Emilio Monti
mbed libraries for KL25Z
Diff: CAN.h
- Revision:
- 8:c14af7958ef5
- Parent:
- 0:8024c367e29f
- Child:
- 9:663789d7729f
--- a/CAN.h Tue Oct 23 09:20:18 2012 +0000
+++ b/CAN.h Fri Nov 09 11:33:53 2012 +0000
@@ -1,19 +1,13 @@
/* mbed Microcontroller Library - can
* Copyright (c) 2009-2011 ARM Limited. All rights reserved.
- */
-
+ */
#ifndef MBED_CAN_H
#define MBED_CAN_H
-#include "device.h"
+#include "platform.h"
#if DEVICE_CAN
-#include "Base.h"
-#include "platform.h"
-#include "PinNames.h"
-#include "PeripheralNames.h"
-
#include "can_helper.h"
#include "FunctionPointer.h"
@@ -21,26 +15,22 @@
namespace mbed {
-/* Class: CANMessage
- *
+/** CANMessage class
*/
class CANMessage : public CAN_Message {
public:
-
- /* Constructor: CANMessage
- * Creates empty CAN message.
+ /** Creates empty CAN message.
*/
CANMessage() {
- len = 8;
- type = CANData;
- format = CANStandard;
- id = 0;
- memset(data, 0, 8);
+ len = 8;
+ type = CANData;
+ format = CANStandard;
+ id = 0;
+ memset(data, 0, 8);
}
- /* Constructor: CANMessage
- * Creates CAN message with specific content.
+ /** Creates CAN message with specific content.
*/
CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
len = _len & 0xF;
@@ -50,8 +40,7 @@
memcpy(data, _data, _len);
}
- /* Constructor: CANMessage
- * Creates CAN remote message.
+ /** Creates CAN remote message.
*/
CANMessage(int _id, CANFormat _format = CANStandard) {
len = 0;
@@ -60,171 +49,116 @@
id = _id;
memset(data, 0, 8);
}
-#if 0 // Inhereted from CAN_Message, for documentation only
-
- /* Variable: id
- * The message id.
- *
- * If format is CANStandard it must be an 11 bit long id
- * If format is CANExtended it must be an 29 bit long id
- */
- unsigned int id;
-
- /* Variable: data
- * Space for 8 byte payload.
- *
- * If type is CANData data can store up to 8 byte data.
- */
- unsigned char data[8];
-
- /* Variable: len
- * Length of data in bytes.
- *
- * If type is CANData data can store up to 8 byte data.
- */
- unsigned char len;
-
- /* Variable: format
- * Defines if the message has standard or extended format.
- *
- * Defines the type of message id:
- * Default is CANStandard which implies 11 bit id.
- * CANExtended means 29 bit message id.
- */
- CANFormat format;
-
- /* Variable: type
- * Defines the type of a message.
- *
- * The message type can rather be CANData for a message with data (default).
- * Or CANRemote for a request of a specific CAN message.
- */
- CANType type; // 0 - DATA FRAME, 1 - REMOTE FRAME
-#endif
};
-/* Class: CAN
- * A can bus client, used for communicating with can devices
+/** A can bus client, used for communicating with can devices
*/
-class CAN : public Base {
+class CAN {
public:
-
- /* Constructor: CAN
- * Creates an CAN interface connected to specific pins.
+ /** Creates an CAN interface connected to specific pins.
+ *
+ * @param rd read from transmitter
+ * @param td transmit to transmitter
*
* Example:
- * > #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);
- * > }
- * > }
- *
- * Variables:
- * rd - read from transmitter
- * td - transmit to transmitter
+ * @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();
- /* Function: frequency
- * Set the frequency of the CAN interface
+ /** Set the frequency of the CAN interface
+ *
+ * @param hz The bus frequency in hertz
*
- * Variables:
- * hz - The bus frequency in hertz
- * returns - 1 if successful, 0 otherwise
+ * @returns
+ * 1 if successful,
+ * 0 otherwise
*/
int frequency(int hz);
- /* Function: write
- * Write a CANMessage to the bus.
+ /** Write a CANMessage to the bus.
+ *
+ * @param msg The CANMessage to write.
*
- * Variables:
- * msg - The CANMessage to write.
- *
- * Returns:
- * 0 - If write failed.
- * 1 - If write was successful.
+ * @returns
+ * 0 if write failed,
+ * 1 if write was successful
*/
int write(CANMessage msg);
- /* Function: read
- * Read a CANMessage from the bus.
+ /** Read a CANMessage from the bus.
*
- * Variables:
- * msg - A CANMessage to read to.
+ * @param msg A CANMessage to read to.
*
- * Returns:
- * 0 - If no message arrived.
- * 1 - If message arrived.
+ * @returns
+ * 0 if no message arrived,
+ * 1 if message arrived
*/
int read(CANMessage &msg);
- /* Function: reset
- * Reset CAN interface.
+ /** Reset CAN interface.
*
* To use after error overflow.
*/
void reset();
-
- /* Function: monitor
- * Puts or removes the CAN interface into silent monitoring mode
+
+ /** Puts or removes the CAN interface into silent monitoring mode
*
- * Variables:
- * silent - boolean indicating whether to go into silent mode or not
+ * @param silent boolean indicating whether to go into silent mode or not
*/
void monitor(bool silent);
- /* Function: rderror
- * Returns number of read errors to detect read overflow errors.
+ /** Returns number of read errors to detect read overflow errors.
*/
unsigned char rderror();
- /* Function: tderror
- * Returns number of write errors to detect write overflow errors.
+ /** Returns number of write errors to detect write overflow errors.
*/
unsigned char tderror();
- /* Function: attach
- * Attach a function to call whenever a CAN frame received interrupt is
+ /** Attach a function to call whenever a CAN frame received interrupt is
* generated.
*
- * Variables:
- * fptr - A pointer to a void function, or 0 to set as none
+ * @param fptr A pointer to a void function, or 0 to set as none
*/
void attach(void (*fptr)(void));
- /* Function attach
- * Attach a member function to call whenever a CAN frame received interrupt
+ /** Attach a member function to call whenever a CAN frame received interrupt
* is generated.
*
- * Variables:
- * tptr - pointer to the object to call the member function on
- * mptr - pointer to the member function to be called
+ * @param tptr pointer to the object to call the member function on
+ * @param mptr pointer to the member function to be called
*/
template<typename T>
void attach(T* tptr, void (T::*mptr)(void)) {
@@ -237,16 +171,15 @@
}
private:
-
CANName _id;
FunctionPointer _rxirq;
-
+
void setup_interrupt(void);
void remove_interrupt(void);
};
} // namespace mbed
-#endif // MBED_CAN_H
+#endif
-#endif
+#endif // MBED_CAN_H
