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@54:71b101360fb9, 2013-01-08 (annotated)

Committer:
emilmont
Date:
Tue Jan 08 12:46:36 2013 +0000
Revision:
54:71b101360fb9
Parent:
44:24d45a770a51
Child:
55:d722ed6a4237
Support "stream as file" use case

Unify binary libraries

Update copyright

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 44:24d45a770a51 1 /* mbed Microcontroller Library
emilmont 54:71b101360fb9 2 * Copyright (c) 2006-2013 ARM Limited
emilmont 44:24d45a770a51 3 *
emilmont 44:24d45a770a51 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
emilmont 44:24d45a770a51 5 * of this software and associated documentation files (the "Software"), to deal
emilmont 44:24d45a770a51 6 * in the Software without restriction, including without limitation the rights
emilmont 44:24d45a770a51 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
emilmont 44:24d45a770a51 8 * copies of the Software, and to permit persons to whom the Software is
emilmont 44:24d45a770a51 9 * furnished to do so, subject to the following conditions:
emilmont 44:24d45a770a51 10 *
emilmont 44:24d45a770a51 11 * The above copyright notice and this permission notice shall be included in
emilmont 44:24d45a770a51 12 * all copies or substantial portions of the Software.
emilmont 44:24d45a770a51 13 *
emilmont 44:24d45a770a51 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
emilmont 44:24d45a770a51 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
emilmont 44:24d45a770a51 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
emilmont 44:24d45a770a51 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
emilmont 44:24d45a770a51 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
emilmont 44:24d45a770a51 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
emilmont 44:24d45a770a51 20 * SOFTWARE.
emilmont 44:24d45a770a51 21 */
rolf.meyer@arm.com 11:1c1ebd0324fa 22 #ifndef MBED_CAN_H
rolf.meyer@arm.com 11:1c1ebd0324fa 23 #define MBED_CAN_H
rolf.meyer@arm.com 11:1c1ebd0324fa 24
emilmont 44:24d45a770a51 25 #include "platform.h"
emilmont 27:7110ebee3484 26
emilmont 27:7110ebee3484 27 #if DEVICE_CAN
emilmont 27:7110ebee3484 28
emilmont 44:24d45a770a51 29 #include "can_api.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 30 #include "can_helper.h"
simon 22:9114680c05da 31 #include "FunctionPointer.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 32
rolf.meyer@arm.com 11:1c1ebd0324fa 33 namespace mbed {
rolf.meyer@arm.com 11:1c1ebd0324fa 34
emilmont 43:e2ed12d17f06 35 /** CANMessage class
rolf.meyer@arm.com 11:1c1ebd0324fa 36 */
rolf.meyer@arm.com 11:1c1ebd0324fa 37 class CANMessage : public CAN_Message {
rolf.meyer@arm.com 11:1c1ebd0324fa 38
rolf.meyer@arm.com 11:1c1ebd0324fa 39 public:
emilmont 43:e2ed12d17f06 40 /** Creates empty CAN message.
rolf.meyer@arm.com 11:1c1ebd0324fa 41 */
rolf.meyer@arm.com 11:1c1ebd0324fa 42 CANMessage() {
emilmont 44:24d45a770a51 43 len = 8;
emilmont 44:24d45a770a51 44 type = CANData;
emilmont 44:24d45a770a51 45 format = CANStandard;
emilmont 44:24d45a770a51 46 id = 0;
emilmont 44:24d45a770a51 47 memset(data, 0, 8);
rolf.meyer@arm.com 11:1c1ebd0324fa 48 }
rolf.meyer@arm.com 11:1c1ebd0324fa 49
emilmont 43:e2ed12d17f06 50 /** Creates CAN message with specific content.
rolf.meyer@arm.com 11:1c1ebd0324fa 51 */
rolf.meyer@arm.com 11:1c1ebd0324fa 52 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
rolf.meyer@arm.com 11:1c1ebd0324fa 53 len = _len & 0xF;
rolf.meyer@arm.com 11:1c1ebd0324fa 54 type = _type;
rolf.meyer@arm.com 11:1c1ebd0324fa 55 format = _format;
rolf.meyer@arm.com 11:1c1ebd0324fa 56 id = _id;
rolf.meyer@arm.com 11:1c1ebd0324fa 57 memcpy(data, _data, _len);
rolf.meyer@arm.com 11:1c1ebd0324fa 58 }
rolf.meyer@arm.com 11:1c1ebd0324fa 59
emilmont 43:e2ed12d17f06 60 /** Creates CAN remote message.
rolf.meyer@arm.com 11:1c1ebd0324fa 61 */
rolf.meyer@arm.com 11:1c1ebd0324fa 62 CANMessage(int _id, CANFormat _format = CANStandard) {
rolf.meyer@arm.com 11:1c1ebd0324fa 63 len = 0;
rolf.meyer@arm.com 11:1c1ebd0324fa 64 type = CANRemote;
rolf.meyer@arm.com 11:1c1ebd0324fa 65 format = _format;
rolf.meyer@arm.com 11:1c1ebd0324fa 66 id = _id;
rolf.meyer@arm.com 11:1c1ebd0324fa 67 memset(data, 0, 8);
rolf.meyer@arm.com 11:1c1ebd0324fa 68 }
rolf.meyer@arm.com 11:1c1ebd0324fa 69 };
rolf.meyer@arm.com 11:1c1ebd0324fa 70
emilmont 43:e2ed12d17f06 71 /** A can bus client, used for communicating with can devices
rolf.meyer@arm.com 11:1c1ebd0324fa 72 */
emilmont 44:24d45a770a51 73 class CAN {
rolf.meyer@arm.com 11:1c1ebd0324fa 74
rolf.meyer@arm.com 11:1c1ebd0324fa 75 public:
emilmont 43:e2ed12d17f06 76 /** Creates an CAN interface connected to specific pins.
emilmont 43:e2ed12d17f06 77 *
emilmont 43:e2ed12d17f06 78 * @param rd read from transmitter
emilmont 43:e2ed12d17f06 79 * @param td transmit to transmitter
rolf.meyer@arm.com 11:1c1ebd0324fa 80 *
rolf.meyer@arm.com 11:1c1ebd0324fa 81 * Example:
emilmont 43:e2ed12d17f06 82 * @code
emilmont 43:e2ed12d17f06 83 * #include "mbed.h"
emilmont 43:e2ed12d17f06 84 *
emilmont 43:e2ed12d17f06 85 * Ticker ticker;
emilmont 43:e2ed12d17f06 86 * DigitalOut led1(LED1);
emilmont 43:e2ed12d17f06 87 * DigitalOut led2(LED2);
emilmont 43:e2ed12d17f06 88 * CAN can1(p9, p10);
emilmont 43:e2ed12d17f06 89 * CAN can2(p30, p29);
emilmont 43:e2ed12d17f06 90 *
emilmont 43:e2ed12d17f06 91 * char counter = 0;
emilmont 43:e2ed12d17f06 92 *
emilmont 43:e2ed12d17f06 93 * void send() {
emilmont 43:e2ed12d17f06 94 * if(can1.write(CANMessage(1337, &counter, 1))) {
emilmont 43:e2ed12d17f06 95 * printf("Message sent: %d\n", counter);
emilmont 43:e2ed12d17f06 96 * counter++;
emilmont 43:e2ed12d17f06 97 * }
emilmont 43:e2ed12d17f06 98 * led1 = !led1;
emilmont 43:e2ed12d17f06 99 * }
emilmont 43:e2ed12d17f06 100 *
emilmont 43:e2ed12d17f06 101 * int main() {
emilmont 43:e2ed12d17f06 102 * ticker.attach(&send, 1);
emilmont 43:e2ed12d17f06 103 * CANMessage msg;
emilmont 43:e2ed12d17f06 104 * while(1) {
emilmont 43:e2ed12d17f06 105 * if(can2.read(msg)) {
emilmont 43:e2ed12d17f06 106 * printf("Message received: %d\n\n", msg.data[0]);
emilmont 43:e2ed12d17f06 107 * led2 = !led2;
emilmont 43:e2ed12d17f06 108 * }
emilmont 43:e2ed12d17f06 109 * wait(0.2);
emilmont 43:e2ed12d17f06 110 * }
emilmont 43:e2ed12d17f06 111 * }
emilmont 43:e2ed12d17f06 112 * @endcode
rolf.meyer@arm.com 11:1c1ebd0324fa 113 */
rolf.meyer@arm.com 11:1c1ebd0324fa 114 CAN(PinName rd, PinName td);
rolf.meyer@arm.com 11:1c1ebd0324fa 115 virtual ~CAN();
rolf.meyer@arm.com 11:1c1ebd0324fa 116
emilmont 43:e2ed12d17f06 117 /** Set the frequency of the CAN interface
emilmont 43:e2ed12d17f06 118 *
emilmont 43:e2ed12d17f06 119 * @param hz The bus frequency in hertz
rolf.meyer@arm.com 11:1c1ebd0324fa 120 *
emilmont 43:e2ed12d17f06 121 * @returns
emilmont 43:e2ed12d17f06 122 * 1 if successful,
emilmont 43:e2ed12d17f06 123 * 0 otherwise
rolf.meyer@arm.com 11:1c1ebd0324fa 124 */
simon 21:3944f1e2fa4f 125 int frequency(int hz);
rolf.meyer@arm.com 11:1c1ebd0324fa 126
emilmont 43:e2ed12d17f06 127 /** Write a CANMessage to the bus.
emilmont 43:e2ed12d17f06 128 *
emilmont 43:e2ed12d17f06 129 * @param msg The CANMessage to write.
rolf.meyer@arm.com 11:1c1ebd0324fa 130 *
emilmont 43:e2ed12d17f06 131 * @returns
emilmont 43:e2ed12d17f06 132 * 0 if write failed,
emilmont 43:e2ed12d17f06 133 * 1 if write was successful
rolf.meyer@arm.com 11:1c1ebd0324fa 134 */
rolf.meyer@arm.com 11:1c1ebd0324fa 135 int write(CANMessage msg);
rolf.meyer@arm.com 11:1c1ebd0324fa 136
emilmont 43:e2ed12d17f06 137 /** Read a CANMessage from the bus.
rolf.meyer@arm.com 11:1c1ebd0324fa 138 *
emilmont 43:e2ed12d17f06 139 * @param msg A CANMessage to read to.
rolf.meyer@arm.com 11:1c1ebd0324fa 140 *
emilmont 43:e2ed12d17f06 141 * @returns
emilmont 43:e2ed12d17f06 142 * 0 if no message arrived,
emilmont 43:e2ed12d17f06 143 * 1 if message arrived
rolf.meyer@arm.com 11:1c1ebd0324fa 144 */
rolf.meyer@arm.com 11:1c1ebd0324fa 145 int read(CANMessage &msg);
rolf.meyer@arm.com 11:1c1ebd0324fa 146
emilmont 43:e2ed12d17f06 147 /** Reset CAN interface.
rolf.meyer@arm.com 11:1c1ebd0324fa 148 *
rolf.meyer@arm.com 11:1c1ebd0324fa 149 * To use after error overflow.
rolf.meyer@arm.com 11:1c1ebd0324fa 150 */
rolf.meyer@arm.com 11:1c1ebd0324fa 151 void reset();
emilmont 44:24d45a770a51 152
emilmont 43:e2ed12d17f06 153 /** Puts or removes the CAN interface into silent monitoring mode
simon 22:9114680c05da 154 *
emilmont 43:e2ed12d17f06 155 * @param silent boolean indicating whether to go into silent mode or not
simon 22:9114680c05da 156 */
simon 22:9114680c05da 157 void monitor(bool silent);
rolf.meyer@arm.com 11:1c1ebd0324fa 158
emilmont 43:e2ed12d17f06 159 /** Returns number of read errors to detect read overflow errors.
rolf.meyer@arm.com 11:1c1ebd0324fa 160 */
rolf.meyer@arm.com 11:1c1ebd0324fa 161 unsigned char rderror();
rolf.meyer@arm.com 11:1c1ebd0324fa 162
emilmont 43:e2ed12d17f06 163 /** Returns number of write errors to detect write overflow errors.
rolf.meyer@arm.com 11:1c1ebd0324fa 164 */
rolf.meyer@arm.com 11:1c1ebd0324fa 165 unsigned char tderror();
simon 22:9114680c05da 166
emilmont 43:e2ed12d17f06 167 /** Attach a function to call whenever a CAN frame received interrupt is
simon 22:9114680c05da 168 * generated.
simon 22:9114680c05da 169 *
emilmont 43:e2ed12d17f06 170 * @param fptr A pointer to a void function, or 0 to set as none
simon 22:9114680c05da 171 */
simon 22:9114680c05da 172 void attach(void (*fptr)(void));
simon 22:9114680c05da 173
emilmont 43:e2ed12d17f06 174 /** Attach a member function to call whenever a CAN frame received interrupt
simon 22:9114680c05da 175 * is generated.
simon 22:9114680c05da 176 *
emilmont 43:e2ed12d17f06 177 * @param tptr pointer to the object to call the member function on
emilmont 43:e2ed12d17f06 178 * @param mptr pointer to the member function to be called
simon 22:9114680c05da 179 */
simon 22:9114680c05da 180 template<typename T>
emilmont 33:5364839841bd 181 void attach(T* tptr, void (T::*mptr)(void)) {
emilmont 33:5364839841bd 182 if((mptr != NULL) && (tptr != NULL)) {
emilmont 33:5364839841bd 183 _rxirq.attach(tptr, mptr);
emilmont 33:5364839841bd 184 setup_interrupt();
emilmont 33:5364839841bd 185 } else {
emilmont 33:5364839841bd 186 remove_interrupt();
emilmont 33:5364839841bd 187 }
emilmont 33:5364839841bd 188 }
rolf.meyer@arm.com 11:1c1ebd0324fa 189
rolf.meyer@arm.com 11:1c1ebd0324fa 190 private:
emilmont 44:24d45a770a51 191 can_t _can;
simon 22:9114680c05da 192 FunctionPointer _rxirq;
emilmont 44:24d45a770a51 193
simon 22:9114680c05da 194 void setup_interrupt(void);
simon 22:9114680c05da 195 void remove_interrupt(void);
rolf.meyer@arm.com 11:1c1ebd0324fa 196 };
rolf.meyer@arm.com 11:1c1ebd0324fa 197
rolf.meyer@arm.com 11:1c1ebd0324fa 198 } // namespace mbed
rolf.meyer@arm.com 11:1c1ebd0324fa 199
emilmont 44:24d45a770a51 200 #endif
emilmont 27:7110ebee3484 201
emilmont 44:24d45a770a51 202 #endif // MBED_CAN_H