Diff: api/CAN.h

Revision:

9:0ce32e54c9a7

Parent:

2:143cac498751

Child:

10:3bc89ef62ce7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/api/CAN.h	Mon Jun 10 16:03:00 2013 +0100
@@ -0,0 +1,196 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef MBED_CAN_H
+#define MBED_CAN_H
+
+#include "platform.h"
+
+#if DEVICE_CAN
+
+#include "can_api.h"
+#include "can_helper.h"
+#include "FunctionPointer.h"
+
+namespace mbed {
+
+/** CANMessage class
+ */
+class CANMessage : public CAN_Message {
+
+public:
+    /** Creates empty CAN message.
+     */
+    CANMessage() {
+        len    = 8;
+        type   = CANData;
+        format = CANStandard;
+        id     = 0;
+        memset(data, 0, 8);
+    }
+
+    /** Creates CAN message with specific content.
+     */
+    CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
+      len    = _len & 0xF;
+      type   = _type;
+      format = _format;
+      id     = _id;
+      memcpy(data, _data, _len);
+    }
+
+    /** Creates CAN remote message.
+     */
+    CANMessage(int _id, CANFormat _format = CANStandard) {
+      len    = 0;
+      type   = CANRemote;
+      format = _format;
+      id     = _id;
+      memset(data, 0, 8);
+    }
+};
+
+/** A can bus client, used for communicating with can devices
+ */
+class CAN {
+
+public:
+    /** Creates an CAN interface connected to specific pins.
+     *
+     *  @param rd read from transmitter
+     *  @param td transmit to transmitter
+     *
+     * Example:
+     * @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();
+
+    /** Set the frequency of the CAN interface
+     *
+     *  @param hz The bus frequency in hertz
+     *
+     *  @returns
+     *    1 if successful,
+     *    0 otherwise
+     */
+    int frequency(int hz);
+
+    /** Write a CANMessage to the bus.
+     *
+     *  @param msg The CANMessage to write.
+     *
+     *  @returns
+     *    0 if write failed,
+     *    1 if write was successful
+     */
+    int write(CANMessage msg);
+
+    /** Read a CANMessage from the bus.
+     *
+     *  @param msg A CANMessage to read to.
+     *
+     *  @returns
+     *    0 if no message arrived,
+     *    1 if message arrived
+     */
+    int read(CANMessage &msg);
+
+    /** Reset CAN interface.
+     *
+     * To use after error overflow.
+     */
+    void reset();
+
+    /** Puts or removes the CAN interface into silent monitoring mode
+     *
+     *  @param silent boolean indicating whether to go into silent mode or not
+     */
+    void monitor(bool silent);
+
+    /** Returns number of read errors to detect read overflow errors.
+     */
+    unsigned char rderror();
+
+    /** Returns number of write errors to detect write overflow errors.
+     */
+    unsigned char tderror();
+
+    /** Attach a function to call whenever a CAN frame received interrupt is
+     *  generated.
+     *
+     *  @param fptr A pointer to a void function, or 0 to set as none
+     */
+    void attach(void (*fptr)(void));
+
+   /** Attach a member function to call whenever a CAN frame received interrupt
+    *  is generated.
+    *
+    *  @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)) {
+        if((mptr != NULL) && (tptr != NULL)) {
+            _rxirq.attach(tptr, mptr);
+            setup_interrupt();
+        } else {
+            remove_interrupt();
+        }
+    }
+
+private:
+    can_t _can;
+    FunctionPointer _rxirq;
+
+    void setup_interrupt(void);
+    void remove_interrupt(void);
+};
+
+} // namespace mbed
+
+#endif
+
+#endif    // MBED_CAN_H