clement lignie / configure_ax12_test_bras_module

config AX12

Fork of configure_ax12_test_bras_module by CRAC Team

mbed/CAN.h@2:91b6646ea994, 2017-02-01 (annotated)

Committer:
clementlignie
Date:
Wed Feb 01 13:42:30 2017 +0000
Revision:
2:91b6646ea994
Parent:
0:c03cffe402df 
config AX12

Who changed what in which revision?

UserRevisionLine numberNew contents of line
slowness 0:c03cffe402df 1 /* mbed Microcontroller Library - can
slowness 0:c03cffe402df 2 * Copyright (c) 2009-2011 ARM Limited. All rights reserved.
slowness 0:c03cffe402df 3 */
slowness 0:c03cffe402df 4
slowness 0:c03cffe402df 5 #ifndef MBED_CAN_H
slowness 0:c03cffe402df 6 #define MBED_CAN_H
slowness 0:c03cffe402df 7
slowness 0:c03cffe402df 8 #include "device.h"
slowness 0:c03cffe402df 9
slowness 0:c03cffe402df 10 #if DEVICE_CAN
slowness 0:c03cffe402df 11
slowness 0:c03cffe402df 12 #include "Base.h"
slowness 0:c03cffe402df 13 #include "platform.h"
slowness 0:c03cffe402df 14 #include "PinNames.h"
slowness 0:c03cffe402df 15 #include "PeripheralNames.h"
slowness 0:c03cffe402df 16
slowness 0:c03cffe402df 17 #include "can_helper.h"
slowness 0:c03cffe402df 18 #include "FunctionPointer.h"
slowness 0:c03cffe402df 19
slowness 0:c03cffe402df 20 #include <string.h>
slowness 0:c03cffe402df 21
slowness 0:c03cffe402df 22 namespace mbed {
slowness 0:c03cffe402df 23
slowness 0:c03cffe402df 24 /* Class: CANMessage
slowness 0:c03cffe402df 25 *
slowness 0:c03cffe402df 26 */
slowness 0:c03cffe402df 27 class CANMessage : public CAN_Message {
slowness 0:c03cffe402df 28
slowness 0:c03cffe402df 29 public:
slowness 0:c03cffe402df 30
slowness 0:c03cffe402df 31 /* Constructor: CANMessage
slowness 0:c03cffe402df 32 * Creates empty CAN message.
slowness 0:c03cffe402df 33 */
slowness 0:c03cffe402df 34 CANMessage() {
slowness 0:c03cffe402df 35 len = 8;
slowness 0:c03cffe402df 36 type = CANData;
slowness 0:c03cffe402df 37 format = CANStandard;
slowness 0:c03cffe402df 38 id = 0;
slowness 0:c03cffe402df 39 memset(data, 0, 8);
slowness 0:c03cffe402df 40 }
slowness 0:c03cffe402df 41
slowness 0:c03cffe402df 42 /* Constructor: CANMessage
slowness 0:c03cffe402df 43 * Creates CAN message with specific content.
slowness 0:c03cffe402df 44 */
slowness 0:c03cffe402df 45 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
slowness 0:c03cffe402df 46 len = _len & 0xF;
slowness 0:c03cffe402df 47 type = _type;
slowness 0:c03cffe402df 48 format = _format;
slowness 0:c03cffe402df 49 id = _id;
slowness 0:c03cffe402df 50 memcpy(data, _data, _len);
slowness 0:c03cffe402df 51 }
slowness 0:c03cffe402df 52
slowness 0:c03cffe402df 53 /* Constructor: CANMessage
slowness 0:c03cffe402df 54 * Creates CAN remote message.
slowness 0:c03cffe402df 55 */
slowness 0:c03cffe402df 56 CANMessage(int _id, CANFormat _format = CANStandard) {
slowness 0:c03cffe402df 57 len = 0;
slowness 0:c03cffe402df 58 type = CANRemote;
slowness 0:c03cffe402df 59 format = _format;
slowness 0:c03cffe402df 60 id = _id;
slowness 0:c03cffe402df 61 memset(data, 0, 8);
slowness 0:c03cffe402df 62 }
slowness 0:c03cffe402df 63 #if 0 // Inhereted from CAN_Message, for documentation only
slowness 0:c03cffe402df 64
slowness 0:c03cffe402df 65 /* Variable: id
slowness 0:c03cffe402df 66 * The message id.
slowness 0:c03cffe402df 67 *
slowness 0:c03cffe402df 68 * If format is CANStandard it must be an 11 bit long id
slowness 0:c03cffe402df 69 * If format is CANExtended it must be an 29 bit long id
slowness 0:c03cffe402df 70 */
slowness 0:c03cffe402df 71 unsigned int id;
slowness 0:c03cffe402df 72
slowness 0:c03cffe402df 73 /* Variable: data
slowness 0:c03cffe402df 74 * Space for 8 byte payload.
slowness 0:c03cffe402df 75 *
slowness 0:c03cffe402df 76 * If type is CANData data can store up to 8 byte data.
slowness 0:c03cffe402df 77 */
slowness 0:c03cffe402df 78 unsigned char data[8];
slowness 0:c03cffe402df 79
slowness 0:c03cffe402df 80 /* Variable: len
slowness 0:c03cffe402df 81 * Length of data in bytes.
slowness 0:c03cffe402df 82 *
slowness 0:c03cffe402df 83 * If type is CANData data can store up to 8 byte data.
slowness 0:c03cffe402df 84 */
slowness 0:c03cffe402df 85 unsigned char len;
slowness 0:c03cffe402df 86
slowness 0:c03cffe402df 87 /* Variable: format
slowness 0:c03cffe402df 88 * Defines if the message has standard or extended format.
slowness 0:c03cffe402df 89 *
slowness 0:c03cffe402df 90 * Defines the type of message id:
slowness 0:c03cffe402df 91 * Default is CANStandard which implies 11 bit id.
slowness 0:c03cffe402df 92 * CANExtended means 29 bit message id.
slowness 0:c03cffe402df 93 */
slowness 0:c03cffe402df 94 CANFormat format;
slowness 0:c03cffe402df 95
slowness 0:c03cffe402df 96 /* Variable: type
slowness 0:c03cffe402df 97 * Defines the type of a message.
slowness 0:c03cffe402df 98 *
slowness 0:c03cffe402df 99 * The message type can rather be CANData for a message with data (default).
slowness 0:c03cffe402df 100 * Or CANRemote for a request of a specific CAN message.
slowness 0:c03cffe402df 101 */
slowness 0:c03cffe402df 102 CANType type; // 0 - DATA FRAME, 1 - REMOTE FRAME
slowness 0:c03cffe402df 103 #endif
slowness 0:c03cffe402df 104 };
slowness 0:c03cffe402df 105
slowness 0:c03cffe402df 106 /* Class: CAN
slowness 0:c03cffe402df 107 * A can bus client, used for communicating with can devices
slowness 0:c03cffe402df 108 */
slowness 0:c03cffe402df 109 class CAN : public Base {
slowness 0:c03cffe402df 110
slowness 0:c03cffe402df 111 public:
slowness 0:c03cffe402df 112
slowness 0:c03cffe402df 113 /* Constructor: CAN
slowness 0:c03cffe402df 114 * Creates an CAN interface connected to specific pins.
slowness 0:c03cffe402df 115 *
slowness 0:c03cffe402df 116 * Example:
slowness 0:c03cffe402df 117 * > #include "mbed.h"
slowness 0:c03cffe402df 118 * >
slowness 0:c03cffe402df 119 * > Ticker ticker;
slowness 0:c03cffe402df 120 * > DigitalOut led1(LED1);
slowness 0:c03cffe402df 121 * > DigitalOut led2(LED2);
slowness 0:c03cffe402df 122 * > CAN can1(p9, p10);
slowness 0:c03cffe402df 123 * > CAN can2(p30, p29);
slowness 0:c03cffe402df 124 * >
slowness 0:c03cffe402df 125 * > char counter = 0;
slowness 0:c03cffe402df 126 * >
slowness 0:c03cffe402df 127 * > void send() {
slowness 0:c03cffe402df 128 * > if(can1.write(CANMessage(1337, &counter, 1))) {
slowness 0:c03cffe402df 129 * > printf("Message sent: %d\n", counter);
slowness 0:c03cffe402df 130 * > counter++;
slowness 0:c03cffe402df 131 * > }
slowness 0:c03cffe402df 132 * > led1 = !led1;
slowness 0:c03cffe402df 133 * > }
slowness 0:c03cffe402df 134 * >
slowness 0:c03cffe402df 135 * > int main() {
slowness 0:c03cffe402df 136 * > ticker.attach(&send, 1);
slowness 0:c03cffe402df 137 * > CANMessage msg;
slowness 0:c03cffe402df 138 * > while(1) {
slowness 0:c03cffe402df 139 * > if(can2.read(msg)) {
slowness 0:c03cffe402df 140 * > printf("Message received: %d\n\n", msg.data[0]);
slowness 0:c03cffe402df 141 * > led2 = !led2;
slowness 0:c03cffe402df 142 * > }
slowness 0:c03cffe402df 143 * > wait(0.2);
slowness 0:c03cffe402df 144 * > }
slowness 0:c03cffe402df 145 * > }
slowness 0:c03cffe402df 146 *
slowness 0:c03cffe402df 147 * Variables:
slowness 0:c03cffe402df 148 * rd - read from transmitter
slowness 0:c03cffe402df 149 * td - transmit to transmitter
slowness 0:c03cffe402df 150 */
slowness 0:c03cffe402df 151 CAN(PinName rd, PinName td);
slowness 0:c03cffe402df 152 virtual ~CAN();
slowness 0:c03cffe402df 153
slowness 0:c03cffe402df 154 /* Function: frequency
slowness 0:c03cffe402df 155 * Set the frequency of the CAN interface
slowness 0:c03cffe402df 156 *
slowness 0:c03cffe402df 157 * Variables:
slowness 0:c03cffe402df 158 * hz - The bus frequency in hertz
slowness 0:c03cffe402df 159 * returns - 1 if successful, 0 otherwise
slowness 0:c03cffe402df 160 */
slowness 0:c03cffe402df 161 int frequency(int hz);
slowness 0:c03cffe402df 162
slowness 0:c03cffe402df 163 /* Function: write
slowness 0:c03cffe402df 164 * Write a CANMessage to the bus.
slowness 0:c03cffe402df 165 *
slowness 0:c03cffe402df 166 * Variables:
slowness 0:c03cffe402df 167 * msg - The CANMessage to write.
slowness 0:c03cffe402df 168 *
slowness 0:c03cffe402df 169 * Returns:
slowness 0:c03cffe402df 170 * 0 - If write failed.
slowness 0:c03cffe402df 171 * 1 - If write was successful.
slowness 0:c03cffe402df 172 */
slowness 0:c03cffe402df 173 int write(CANMessage msg);
slowness 0:c03cffe402df 174
slowness 0:c03cffe402df 175 /* Function: read
slowness 0:c03cffe402df 176 * Read a CANMessage from the bus.
slowness 0:c03cffe402df 177 *
slowness 0:c03cffe402df 178 * Variables:
slowness 0:c03cffe402df 179 * msg - A CANMessage to read to.
slowness 0:c03cffe402df 180 *
slowness 0:c03cffe402df 181 * Returns:
slowness 0:c03cffe402df 182 * 0 - If no message arrived.
slowness 0:c03cffe402df 183 * 1 - If message arrived.
slowness 0:c03cffe402df 184 */
slowness 0:c03cffe402df 185 int read(CANMessage &msg);
slowness 0:c03cffe402df 186
slowness 0:c03cffe402df 187 /* Function: reset
slowness 0:c03cffe402df 188 * Reset CAN interface.
slowness 0:c03cffe402df 189 *
slowness 0:c03cffe402df 190 * To use after error overflow.
slowness 0:c03cffe402df 191 */
slowness 0:c03cffe402df 192 void reset();
slowness 0:c03cffe402df 193
slowness 0:c03cffe402df 194 /* Function: monitor
slowness 0:c03cffe402df 195 * Puts or removes the CAN interface into silent monitoring mode
slowness 0:c03cffe402df 196 *
slowness 0:c03cffe402df 197 * Variables:
slowness 0:c03cffe402df 198 * silent - boolean indicating whether to go into silent mode or not
slowness 0:c03cffe402df 199 */
slowness 0:c03cffe402df 200 void monitor(bool silent);
slowness 0:c03cffe402df 201
slowness 0:c03cffe402df 202 /* Function: rderror
slowness 0:c03cffe402df 203 * Returns number of read errors to detect read overflow errors.
slowness 0:c03cffe402df 204 */
slowness 0:c03cffe402df 205 unsigned char rderror();
slowness 0:c03cffe402df 206
slowness 0:c03cffe402df 207 /* Function: tderror
slowness 0:c03cffe402df 208 * Returns number of write errors to detect write overflow errors.
slowness 0:c03cffe402df 209 */
slowness 0:c03cffe402df 210 unsigned char tderror();
slowness 0:c03cffe402df 211
slowness 0:c03cffe402df 212 /* Function: attach
slowness 0:c03cffe402df 213 * Attach a function to call whenever a CAN frame received interrupt is
slowness 0:c03cffe402df 214 * generated.
slowness 0:c03cffe402df 215 *
slowness 0:c03cffe402df 216 * Variables:
slowness 0:c03cffe402df 217 * fptr - A pointer to a void function, or 0 to set as none
slowness 0:c03cffe402df 218 */
slowness 0:c03cffe402df 219 void attach(void (*fptr)(void));
slowness 0:c03cffe402df 220
slowness 0:c03cffe402df 221 /* Function attach
slowness 0:c03cffe402df 222 * Attach a member function to call whenever a CAN frame received interrupt
slowness 0:c03cffe402df 223 * is generated.
slowness 0:c03cffe402df 224 *
slowness 0:c03cffe402df 225 * Variables:
slowness 0:c03cffe402df 226 * tptr - pointer to the object to call the member function on
slowness 0:c03cffe402df 227 * mptr - pointer to the member function to be called
slowness 0:c03cffe402df 228 */
slowness 0:c03cffe402df 229 template<typename T>
slowness 0:c03cffe402df 230 void attach(T* tptr, void (T::*mptr)(void)) {
slowness 0:c03cffe402df 231 if((mptr != NULL) && (tptr != NULL)) {
slowness 0:c03cffe402df 232 _rxirq.attach(tptr, mptr);
slowness 0:c03cffe402df 233 setup_interrupt();
slowness 0:c03cffe402df 234 } else {
slowness 0:c03cffe402df 235 remove_interrupt();
slowness 0:c03cffe402df 236 }
slowness 0:c03cffe402df 237 }
slowness 0:c03cffe402df 238
slowness 0:c03cffe402df 239 private:
slowness 0:c03cffe402df 240
slowness 0:c03cffe402df 241 CANName _id;
slowness 0:c03cffe402df 242 FunctionPointer _rxirq;
slowness 0:c03cffe402df 243
slowness 0:c03cffe402df 244 void setup_interrupt(void);
slowness 0:c03cffe402df 245 void remove_interrupt(void);
slowness 0:c03cffe402df 246 };
slowness 0:c03cffe402df 247
slowness 0:c03cffe402df 248 } // namespace mbed
slowness 0:c03cffe402df 249
slowness 0:c03cffe402df 250 #endif // MBED_CAN_H
slowness 0:c03cffe402df 251
slowness 0:c03cffe402df 252 #endif