Ermanno Brusadin / mbed

mbed library sources

Dependents:   FRDM-KL46Z_LCD_Test FRDM-KL46Z_LCD_Test FRDM-KL46Z_Plantilla FRDM-KL46Z_Plantilla ... more

api/CAN.h@0:6bc4ac881c8e, 2016-07-28 (annotated)

Committer:
ebrus
Date:
Thu Jul 28 15:56:34 2016 +0000
Revision:
0:6bc4ac881c8e
1;

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ebrus 0:6bc4ac881c8e 1 /* mbed Microcontroller Library
ebrus 0:6bc4ac881c8e 2 * Copyright (c) 2006-2013 ARM Limited
ebrus 0:6bc4ac881c8e 3 *
ebrus 0:6bc4ac881c8e 4 * Licensed under the Apache License, Version 2.0 (the "License");
ebrus 0:6bc4ac881c8e 5 * you may not use this file except in compliance with the License.
ebrus 0:6bc4ac881c8e 6 * You may obtain a copy of the License at
ebrus 0:6bc4ac881c8e 7 *
ebrus 0:6bc4ac881c8e 8 * http://www.apache.org/licenses/LICENSE-2.0
ebrus 0:6bc4ac881c8e 9 *
ebrus 0:6bc4ac881c8e 10 * Unless required by applicable law or agreed to in writing, software
ebrus 0:6bc4ac881c8e 11 * distributed under the License is distributed on an "AS IS" BASIS,
ebrus 0:6bc4ac881c8e 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ebrus 0:6bc4ac881c8e 13 * See the License for the specific language governing permissions and
ebrus 0:6bc4ac881c8e 14 * limitations under the License.
ebrus 0:6bc4ac881c8e 15 */
ebrus 0:6bc4ac881c8e 16 #ifndef MBED_CAN_H
ebrus 0:6bc4ac881c8e 17 #define MBED_CAN_H
ebrus 0:6bc4ac881c8e 18
ebrus 0:6bc4ac881c8e 19 #include "platform.h"
ebrus 0:6bc4ac881c8e 20
ebrus 0:6bc4ac881c8e 21 #if DEVICE_CAN
ebrus 0:6bc4ac881c8e 22
ebrus 0:6bc4ac881c8e 23 #include "can_api.h"
ebrus 0:6bc4ac881c8e 24 #include "can_helper.h"
ebrus 0:6bc4ac881c8e 25 #include "FunctionPointer.h"
ebrus 0:6bc4ac881c8e 26
ebrus 0:6bc4ac881c8e 27 namespace mbed {
ebrus 0:6bc4ac881c8e 28
ebrus 0:6bc4ac881c8e 29 /** CANMessage class
ebrus 0:6bc4ac881c8e 30 */
ebrus 0:6bc4ac881c8e 31 class CANMessage : public CAN_Message {
ebrus 0:6bc4ac881c8e 32
ebrus 0:6bc4ac881c8e 33 public:
ebrus 0:6bc4ac881c8e 34 /** Creates empty CAN message.
ebrus 0:6bc4ac881c8e 35 */
ebrus 0:6bc4ac881c8e 36 CANMessage() : CAN_Message() {
ebrus 0:6bc4ac881c8e 37 len = 8;
ebrus 0:6bc4ac881c8e 38 type = CANData;
ebrus 0:6bc4ac881c8e 39 format = CANStandard;
ebrus 0:6bc4ac881c8e 40 id = 0;
ebrus 0:6bc4ac881c8e 41 memset(data, 0, 8);
ebrus 0:6bc4ac881c8e 42 }
ebrus 0:6bc4ac881c8e 43
ebrus 0:6bc4ac881c8e 44 /** Creates CAN message with specific content.
ebrus 0:6bc4ac881c8e 45 */
ebrus 0:6bc4ac881c8e 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
ebrus 0:6bc4ac881c8e 47 len = _len & 0xF;
ebrus 0:6bc4ac881c8e 48 type = _type;
ebrus 0:6bc4ac881c8e 49 format = _format;
ebrus 0:6bc4ac881c8e 50 id = _id;
ebrus 0:6bc4ac881c8e 51 memcpy(data, _data, _len);
ebrus 0:6bc4ac881c8e 52 }
ebrus 0:6bc4ac881c8e 53
ebrus 0:6bc4ac881c8e 54 /** Creates CAN remote message.
ebrus 0:6bc4ac881c8e 55 */
ebrus 0:6bc4ac881c8e 56 CANMessage(int _id, CANFormat _format = CANStandard) {
ebrus 0:6bc4ac881c8e 57 len = 0;
ebrus 0:6bc4ac881c8e 58 type = CANRemote;
ebrus 0:6bc4ac881c8e 59 format = _format;
ebrus 0:6bc4ac881c8e 60 id = _id;
ebrus 0:6bc4ac881c8e 61 memset(data, 0, 8);
ebrus 0:6bc4ac881c8e 62 }
ebrus 0:6bc4ac881c8e 63 };
ebrus 0:6bc4ac881c8e 64
ebrus 0:6bc4ac881c8e 65 /** A can bus client, used for communicating with can devices
ebrus 0:6bc4ac881c8e 66 */
ebrus 0:6bc4ac881c8e 67 class CAN {
ebrus 0:6bc4ac881c8e 68
ebrus 0:6bc4ac881c8e 69 public:
ebrus 0:6bc4ac881c8e 70 /** Creates an CAN interface connected to specific pins.
ebrus 0:6bc4ac881c8e 71 *
ebrus 0:6bc4ac881c8e 72 * @param rd read from transmitter
ebrus 0:6bc4ac881c8e 73 * @param td transmit to transmitter
ebrus 0:6bc4ac881c8e 74 *
ebrus 0:6bc4ac881c8e 75 * Example:
ebrus 0:6bc4ac881c8e 76 * @code
ebrus 0:6bc4ac881c8e 77 * #include "mbed.h"
ebrus 0:6bc4ac881c8e 78 *
ebrus 0:6bc4ac881c8e 79 * Ticker ticker;
ebrus 0:6bc4ac881c8e 80 * DigitalOut led1(LED1);
ebrus 0:6bc4ac881c8e 81 * DigitalOut led2(LED2);
ebrus 0:6bc4ac881c8e 82 * CAN can1(p9, p10);
ebrus 0:6bc4ac881c8e 83 * CAN can2(p30, p29);
ebrus 0:6bc4ac881c8e 84 *
ebrus 0:6bc4ac881c8e 85 * char counter = 0;
ebrus 0:6bc4ac881c8e 86 *
ebrus 0:6bc4ac881c8e 87 * void send() {
ebrus 0:6bc4ac881c8e 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
ebrus 0:6bc4ac881c8e 89 * printf("Message sent: %d\n", counter);
ebrus 0:6bc4ac881c8e 90 * counter++;
ebrus 0:6bc4ac881c8e 91 * }
ebrus 0:6bc4ac881c8e 92 * led1 = !led1;
ebrus 0:6bc4ac881c8e 93 * }
ebrus 0:6bc4ac881c8e 94 *
ebrus 0:6bc4ac881c8e 95 * int main() {
ebrus 0:6bc4ac881c8e 96 * ticker.attach(&send, 1);
ebrus 0:6bc4ac881c8e 97 * CANMessage msg;
ebrus 0:6bc4ac881c8e 98 * while(1) {
ebrus 0:6bc4ac881c8e 99 * if(can2.read(msg)) {
ebrus 0:6bc4ac881c8e 100 * printf("Message received: %d\n\n", msg.data[0]);
ebrus 0:6bc4ac881c8e 101 * led2 = !led2;
ebrus 0:6bc4ac881c8e 102 * }
ebrus 0:6bc4ac881c8e 103 * wait(0.2);
ebrus 0:6bc4ac881c8e 104 * }
ebrus 0:6bc4ac881c8e 105 * }
ebrus 0:6bc4ac881c8e 106 * @endcode
ebrus 0:6bc4ac881c8e 107 */
ebrus 0:6bc4ac881c8e 108 CAN(PinName rd, PinName td);
ebrus 0:6bc4ac881c8e 109 virtual ~CAN();
ebrus 0:6bc4ac881c8e 110
ebrus 0:6bc4ac881c8e 111 /** Set the frequency of the CAN interface
ebrus 0:6bc4ac881c8e 112 *
ebrus 0:6bc4ac881c8e 113 * @param hz The bus frequency in hertz
ebrus 0:6bc4ac881c8e 114 *
ebrus 0:6bc4ac881c8e 115 * @returns
ebrus 0:6bc4ac881c8e 116 * 1 if successful,
ebrus 0:6bc4ac881c8e 117 * 0 otherwise
ebrus 0:6bc4ac881c8e 118 */
ebrus 0:6bc4ac881c8e 119 int frequency(int hz);
ebrus 0:6bc4ac881c8e 120
ebrus 0:6bc4ac881c8e 121 /** Write a CANMessage to the bus.
ebrus 0:6bc4ac881c8e 122 *
ebrus 0:6bc4ac881c8e 123 * @param msg The CANMessage to write.
ebrus 0:6bc4ac881c8e 124 *
ebrus 0:6bc4ac881c8e 125 * @returns
ebrus 0:6bc4ac881c8e 126 * 0 if write failed,
ebrus 0:6bc4ac881c8e 127 * 1 if write was successful
ebrus 0:6bc4ac881c8e 128 */
ebrus 0:6bc4ac881c8e 129 int write(CANMessage msg);
ebrus 0:6bc4ac881c8e 130
ebrus 0:6bc4ac881c8e 131 /** Read a CANMessage from the bus.
ebrus 0:6bc4ac881c8e 132 *
ebrus 0:6bc4ac881c8e 133 * @param msg A CANMessage to read to.
ebrus 0:6bc4ac881c8e 134 * @param handle message filter handle (0 for any message)
ebrus 0:6bc4ac881c8e 135 *
ebrus 0:6bc4ac881c8e 136 * @returns
ebrus 0:6bc4ac881c8e 137 * 0 if no message arrived,
ebrus 0:6bc4ac881c8e 138 * 1 if message arrived
ebrus 0:6bc4ac881c8e 139 */
ebrus 0:6bc4ac881c8e 140 int read(CANMessage &msg, int handle = 0);
ebrus 0:6bc4ac881c8e 141
ebrus 0:6bc4ac881c8e 142 /** Reset CAN interface.
ebrus 0:6bc4ac881c8e 143 *
ebrus 0:6bc4ac881c8e 144 * To use after error overflow.
ebrus 0:6bc4ac881c8e 145 */
ebrus 0:6bc4ac881c8e 146 void reset();
ebrus 0:6bc4ac881c8e 147
ebrus 0:6bc4ac881c8e 148 /** Puts or removes the CAN interface into silent monitoring mode
ebrus 0:6bc4ac881c8e 149 *
ebrus 0:6bc4ac881c8e 150 * @param silent boolean indicating whether to go into silent mode or not
ebrus 0:6bc4ac881c8e 151 */
ebrus 0:6bc4ac881c8e 152 void monitor(bool silent);
ebrus 0:6bc4ac881c8e 153
ebrus 0:6bc4ac881c8e 154 enum Mode {
ebrus 0:6bc4ac881c8e 155 Reset = 0,
ebrus 0:6bc4ac881c8e 156 Normal,
ebrus 0:6bc4ac881c8e 157 Silent,
ebrus 0:6bc4ac881c8e 158 LocalTest,
ebrus 0:6bc4ac881c8e 159 GlobalTest,
ebrus 0:6bc4ac881c8e 160 SilentTest
ebrus 0:6bc4ac881c8e 161 };
ebrus 0:6bc4ac881c8e 162
ebrus 0:6bc4ac881c8e 163 /** Change CAN operation to the specified mode
ebrus 0:6bc4ac881c8e 164 *
ebrus 0:6bc4ac881c8e 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
ebrus 0:6bc4ac881c8e 166 *
ebrus 0:6bc4ac881c8e 167 * @returns
ebrus 0:6bc4ac881c8e 168 * 0 if mode change failed or unsupported,
ebrus 0:6bc4ac881c8e 169 * 1 if mode change was successful
ebrus 0:6bc4ac881c8e 170 */
ebrus 0:6bc4ac881c8e 171 int mode(Mode mode);
ebrus 0:6bc4ac881c8e 172
ebrus 0:6bc4ac881c8e 173 /** Filter out incomming messages
ebrus 0:6bc4ac881c8e 174 *
ebrus 0:6bc4ac881c8e 175 * @param id the id to filter on
ebrus 0:6bc4ac881c8e 176 * @param mask the mask applied to the id
ebrus 0:6bc4ac881c8e 177 * @param format format to filter on (Default CANAny)
ebrus 0:6bc4ac881c8e 178 * @param handle message filter handle (Optional)
ebrus 0:6bc4ac881c8e 179 *
ebrus 0:6bc4ac881c8e 180 * @returns
ebrus 0:6bc4ac881c8e 181 * 0 if filter change failed or unsupported,
ebrus 0:6bc4ac881c8e 182 * new filter handle if successful
ebrus 0:6bc4ac881c8e 183 */
ebrus 0:6bc4ac881c8e 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
ebrus 0:6bc4ac881c8e 185
ebrus 0:6bc4ac881c8e 186 /** Returns number of read errors to detect read overflow errors.
ebrus 0:6bc4ac881c8e 187 */
ebrus 0:6bc4ac881c8e 188 unsigned char rderror();
ebrus 0:6bc4ac881c8e 189
ebrus 0:6bc4ac881c8e 190 /** Returns number of write errors to detect write overflow errors.
ebrus 0:6bc4ac881c8e 191 */
ebrus 0:6bc4ac881c8e 192 unsigned char tderror();
ebrus 0:6bc4ac881c8e 193
ebrus 0:6bc4ac881c8e 194 enum IrqType {
ebrus 0:6bc4ac881c8e 195 RxIrq = 0,
ebrus 0:6bc4ac881c8e 196 TxIrq,
ebrus 0:6bc4ac881c8e 197 EwIrq,
ebrus 0:6bc4ac881c8e 198 DoIrq,
ebrus 0:6bc4ac881c8e 199 WuIrq,
ebrus 0:6bc4ac881c8e 200 EpIrq,
ebrus 0:6bc4ac881c8e 201 AlIrq,
ebrus 0:6bc4ac881c8e 202 BeIrq,
ebrus 0:6bc4ac881c8e 203 IdIrq
ebrus 0:6bc4ac881c8e 204 };
ebrus 0:6bc4ac881c8e 205
ebrus 0:6bc4ac881c8e 206 /** Attach a function to call whenever a CAN frame received interrupt is
ebrus 0:6bc4ac881c8e 207 * generated.
ebrus 0:6bc4ac881c8e 208 *
ebrus 0:6bc4ac881c8e 209 * @param fptr A pointer to a void function, or 0 to set as none
ebrus 0:6bc4ac881c8e 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)
ebrus 0:6bc4ac881c8e 211 */
ebrus 0:6bc4ac881c8e 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
ebrus 0:6bc4ac881c8e 213
ebrus 0:6bc4ac881c8e 214 /** Attach a member function to call whenever a CAN frame received interrupt
ebrus 0:6bc4ac881c8e 215 * is generated.
ebrus 0:6bc4ac881c8e 216 *
ebrus 0:6bc4ac881c8e 217 * @param tptr pointer to the object to call the member function on
ebrus 0:6bc4ac881c8e 218 * @param mptr pointer to the member function to be called
ebrus 0:6bc4ac881c8e 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)
ebrus 0:6bc4ac881c8e 220 */
ebrus 0:6bc4ac881c8e 221 template<typename T>
ebrus 0:6bc4ac881c8e 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
ebrus 0:6bc4ac881c8e 223 if((mptr != NULL) && (tptr != NULL)) {
ebrus 0:6bc4ac881c8e 224 _irq[type].attach(tptr, mptr);
ebrus 0:6bc4ac881c8e 225 can_irq_set(&_can, (CanIrqType)type, 1);
ebrus 0:6bc4ac881c8e 226 }
ebrus 0:6bc4ac881c8e 227 else {
ebrus 0:6bc4ac881c8e 228 can_irq_set(&_can, (CanIrqType)type, 0);
ebrus 0:6bc4ac881c8e 229 }
ebrus 0:6bc4ac881c8e 230 }
ebrus 0:6bc4ac881c8e 231
ebrus 0:6bc4ac881c8e 232 static void _irq_handler(uint32_t id, CanIrqType type);
ebrus 0:6bc4ac881c8e 233
ebrus 0:6bc4ac881c8e 234 protected:
ebrus 0:6bc4ac881c8e 235 can_t _can;
ebrus 0:6bc4ac881c8e 236 FunctionPointer _irq[9];
ebrus 0:6bc4ac881c8e 237 };
ebrus 0:6bc4ac881c8e 238
ebrus 0:6bc4ac881c8e 239 } // namespace mbed
ebrus 0:6bc4ac881c8e 240
ebrus 0:6bc4ac881c8e 241 #endif
ebrus 0:6bc4ac881c8e 242
ebrus 0:6bc4ac881c8e 243 #endif // MBED_CAN_H