Elijah Orr / mbed-renbed

Fork of the official mbed C/C SDK provides the software platform and libraries to build your applications for RenBED.

Dependents:   1-RenBuggyTimed RenBED_RGB RenBED_RGB_PWM RenBED_RGB

Fork of mbed by mbed official

CAN.h@27:7110ebee3484, 2011-11-29 (annotated)

Committer:
emilmont
Date:
Tue Nov 29 14:59:27 2011 +0000
Revision:
27:7110ebee3484
Parent:
22:9114680c05da
Child:
33:5364839841bd
New Libraries 11.11

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rolf.meyer@arm.com 11:1c1ebd0324fa 1 /* mbed Microcontroller Library - can
emilmont 27:7110ebee3484 2 * Copyright (c) 2009-2011 ARM Limited. All rights reserved.
rolf.meyer@arm.com 11:1c1ebd0324fa 3 */
rolf.meyer@arm.com 11:1c1ebd0324fa 4
rolf.meyer@arm.com 11:1c1ebd0324fa 5 #ifndef MBED_CAN_H
rolf.meyer@arm.com 11:1c1ebd0324fa 6 #define MBED_CAN_H
rolf.meyer@arm.com 11:1c1ebd0324fa 7
emilmont 27:7110ebee3484 8 #include "device.h"
emilmont 27:7110ebee3484 9
emilmont 27:7110ebee3484 10 #if DEVICE_CAN
emilmont 27:7110ebee3484 11
rolf.meyer@arm.com 11:1c1ebd0324fa 12 #include "Base.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 13 #include "platform.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 14 #include "PinNames.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 15 #include "PeripheralNames.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 16
rolf.meyer@arm.com 11:1c1ebd0324fa 17 #include "can_helper.h"
simon 22:9114680c05da 18 #include "FunctionPointer.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 19
rolf.meyer@arm.com 11:1c1ebd0324fa 20 #include <string.h>
rolf.meyer@arm.com 11:1c1ebd0324fa 21
rolf.meyer@arm.com 11:1c1ebd0324fa 22 namespace mbed {
rolf.meyer@arm.com 11:1c1ebd0324fa 23
rolf.meyer@arm.com 11:1c1ebd0324fa 24 /* Class: CANMessage
rolf.meyer@arm.com 11:1c1ebd0324fa 25 *
rolf.meyer@arm.com 11:1c1ebd0324fa 26 */
rolf.meyer@arm.com 11:1c1ebd0324fa 27 class CANMessage : public CAN_Message {
rolf.meyer@arm.com 11:1c1ebd0324fa 28
rolf.meyer@arm.com 11:1c1ebd0324fa 29 public:
rolf.meyer@arm.com 11:1c1ebd0324fa 30
rolf.meyer@arm.com 11:1c1ebd0324fa 31 /* Constructor: CANMessage
rolf.meyer@arm.com 11:1c1ebd0324fa 32 * Creates empty CAN message.
rolf.meyer@arm.com 11:1c1ebd0324fa 33 */
rolf.meyer@arm.com 11:1c1ebd0324fa 34 CANMessage() {
rolf.meyer@arm.com 11:1c1ebd0324fa 35 len = 8;
rolf.meyer@arm.com 11:1c1ebd0324fa 36 type = CANData;
rolf.meyer@arm.com 11:1c1ebd0324fa 37 format = CANStandard;
rolf.meyer@arm.com 11:1c1ebd0324fa 38 id = 0;
rolf.meyer@arm.com 11:1c1ebd0324fa 39 memset(data, 0, 8);
rolf.meyer@arm.com 11:1c1ebd0324fa 40 }
rolf.meyer@arm.com 11:1c1ebd0324fa 41
rolf.meyer@arm.com 11:1c1ebd0324fa 42 /* Constructor: CANMessage
rolf.meyer@arm.com 11:1c1ebd0324fa 43 * Creates CAN message with specific content.
rolf.meyer@arm.com 11:1c1ebd0324fa 44 */
rolf.meyer@arm.com 11:1c1ebd0324fa 45 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
rolf.meyer@arm.com 11:1c1ebd0324fa 46 len = _len & 0xF;
rolf.meyer@arm.com 11:1c1ebd0324fa 47 type = _type;
rolf.meyer@arm.com 11:1c1ebd0324fa 48 format = _format;
rolf.meyer@arm.com 11:1c1ebd0324fa 49 id = _id;
rolf.meyer@arm.com 11:1c1ebd0324fa 50 memcpy(data, _data, _len);
rolf.meyer@arm.com 11:1c1ebd0324fa 51 }
rolf.meyer@arm.com 11:1c1ebd0324fa 52
rolf.meyer@arm.com 11:1c1ebd0324fa 53 /* Constructor: CANMessage
rolf.meyer@arm.com 11:1c1ebd0324fa 54 * Creates CAN remote message.
rolf.meyer@arm.com 11:1c1ebd0324fa 55 */
rolf.meyer@arm.com 11:1c1ebd0324fa 56 CANMessage(int _id, CANFormat _format = CANStandard) {
rolf.meyer@arm.com 11:1c1ebd0324fa 57 len = 0;
rolf.meyer@arm.com 11:1c1ebd0324fa 58 type = CANRemote;
rolf.meyer@arm.com 11:1c1ebd0324fa 59 format = _format;
rolf.meyer@arm.com 11:1c1ebd0324fa 60 id = _id;
rolf.meyer@arm.com 11:1c1ebd0324fa 61 memset(data, 0, 8);
rolf.meyer@arm.com 11:1c1ebd0324fa 62 }
rolf.meyer@arm.com 11:1c1ebd0324fa 63 #if 0 // Inhereted from CAN_Message, for documentation only
rolf.meyer@arm.com 11:1c1ebd0324fa 64
rolf.meyer@arm.com 11:1c1ebd0324fa 65 /* Variable: id
rolf.meyer@arm.com 11:1c1ebd0324fa 66 * The message id.
rolf.meyer@arm.com 11:1c1ebd0324fa 67 *
rolf.meyer@arm.com 11:1c1ebd0324fa 68 * If format is CANStandard it must be an 11 bit long id
rolf.meyer@arm.com 11:1c1ebd0324fa 69 * If format is CANExtended it must be an 29 bit long id
rolf.meyer@arm.com 11:1c1ebd0324fa 70 */
rolf.meyer@arm.com 11:1c1ebd0324fa 71 unsigned int id;
rolf.meyer@arm.com 11:1c1ebd0324fa 72
rolf.meyer@arm.com 11:1c1ebd0324fa 73 /* Variable: data
rolf.meyer@arm.com 11:1c1ebd0324fa 74 * Space for 8 byte payload.
rolf.meyer@arm.com 11:1c1ebd0324fa 75 *
rolf.meyer@arm.com 11:1c1ebd0324fa 76 * If type is CANData data can store up to 8 byte data.
rolf.meyer@arm.com 11:1c1ebd0324fa 77 */
rolf.meyer@arm.com 11:1c1ebd0324fa 78 unsigned char data[8];
rolf.meyer@arm.com 11:1c1ebd0324fa 79
rolf.meyer@arm.com 11:1c1ebd0324fa 80 /* Variable: len
rolf.meyer@arm.com 11:1c1ebd0324fa 81 * Length of data in bytes.
rolf.meyer@arm.com 11:1c1ebd0324fa 82 *
rolf.meyer@arm.com 11:1c1ebd0324fa 83 * If type is CANData data can store up to 8 byte data.
rolf.meyer@arm.com 11:1c1ebd0324fa 84 */
rolf.meyer@arm.com 11:1c1ebd0324fa 85 unsigned char len;
rolf.meyer@arm.com 11:1c1ebd0324fa 86
rolf.meyer@arm.com 11:1c1ebd0324fa 87 /* Variable: format
rolf.meyer@arm.com 11:1c1ebd0324fa 88 * Defines if the message has standard or extended format.
rolf.meyer@arm.com 11:1c1ebd0324fa 89 *
rolf.meyer@arm.com 11:1c1ebd0324fa 90 * Defines the type of message id:
rolf.meyer@arm.com 11:1c1ebd0324fa 91 * Default is CANStandard which implies 11 bit id.
rolf.meyer@arm.com 11:1c1ebd0324fa 92 * CANExtended means 29 bit message id.
rolf.meyer@arm.com 11:1c1ebd0324fa 93 */
rolf.meyer@arm.com 11:1c1ebd0324fa 94 CANFormat format;
rolf.meyer@arm.com 11:1c1ebd0324fa 95
rolf.meyer@arm.com 11:1c1ebd0324fa 96 /* Variable: type
rolf.meyer@arm.com 11:1c1ebd0324fa 97 * Defines the type of a message.
rolf.meyer@arm.com 11:1c1ebd0324fa 98 *
rolf.meyer@arm.com 11:1c1ebd0324fa 99 * The message type can rather be CANData for a message with data (default).
rolf.meyer@arm.com 11:1c1ebd0324fa 100 * Or CANRemote for a request of a specific CAN message.
rolf.meyer@arm.com 11:1c1ebd0324fa 101 */
rolf.meyer@arm.com 11:1c1ebd0324fa 102 CANType type; // 0 - DATA FRAME, 1 - REMOTE FRAME
rolf.meyer@arm.com 11:1c1ebd0324fa 103 #endif
rolf.meyer@arm.com 11:1c1ebd0324fa 104 };
rolf.meyer@arm.com 11:1c1ebd0324fa 105
rolf.meyer@arm.com 11:1c1ebd0324fa 106 /* Class: CAN
rolf.meyer@arm.com 11:1c1ebd0324fa 107 * A can bus client, used for communicating with can devices
rolf.meyer@arm.com 11:1c1ebd0324fa 108 */
rolf.meyer@arm.com 11:1c1ebd0324fa 109 class CAN : public Base {
rolf.meyer@arm.com 11:1c1ebd0324fa 110
rolf.meyer@arm.com 11:1c1ebd0324fa 111 public:
rolf.meyer@arm.com 11:1c1ebd0324fa 112
rolf.meyer@arm.com 11:1c1ebd0324fa 113 /* Constructor: CAN
rolf.meyer@arm.com 11:1c1ebd0324fa 114 * Creates an CAN interface connected to specific pins.
rolf.meyer@arm.com 11:1c1ebd0324fa 115 *
rolf.meyer@arm.com 11:1c1ebd0324fa 116 * Example:
rolf.meyer@arm.com 11:1c1ebd0324fa 117 * > #include "mbed.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 118 * >
rolf.meyer@arm.com 11:1c1ebd0324fa 119 * > Ticker ticker;
rolf.meyer@arm.com 11:1c1ebd0324fa 120 * > DigitalOut led1(LED1);
rolf.meyer@arm.com 11:1c1ebd0324fa 121 * > DigitalOut led2(LED2);
rolf.meyer@arm.com 11:1c1ebd0324fa 122 * > CAN can1(p9, p10);
rolf.meyer@arm.com 11:1c1ebd0324fa 123 * > CAN can2(p30, p29);
rolf.meyer@arm.com 11:1c1ebd0324fa 124 * >
rolf.meyer@arm.com 11:1c1ebd0324fa 125 * > char counter = 0;
rolf.meyer@arm.com 11:1c1ebd0324fa 126 * >
rolf.meyer@arm.com 11:1c1ebd0324fa 127 * > void send() {
rolf.meyer@arm.com 11:1c1ebd0324fa 128 * > if(can1.write(CANMessage(1337, &counter, 1))) {
rolf.meyer@arm.com 11:1c1ebd0324fa 129 * > printf("Message sent: %d\n", counter);
rolf.meyer@arm.com 11:1c1ebd0324fa 130 * > counter++;
rolf.meyer@arm.com 11:1c1ebd0324fa 131 * > }
rolf.meyer@arm.com 11:1c1ebd0324fa 132 * > led1 = !led1;
rolf.meyer@arm.com 11:1c1ebd0324fa 133 * > }
rolf.meyer@arm.com 11:1c1ebd0324fa 134 * >
rolf.meyer@arm.com 11:1c1ebd0324fa 135 * > int main() {
rolf.meyer@arm.com 11:1c1ebd0324fa 136 * > ticker.attach(&send, 1);
rolf.meyer@arm.com 11:1c1ebd0324fa 137 * > CANMessage msg;
rolf.meyer@arm.com 11:1c1ebd0324fa 138 * > while(1) {
rolf.meyer@arm.com 11:1c1ebd0324fa 139 * > if(can2.read(msg)) {
rolf.meyer@arm.com 11:1c1ebd0324fa 140 * > printf("Message received: %d\n\n", msg.data[0]);
rolf.meyer@arm.com 11:1c1ebd0324fa 141 * > led2 = !led2;
rolf.meyer@arm.com 11:1c1ebd0324fa 142 * > }
rolf.meyer@arm.com 11:1c1ebd0324fa 143 * > wait(0.2);
rolf.meyer@arm.com 11:1c1ebd0324fa 144 * > }
rolf.meyer@arm.com 11:1c1ebd0324fa 145 * > }
rolf.meyer@arm.com 11:1c1ebd0324fa 146 *
rolf.meyer@arm.com 11:1c1ebd0324fa 147 * Variables:
rolf.meyer@arm.com 11:1c1ebd0324fa 148 * rd - read from transmitter
rolf.meyer@arm.com 11:1c1ebd0324fa 149 * td - transmit to transmitter
rolf.meyer@arm.com 11:1c1ebd0324fa 150 */
rolf.meyer@arm.com 11:1c1ebd0324fa 151 CAN(PinName rd, PinName td);
rolf.meyer@arm.com 11:1c1ebd0324fa 152 virtual ~CAN();
rolf.meyer@arm.com 11:1c1ebd0324fa 153
rolf.meyer@arm.com 11:1c1ebd0324fa 154 /* Function: frequency
rolf.meyer@arm.com 11:1c1ebd0324fa 155 * Set the frequency of the CAN interface
rolf.meyer@arm.com 11:1c1ebd0324fa 156 *
rolf.meyer@arm.com 11:1c1ebd0324fa 157 * Variables:
rolf.meyer@arm.com 11:1c1ebd0324fa 158 * hz - The bus frequency in hertz
simon 21:3944f1e2fa4f 159 * returns - 1 if successful, 0 otherwise
rolf.meyer@arm.com 11:1c1ebd0324fa 160 */
simon 21:3944f1e2fa4f 161 int frequency(int hz);
rolf.meyer@arm.com 11:1c1ebd0324fa 162
rolf.meyer@arm.com 11:1c1ebd0324fa 163 /* Function: write
rolf.meyer@arm.com 11:1c1ebd0324fa 164 * Write a CANMessage to the bus.
rolf.meyer@arm.com 11:1c1ebd0324fa 165 *
rolf.meyer@arm.com 11:1c1ebd0324fa 166 * Variables:
rolf.meyer@arm.com 11:1c1ebd0324fa 167 * msg - The CANMessage to write.
rolf.meyer@arm.com 11:1c1ebd0324fa 168 *
rolf.meyer@arm.com 11:1c1ebd0324fa 169 * Returns:
rolf.meyer@arm.com 11:1c1ebd0324fa 170 * 0 - If write failed.
rolf.meyer@arm.com 11:1c1ebd0324fa 171 * 1 - If write was successful.
rolf.meyer@arm.com 11:1c1ebd0324fa 172 */
rolf.meyer@arm.com 11:1c1ebd0324fa 173 int write(CANMessage msg);
rolf.meyer@arm.com 11:1c1ebd0324fa 174
rolf.meyer@arm.com 11:1c1ebd0324fa 175 /* Function: read
rolf.meyer@arm.com 11:1c1ebd0324fa 176 * Read a CANMessage from the bus.
rolf.meyer@arm.com 11:1c1ebd0324fa 177 *
rolf.meyer@arm.com 11:1c1ebd0324fa 178 * Variables:
rolf.meyer@arm.com 11:1c1ebd0324fa 179 * msg - A CANMessage to read to.
rolf.meyer@arm.com 11:1c1ebd0324fa 180 *
rolf.meyer@arm.com 11:1c1ebd0324fa 181 * Returns:
rolf.meyer@arm.com 11:1c1ebd0324fa 182 * 0 - If no message arrived.
rolf.meyer@arm.com 11:1c1ebd0324fa 183 * 1 - If message arrived.
rolf.meyer@arm.com 11:1c1ebd0324fa 184 */
rolf.meyer@arm.com 11:1c1ebd0324fa 185 int read(CANMessage &msg);
rolf.meyer@arm.com 11:1c1ebd0324fa 186
rolf.meyer@arm.com 11:1c1ebd0324fa 187 /* Function: reset
rolf.meyer@arm.com 11:1c1ebd0324fa 188 * Reset CAN interface.
rolf.meyer@arm.com 11:1c1ebd0324fa 189 *
rolf.meyer@arm.com 11:1c1ebd0324fa 190 * To use after error overflow.
rolf.meyer@arm.com 11:1c1ebd0324fa 191 */
rolf.meyer@arm.com 11:1c1ebd0324fa 192 void reset();
simon 22:9114680c05da 193
simon 22:9114680c05da 194 /* Function: monitor
simon 22:9114680c05da 195 * Puts or removes the CAN interface into silent monitoring mode
simon 22:9114680c05da 196 *
simon 22:9114680c05da 197 * Variables:
simon 22:9114680c05da 198 * silent - boolean indicating whether to go into silent mode or not
simon 22:9114680c05da 199 */
simon 22:9114680c05da 200 void monitor(bool silent);
rolf.meyer@arm.com 11:1c1ebd0324fa 201
rolf.meyer@arm.com 11:1c1ebd0324fa 202 /* Function: rderror
rolf.meyer@arm.com 11:1c1ebd0324fa 203 * Returns number of read errors to detect read overflow errors.
rolf.meyer@arm.com 11:1c1ebd0324fa 204 */
rolf.meyer@arm.com 11:1c1ebd0324fa 205 unsigned char rderror();
rolf.meyer@arm.com 11:1c1ebd0324fa 206
rolf.meyer@arm.com 11:1c1ebd0324fa 207 /* Function: tderror
rolf.meyer@arm.com 11:1c1ebd0324fa 208 * Returns number of write errors to detect write overflow errors.
rolf.meyer@arm.com 11:1c1ebd0324fa 209 */
rolf.meyer@arm.com 11:1c1ebd0324fa 210 unsigned char tderror();
simon 22:9114680c05da 211
simon 22:9114680c05da 212 /* Function: attach
simon 22:9114680c05da 213 * Attach a function to call whenever a CAN frame received interrupt is
simon 22:9114680c05da 214 * generated.
simon 22:9114680c05da 215 *
simon 22:9114680c05da 216 * Variables:
simon 22:9114680c05da 217 * fptr - A pointer to a void function, or 0 to set as none
simon 22:9114680c05da 218 */
simon 22:9114680c05da 219 void attach(void (*fptr)(void));
simon 22:9114680c05da 220
simon 22:9114680c05da 221 /* Function attach
simon 22:9114680c05da 222 * Attach a member function to call whenever a CAN frame received interrupt
simon 22:9114680c05da 223 * is generated.
simon 22:9114680c05da 224 *
simon 22:9114680c05da 225 * Variables:
simon 22:9114680c05da 226 * tptr - pointer to the object to call the member function on
simon 22:9114680c05da 227 * mptr - pointer to the member function to be called
simon 22:9114680c05da 228 */
simon 22:9114680c05da 229 template<typename T>
simon 22:9114680c05da 230 void attach(T* tptr, void (T::*mptr)(void));
rolf.meyer@arm.com 11:1c1ebd0324fa 231
rolf.meyer@arm.com 11:1c1ebd0324fa 232 private:
rolf.meyer@arm.com 11:1c1ebd0324fa 233
rolf.meyer@arm.com 11:1c1ebd0324fa 234 CANName _id;
simon 22:9114680c05da 235 FunctionPointer _rxirq;
simon 22:9114680c05da 236
simon 22:9114680c05da 237 void setup_interrupt(void);
simon 22:9114680c05da 238 void remove_interrupt(void);
rolf.meyer@arm.com 11:1c1ebd0324fa 239 };
rolf.meyer@arm.com 11:1c1ebd0324fa 240
rolf.meyer@arm.com 11:1c1ebd0324fa 241 } // namespace mbed
rolf.meyer@arm.com 11:1c1ebd0324fa 242
rolf.meyer@arm.com 11:1c1ebd0324fa 243 #endif // MBED_CAN_H
emilmont 27:7110ebee3484 244
emilmont 27:7110ebee3484 245 #endif