Emilio Monti / mbed-KL25Z

mbed libraries for KL25Z

Dependents:   FRDM_RGBLED

CAN.h@9:663789d7729f, 2013-02-18 (annotated)

Committer:
emilmont
Date:
Mon Feb 18 09:41:56 2013 +0000
Revision:
9:663789d7729f
Parent:
8:c14af7958ef5 
Update mbed-KL25Z to latest build

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 9:663789d7729f 1 /* mbed Microcontroller Library
emilmont 9:663789d7729f 2 * Copyright (c) 2006-2013 ARM Limited
emilmont 9:663789d7729f 3 *
emilmont 9:663789d7729f 4 * Licensed under the Apache License, Version 2.0 (the "License");
emilmont 9:663789d7729f 5 * you may not use this file except in compliance with the License.
emilmont 9:663789d7729f 6 * You may obtain a copy of the License at
emilmont 9:663789d7729f 7 *
emilmont 9:663789d7729f 8 * http://www.apache.org/licenses/LICENSE-2.0
emilmont 9:663789d7729f 9 *
emilmont 9:663789d7729f 10 * Unless required by applicable law or agreed to in writing, software
emilmont 9:663789d7729f 11 * distributed under the License is distributed on an "AS IS" BASIS,
emilmont 9:663789d7729f 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
emilmont 9:663789d7729f 13 * See the License for the specific language governing permissions and
emilmont 9:663789d7729f 14 * limitations under the License.
emilmont 8:c14af7958ef5 15 */
emilmont 0:8024c367e29f 16 #ifndef MBED_CAN_H
emilmont 0:8024c367e29f 17 #define MBED_CAN_H
emilmont 0:8024c367e29f 18
emilmont 8:c14af7958ef5 19 #include "platform.h"
emilmont 0:8024c367e29f 20
emilmont 0:8024c367e29f 21 #if DEVICE_CAN
emilmont 0:8024c367e29f 22
emilmont 9:663789d7729f 23 #include "can_api.h"
emilmont 9:663789d7729f 24 #include "can_helper.h"
emilmont 0:8024c367e29f 25 #include "FunctionPointer.h"
emilmont 0:8024c367e29f 26
emilmont 0:8024c367e29f 27 namespace mbed {
emilmont 0:8024c367e29f 28
emilmont 8:c14af7958ef5 29 /** CANMessage class
emilmont 0:8024c367e29f 30 */
emilmont 0:8024c367e29f 31 class CANMessage : public CAN_Message {
emilmont 0:8024c367e29f 32
emilmont 0:8024c367e29f 33 public:
emilmont 8:c14af7958ef5 34 /** Creates empty CAN message.
emilmont 0:8024c367e29f 35 */
emilmont 0:8024c367e29f 36 CANMessage() {
emilmont 8:c14af7958ef5 37 len = 8;
emilmont 8:c14af7958ef5 38 type = CANData;
emilmont 8:c14af7958ef5 39 format = CANStandard;
emilmont 8:c14af7958ef5 40 id = 0;
emilmont 8:c14af7958ef5 41 memset(data, 0, 8);
emilmont 0:8024c367e29f 42 }
emilmont 9:663789d7729f 43
emilmont 8:c14af7958ef5 44 /** Creates CAN message with specific content.
emilmont 0:8024c367e29f 45 */
emilmont 0:8024c367e29f 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
emilmont 0:8024c367e29f 47 len = _len & 0xF;
emilmont 0:8024c367e29f 48 type = _type;
emilmont 0:8024c367e29f 49 format = _format;
emilmont 0:8024c367e29f 50 id = _id;
emilmont 0:8024c367e29f 51 memcpy(data, _data, _len);
emilmont 0:8024c367e29f 52 }
emilmont 0:8024c367e29f 53
emilmont 8:c14af7958ef5 54 /** Creates CAN remote message.
emilmont 0:8024c367e29f 55 */
emilmont 0:8024c367e29f 56 CANMessage(int _id, CANFormat _format = CANStandard) {
emilmont 0:8024c367e29f 57 len = 0;
emilmont 0:8024c367e29f 58 type = CANRemote;
emilmont 0:8024c367e29f 59 format = _format;
emilmont 0:8024c367e29f 60 id = _id;
emilmont 0:8024c367e29f 61 memset(data, 0, 8);
emilmont 0:8024c367e29f 62 }
emilmont 0:8024c367e29f 63 };
emilmont 0:8024c367e29f 64
emilmont 8:c14af7958ef5 65 /** A can bus client, used for communicating with can devices
emilmont 0:8024c367e29f 66 */
emilmont 8:c14af7958ef5 67 class CAN {
emilmont 0:8024c367e29f 68
emilmont 0:8024c367e29f 69 public:
emilmont 8:c14af7958ef5 70 /** Creates an CAN interface connected to specific pins.
emilmont 8:c14af7958ef5 71 *
emilmont 8:c14af7958ef5 72 * @param rd read from transmitter
emilmont 8:c14af7958ef5 73 * @param td transmit to transmitter
emilmont 0:8024c367e29f 74 *
emilmont 0:8024c367e29f 75 * Example:
emilmont 8:c14af7958ef5 76 * @code
emilmont 8:c14af7958ef5 77 * #include "mbed.h"
emilmont 9:663789d7729f 78 *
emilmont 8:c14af7958ef5 79 * Ticker ticker;
emilmont 8:c14af7958ef5 80 * DigitalOut led1(LED1);
emilmont 8:c14af7958ef5 81 * DigitalOut led2(LED2);
emilmont 8:c14af7958ef5 82 * CAN can1(p9, p10);
emilmont 8:c14af7958ef5 83 * CAN can2(p30, p29);
emilmont 9:663789d7729f 84 *
emilmont 8:c14af7958ef5 85 * char counter = 0;
emilmont 9:663789d7729f 86 *
emilmont 8:c14af7958ef5 87 * void send() {
emilmont 8:c14af7958ef5 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
emilmont 8:c14af7958ef5 89 * printf("Message sent: %d\n", counter);
emilmont 8:c14af7958ef5 90 * counter++;
emilmont 9:663789d7729f 91 * }
emilmont 8:c14af7958ef5 92 * led1 = !led1;
emilmont 8:c14af7958ef5 93 * }
emilmont 9:663789d7729f 94 *
emilmont 8:c14af7958ef5 95 * int main() {
emilmont 8:c14af7958ef5 96 * ticker.attach(&send, 1);
emilmont 8:c14af7958ef5 97 * CANMessage msg;
emilmont 8:c14af7958ef5 98 * while(1) {
emilmont 8:c14af7958ef5 99 * if(can2.read(msg)) {
emilmont 8:c14af7958ef5 100 * printf("Message received: %d\n\n", msg.data[0]);
emilmont 8:c14af7958ef5 101 * led2 = !led2;
emilmont 9:663789d7729f 102 * }
emilmont 8:c14af7958ef5 103 * wait(0.2);
emilmont 8:c14af7958ef5 104 * }
emilmont 9:663789d7729f 105 * }
emilmont 8:c14af7958ef5 106 * @endcode
emilmont 0:8024c367e29f 107 */
emilmont 0:8024c367e29f 108 CAN(PinName rd, PinName td);
emilmont 0:8024c367e29f 109 virtual ~CAN();
emilmont 9:663789d7729f 110
emilmont 8:c14af7958ef5 111 /** Set the frequency of the CAN interface
emilmont 8:c14af7958ef5 112 *
emilmont 8:c14af7958ef5 113 * @param hz The bus frequency in hertz
emilmont 0:8024c367e29f 114 *
emilmont 8:c14af7958ef5 115 * @returns
emilmont 8:c14af7958ef5 116 * 1 if successful,
emilmont 8:c14af7958ef5 117 * 0 otherwise
emilmont 0:8024c367e29f 118 */
emilmont 0:8024c367e29f 119 int frequency(int hz);
emilmont 9:663789d7729f 120
emilmont 8:c14af7958ef5 121 /** Write a CANMessage to the bus.
emilmont 8:c14af7958ef5 122 *
emilmont 8:c14af7958ef5 123 * @param msg The CANMessage to write.
emilmont 0:8024c367e29f 124 *
emilmont 8:c14af7958ef5 125 * @returns
emilmont 8:c14af7958ef5 126 * 0 if write failed,
emilmont 8:c14af7958ef5 127 * 1 if write was successful
emilmont 0:8024c367e29f 128 */
emilmont 0:8024c367e29f 129 int write(CANMessage msg);
emilmont 9:663789d7729f 130
emilmont 8:c14af7958ef5 131 /** Read a CANMessage from the bus.
emilmont 9:663789d7729f 132 *
emilmont 8:c14af7958ef5 133 * @param msg A CANMessage to read to.
emilmont 0:8024c367e29f 134 *
emilmont 8:c14af7958ef5 135 * @returns
emilmont 8:c14af7958ef5 136 * 0 if no message arrived,
emilmont 8:c14af7958ef5 137 * 1 if message arrived
emilmont 0:8024c367e29f 138 */
emilmont 0:8024c367e29f 139 int read(CANMessage &msg);
emilmont 9:663789d7729f 140
emilmont 8:c14af7958ef5 141 /** Reset CAN interface.
emilmont 0:8024c367e29f 142 *
emilmont 0:8024c367e29f 143 * To use after error overflow.
emilmont 0:8024c367e29f 144 */
emilmont 0:8024c367e29f 145 void reset();
emilmont 9:663789d7729f 146
emilmont 8:c14af7958ef5 147 /** Puts or removes the CAN interface into silent monitoring mode
emilmont 0:8024c367e29f 148 *
emilmont 8:c14af7958ef5 149 * @param silent boolean indicating whether to go into silent mode or not
emilmont 0:8024c367e29f 150 */
emilmont 0:8024c367e29f 151 void monitor(bool silent);
emilmont 9:663789d7729f 152
emilmont 8:c14af7958ef5 153 /** Returns number of read errors to detect read overflow errors.
emilmont 0:8024c367e29f 154 */
emilmont 0:8024c367e29f 155 unsigned char rderror();
emilmont 0:8024c367e29f 156
emilmont 8:c14af7958ef5 157 /** Returns number of write errors to detect write overflow errors.
emilmont 0:8024c367e29f 158 */
emilmont 0:8024c367e29f 159 unsigned char tderror();
emilmont 0:8024c367e29f 160
emilmont 8:c14af7958ef5 161 /** Attach a function to call whenever a CAN frame received interrupt is
emilmont 0:8024c367e29f 162 * generated.
emilmont 0:8024c367e29f 163 *
emilmont 8:c14af7958ef5 164 * @param fptr A pointer to a void function, or 0 to set as none
emilmont 0:8024c367e29f 165 */
emilmont 0:8024c367e29f 166 void attach(void (*fptr)(void));
emilmont 9:663789d7729f 167
emilmont 8:c14af7958ef5 168 /** Attach a member function to call whenever a CAN frame received interrupt
emilmont 0:8024c367e29f 169 * is generated.
emilmont 0:8024c367e29f 170 *
emilmont 8:c14af7958ef5 171 * @param tptr pointer to the object to call the member function on
emilmont 8:c14af7958ef5 172 * @param mptr pointer to the member function to be called
emilmont 0:8024c367e29f 173 */
emilmont 0:8024c367e29f 174 template<typename T>
emilmont 0:8024c367e29f 175 void attach(T* tptr, void (T::*mptr)(void)) {
emilmont 0:8024c367e29f 176 if((mptr != NULL) && (tptr != NULL)) {
emilmont 0:8024c367e29f 177 _rxirq.attach(tptr, mptr);
emilmont 0:8024c367e29f 178 setup_interrupt();
emilmont 0:8024c367e29f 179 } else {
emilmont 0:8024c367e29f 180 remove_interrupt();
emilmont 0:8024c367e29f 181 }
emilmont 0:8024c367e29f 182 }
emilmont 9:663789d7729f 183
emilmont 0:8024c367e29f 184 private:
emilmont 9:663789d7729f 185 can_t _can;
emilmont 0:8024c367e29f 186 FunctionPointer _rxirq;
emilmont 9:663789d7729f 187
emilmont 0:8024c367e29f 188 void setup_interrupt(void);
emilmont 0:8024c367e29f 189 void remove_interrupt(void);
emilmont 0:8024c367e29f 190 };
emilmont 0:8024c367e29f 191
emilmont 0:8024c367e29f 192 } // namespace mbed
emilmont 0:8024c367e29f 193
emilmont 8:c14af7958ef5 194 #endif
emilmont 0:8024c367e29f 195
emilmont 8:c14af7958ef5 196 #endif // MBED_CAN_H