage to the bus.
aravindsv 0:ba7650f404af 122 *
aravindsv 0:ba7650f404af 123 * @param msg The CANMessage to write.
aravindsv 0:ba7650f404af 124 *
aravindsv 0:ba7650f404af 125 * @returns
aravindsv 0:ba7650f404af 126 * 0 if write failed,
aravindsv 0:ba7650f404af 127 * 1 if write was successful
aravindsv 0:ba7650f404af 128 */
aravindsv 0:ba7650f404af 129 int write(CANMessage msg);
aravindsv 0:ba7650f404af 130
aravindsv 0:ba7650f404af 131 /** Read a CANMessage from the bus.
aravindsv 0:ba7650f404af 132 *
aravindsv 0:ba7650f404af 133 * @param msg A CANMessage to read to.
aravindsv 0:ba7650f404af 134 * @param handle message filter handle (0 for any message)
aravindsv 0:ba7650f404af 135 *
aravindsv 0:ba7650f404af 136 * @returns
aravindsv 0:ba7650f404af 137 * 0 if no message arrived,
aravindsv 0:ba7650f404af 138 * 1 if message arrived
aravindsv 0:ba7650f404af 139 */
aravindsv 0:ba7650f404af 140 int read(CANMessage &msg, int handle = 0);
aravindsv 0:ba7650f404af 141
aravindsv 0:ba7650f404af 142 /** Reset CAN interface.
aravindsv 0:ba7650f404af 143 *
aravindsv 0:ba7650f404af 144 * To use after error overflow.
aravindsv 0:ba7650f404af 145 */
aravindsv 0:ba7650f404af 146 void reset();
aravindsv 0:ba7650f404af 147
aravindsv 0:ba7650f404af 148 /** Puts or removes the CAN interface into silent monitoring mode
aravindsv 0:ba7650f404af 149 *
aravindsv 0:ba7650f404af 150 * @param silent boolean indicating whether to go into silent mode or not
aravindsv 0:ba7650f404af 151 */
aravindsv 0:ba7650f404af 152 void monitor(bool silent);
aravindsv 0:ba7650f404af 153
aravindsv 0:ba7650f404af 154 enum Mode {
aravindsv 0:ba7650f404af 155 Reset = 0,
aravindsv 0:ba7650f404af 156 Normal,
aravindsv 0:ba7650f404af 157 Silent,
aravindsv 0:ba7650f404af 158 LocalTest,
aravindsv 0:ba7650f404af 159 GlobalTest,
aravindsv 0:ba7650f404af 160 SilentTest
aravindsv 0:ba7650f404af 161 };
aravindsv 0:ba7650f404af 162
aravindsv 0:ba7650f404af 163 /** Change CAN operation to the specified mode
aravindsv 0:ba7650f404af 164 *
aravindsv 0:ba7650f404af 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
aravindsv 0:ba7650f404af 166 *
aravindsv 0:ba7650f404af 167 * @returns
aravindsv 0:ba7650f404af 168 * 0 if mode change failed or unsupported,
aravindsv 0:ba7650f404af 169 * 1 if mode change was successful
aravindsv 0:ba7650f404af 170 */
aravindsv 0:ba7650f404af 171 int mode(Mode mode);
aravindsv 0:ba7650f404af 172
aravindsv 0:ba7650f404af 173 /** Filter out incomming messages
aravindsv 0:ba7650f404af 174 *
aravindsv 0:ba7650f404af 175 * @param id the id to filter on
aravindsv 0:ba7650f404af 176 * @param mask the mask applied to the id
aravindsv 0:ba7650f404af 177 * @param format format to filter on (Default CANAny)
aravindsv 0:ba7650f404af 178 * @param handle message filter handle (Optional)
aravindsv 0:ba7650f404af 179 *
aravindsv 0:ba7650f404af 180 * @returns
aravindsv 0:ba7650f404af 181 * 0 if filter change failed or unsupported,
aravindsv 0:ba7650f404af 182 * new filter handle if successful
aravindsv 0:ba7650f404af 183 */
aravindsv 0:ba7650f404af 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
aravindsv 0:ba7650f404af 185
aravindsv 0:ba7650f404af 186 /** Returns number of read errors to detect read overflow errors.
aravindsv 0:ba7650f404af 187 */
aravindsv 0:ba7650f404af 188 unsigned char rderror();
aravindsv 0:ba7650f404af 189
aravindsv 0:ba7650f404af 190 /** Returns number of write errors to detect write overflow errors.
aravindsv 0:ba7650f404af 191 */
aravindsv 0:ba7650f404af 192 unsigned char tderror();
aravindsv 0:ba7650f404af 193
aravindsv 0:ba7650f404af 194 enum IrqType {
aravindsv 0:ba7650f404af 195 RxIrq = 0,
aravindsv 0:ba7650f404af 196 TxIrq,
aravindsv 0:ba7650f404af 197 EwIrq,
aravindsv 0:ba7650f404af 198 DoIrq,
aravindsv 0:ba7650f404af 199 WuIrq,
aravindsv 0:ba7650f404af 200 EpIrq,
aravindsv 0:ba7650f404af 201 AlIrq,
aravindsv 0:ba7650f404af 202 BeIrq,
aravindsv 0:ba7650f404af 203 IdIrq
aravindsv 0:ba7650f404af 204 };
aravindsv 0:ba7650f404af 205
aravindsv 0:ba7650f404af 206 /** Attach a function to call whenever a CAN frame received interrupt is
aravindsv 0:ba7650f404af 207 * generated.
aravindsv 0:ba7650f404af 208 *
aravindsv 0:ba7650f404af 209 * @param fptr A pointer to a void function, or 0 to set as none
aravindsv 0:ba7650f404af 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)
aravindsv 0:ba7650f404af 211 */
aravindsv 0:ba7650f404af 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
aravindsv 0:ba7650f404af 213
aravindsv 0:ba7650f404af 214 /** Attach a member function to call whenever a CAN frame received interrupt
aravindsv 0:ba7650f404af 215 * is generated.
aravindsv 0:ba7650f404af 216 *
aravindsv 0:ba7650f404af 217 * @param tptr pointer to the object to call the member function on
aravindsv 0:ba7650f404af 218 * @param mptr pointer to the member function to be called
aravindsv 0:ba7650f404af 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)
aravindsv 0:ba7650f404af 220 */
aravindsv 0:ba7650f404af 221 template<typename T>
aravindsv 0:ba7650f404af 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
aravindsv 0:ba7650f404af 223 if((mptr != NULL) && (tptr != NULL)) {
aravindsv 0:ba7650f404af 224 _irq[type].attach(tptr, mptr);
aravindsv 0:ba7650f404af 225 can_irq_set(&_can, (CanIrqType)type, 1);
aravindsv 0:ba7650f404af 226 }
aravindsv 0:ba7650f404af 227 else {
aravindsv 0:ba7650f404af 228 can_irq_set(&_can, (CanIrqType)type, 0);
aravindsv 0:ba7650f404af 229 }
aravindsv 0:ba7650f404af 230 }
aravindsv 0:ba7650f404af 231
aravindsv 0:ba7650f404af 232 static void _irq_handler(uint32_t id, CanIrqType type);
aravindsv 0:ba7650f404af 233
aravindsv 0:ba7650f404af 234 protected:
aravindsv 0:ba7650f404af 235 can_t _can;
aravindsv 0:ba7650f404af 236 FunctionPointer _irq[9];
aravindsv 0:ba7650f404af 237 };
aravindsv 0:ba7650f404af 238
aravindsv 0:ba7650f404af 239 } // namespace mbed
aravindsv 0:ba7650f404af 240
aravindsv 0:ba7650f404af 241 #endif
aravindsv 0:ba7650f404af 242
aravindsv 0:ba7650f404af 243 #endif // MBED_CAN_H