RYUICHI NAKAYAMA
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mbed official
Diff: api/CAN.h
- Revision:
- 143:cfeb81b4deae
- Parent:
- 142:d6373279a6f1
--- a/api/CAN.h Thu May 26 10:00:14 2016 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,243 +0,0 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2013 ARM Limited
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef MBED_CAN_H
-#define MBED_CAN_H
-
-#include "platform.h"
-
-#if DEVICE_CAN
-
-#include "can_api.h"
-#include "can_helper.h"
-#include "FunctionPointer.h"
-
-namespace mbed {
-
-/** CANMessage class
- */
-class CANMessage : public CAN_Message {
-
-public:
- /** Creates empty CAN message.
- */
- CANMessage() : CAN_Message() {
- len = 8;
- type = CANData;
- format = CANStandard;
- id = 0;
- memset(data, 0, 8);
- }
-
- /** 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);
- }
-
- /** Creates CAN remote message.
- */
- CANMessage(int _id, CANFormat _format = CANStandard) {
- len = 0;
- type = CANRemote;
- format = _format;
- id = _id;
- memset(data, 0, 8);
- }
-};
-
-/** A can bus client, used for communicating with can devices
- */
-class CAN {
-
-public:
- /** Creates an CAN interface connected to specific pins.
- *
- * @param rd read from transmitter
- * @param td transmit to transmitter
- *
- * Example:
- * @code
- * #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);
- * }
- * }
- * @endcode
- */
- CAN(PinName rd, PinName td);
- virtual ~CAN();
-
- /** Set the frequency of the CAN interface
- *
- * @param hz The bus frequency in hertz
- *
- * @returns
- * 1 if successful,
- * 0 otherwise
- */
- int frequency(int hz);
-
- /** Write a CANMessage to the bus.
- *
- * @param msg The CANMessage to write.
- *
- * @returns
- * 0 if write failed,
- * 1 if write was successful
- */
- int write(CANMessage msg);
-
- /** Read a CANMessage from the bus.
- *
- * @param msg A CANMessage to read to.
- * @param handle message filter handle (0 for any message)
- *
- * @returns
- * 0 if no message arrived,
- * 1 if message arrived
- */
- int read(CANMessage &msg, int handle = 0);
-
- /** Reset CAN interface.
- *
- * To use after error overflow.
- */
- void reset();
-
- /** Puts or removes the CAN interface into silent monitoring mode
- *
- * @param silent boolean indicating whether to go into silent mode or not
- */
- void monitor(bool silent);
-
- enum Mode {
- Reset = 0,
- Normal,
- Silent,
- LocalTest,
- GlobalTest,
- SilentTest
- };
-
- /** Change CAN operation to the specified mode
- *
- * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
- *
- * @returns
- * 0 if mode change failed or unsupported,
- * 1 if mode change was successful
- */
- int mode(Mode mode);
-
- /** Filter out incomming messages
- *
- * @param id the id to filter on
- * @param mask the mask applied to the id
- * @param format format to filter on (Default CANAny)
- * @param handle message filter handle (Optional)
- *
- * @returns
- * 0 if filter change failed or unsupported,
- * new filter handle if successful
- */
- int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
-
- /** Returns number of read errors to detect read overflow errors.
- */
- unsigned char rderror();
-
- /** Returns number of write errors to detect write overflow errors.
- */
- unsigned char tderror();
-
- enum IrqType {
- RxIrq = 0,
- TxIrq,
- EwIrq,
- DoIrq,
- WuIrq,
- EpIrq,
- AlIrq,
- BeIrq,
- IdIrq
- };
-
- /** Attach a function to call whenever a CAN frame received interrupt is
- * generated.
- *
- * @param fptr A pointer to a void function, or 0 to set as none
- * @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)
- */
- void attach(void (*fptr)(void), IrqType type=RxIrq);
-
- /** Attach a member function to call whenever a CAN frame received interrupt
- * is generated.
- *
- * @param tptr pointer to the object to call the member function on
- * @param mptr pointer to the member function to be called
- * @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)
- */
- template<typename T>
- void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
- if((mptr != NULL) && (tptr != NULL)) {
- _irq[type].attach(tptr, mptr);
- can_irq_set(&_can, (CanIrqType)type, 1);
- }
- else {
- can_irq_set(&_can, (CanIrqType)type, 0);
- }
- }
-
- static void _irq_handler(uint32_t id, CanIrqType type);
-
-protected:
- can_t _can;
- FunctionPointer _irq[9];
-};
-
-} // namespace mbed
-
-#endif
-
-#endif // MBED_CAN_H