Emir Sokic / mbedPAI Featured

mbed.h verzija za koristenje na predmetu PAI

CAN.h@0:05aad811ea07, 2015-03-10 (annotated)

Committer:
esokic
Date:
Tue Mar 10 09:51:52 2015 +0000
Revision:
0:05aad811ea07
mbed.h verzija od marta 2014, za koristenje na predmetu PAI

Who changed what in which revision?

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esokic 0:05aad811ea07 1 /* mbed Microcontroller Library
esokic 0:05aad811ea07 2 * Copyright (c) 2006-2013 ARM Limited
esokic 0:05aad811ea07 3 *
esokic 0:05aad811ea07 4 * Licensed under the Apache License, Version 2.0 (the "License");
esokic 0:05aad811ea07 5 * you may not use this file except in compliance with the License.
esokic 0:05aad811ea07 6 * You may obtain a copy of the License at
esokic 0:05aad811ea07 7 *
esokic 0:05aad811ea07 8 * http://www.apache.org/licenses/LICENSE-2.0
esokic 0:05aad811ea07 9 *
esokic 0:05aad811ea07 10 * Unless required by applicable law or agreed to in writing, software
esokic 0:05aad811ea07 11 * distributed under the License is distributed on an "AS IS" BASIS,
esokic 0:05aad811ea07 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
esokic 0:05aad811ea07 13 * See the License for the specific language governing permissions and
esokic 0:05aad811ea07 14 * limitations under the License.
esokic 0:05aad811ea07 15 */
esokic 0:05aad811ea07 16 #ifndef MBED_CAN_H
esokic 0:05aad811ea07 17 #define MBED_CAN_H
esokic 0:05aad811ea07 18
esokic 0:05aad811ea07 19 #include "platform.h"
esokic 0:05aad811ea07 20
esokic 0:05aad811ea07 21 #if DEVICE_CAN
esokic 0:05aad811ea07 22
esokic 0:05aad811ea07 23 #include "can_api.h"
esokic 0:05aad811ea07 24 #include "can_helper.h"
esokic 0:05aad811ea07 25 #include "FunctionPointer.h"
esokic 0:05aad811ea07 26
esokic 0:05aad811ea07 27 namespace mbed {
esokic 0:05aad811ea07 28
esokic 0:05aad811ea07 29 /** CANMessage class
esokic 0:05aad811ea07 30 */
esokic 0:05aad811ea07 31 class CANMessage : public CAN_Message {
esokic 0:05aad811ea07 32
esokic 0:05aad811ea07 33 public:
esokic 0:05aad811ea07 34 /** Creates empty CAN message.
esokic 0:05aad811ea07 35 */
esokic 0:05aad811ea07 36 CANMessage() {
esokic 0:05aad811ea07 37 len = 8;
esokic 0:05aad811ea07 38 type = CANData;
esokic 0:05aad811ea07 39 format = CANStandard;
esokic 0:05aad811ea07 40 id = 0;
esokic 0:05aad811ea07 41 memset(data, 0, 8);
esokic 0:05aad811ea07 42 }
esokic 0:05aad811ea07 43
esokic 0:05aad811ea07 44 /** Creates CAN message with specific content.
esokic 0:05aad811ea07 45 */
esokic 0:05aad811ea07 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
esokic 0:05aad811ea07 47 len = _len & 0xF;
esokic 0:05aad811ea07 48 type = _type;
esokic 0:05aad811ea07 49 format = _format;
esokic 0:05aad811ea07 50 id = _id;
esokic 0:05aad811ea07 51 memcpy(data, _data, _len);
esokic 0:05aad811ea07 52 }
esokic 0:05aad811ea07 53
esokic 0:05aad811ea07 54 /** Creates CAN remote message.
esokic 0:05aad811ea07 55 */
esokic 0:05aad811ea07 56 CANMessage(int _id, CANFormat _format = CANStandard) {
esokic 0:05aad811ea07 57 len = 0;
esokic 0:05aad811ea07 58 type = CANRemote;
esokic 0:05aad811ea07 59 format = _format;
esokic 0:05aad811ea07 60 id = _id;
esokic 0:05aad811ea07 61 memset(data, 0, 8);
esokic 0:05aad811ea07 62 }
esokic 0:05aad811ea07 63 };
esokic 0:05aad811ea07 64
esokic 0:05aad811ea07 65 /** A can bus client, used for communicating with can devices
esokic 0:05aad811ea07 66 */
esokic 0:05aad811ea07 67 class CAN {
esokic 0:05aad811ea07 68
esokic 0:05aad811ea07 69 public:
esokic 0:05aad811ea07 70 /** Creates an CAN interface connected to specific pins.
esokic 0:05aad811ea07 71 *
esokic 0:05aad811ea07 72 * @param rd read from transmitter
esokic 0:05aad811ea07 73 * @param td transmit to transmitter
esokic 0:05aad811ea07 74 *
esokic 0:05aad811ea07 75 * Example:
esokic 0:05aad811ea07 76 * @code
esokic 0:05aad811ea07 77 * #include "mbed.h"
esokic 0:05aad811ea07 78 *
esokic 0:05aad811ea07 79 * Ticker ticker;
esokic 0:05aad811ea07 80 * DigitalOut led1(LED1);
esokic 0:05aad811ea07 81 * DigitalOut led2(LED2);
esokic 0:05aad811ea07 82 * CAN can1(p9, p10);
esokic 0:05aad811ea07 83 * CAN can2(p30, p29);
esokic 0:05aad811ea07 84 *
esokic 0:05aad811ea07 85 * char counter = 0;
esokic 0:05aad811ea07 86 *
esokic 0:05aad811ea07 87 * void send() {
esokic 0:05aad811ea07 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
esokic 0:05aad811ea07 89 * printf("Message sent: %d\n", counter);
esokic 0:05aad811ea07 90 * counter++;
esokic 0:05aad811ea07 91 * }
esokic 0:05aad811ea07 92 * led1 = !led1;
esokic 0:05aad811ea07 93 * }
esokic 0:05aad811ea07 94 *
esokic 0:05aad811ea07 95 * int main() {
esokic 0:05aad811ea07 96 * ticker.attach(&send, 1);
esokic 0:05aad811ea07 97 * CANMessage msg;
esokic 0:05aad811ea07 98 * while(1) {
esokic 0:05aad811ea07 99 * if(can2.read(msg)) {
esokic 0:05aad811ea07 100 * printf("Message received: %d\n\n", msg.data[0]);
esokic 0:05aad811ea07 101 * led2 = !led2;
esokic 0:05aad811ea07 102 * }
esokic 0:05aad811ea07 103 * wait(0.2);
esokic 0:05aad811ea07 104 * }
esokic 0:05aad811ea07 105 * }
esokic 0:05aad811ea07 106 * @endcode
esokic 0:05aad811ea07 107 */
esokic 0:05aad811ea07 108 CAN(PinName rd, PinName td);
esokic 0:05aad811ea07 109 virtual ~CAN();
esokic 0:05aad811ea07 110
esokic 0:05aad811ea07 111 /** Set the frequency of the CAN interface
esokic 0:05aad811ea07 112 *
esokic 0:05aad811ea07 113 * @param hz The bus frequency in hertz
esokic 0:05aad811ea07 114 *
esokic 0:05aad811ea07 115 * @returns
esokic 0:05aad811ea07 116 * 1 if successful,
esokic 0:05aad811ea07 117 * 0 otherwise
esokic 0:05aad811ea07 118 */
esokic 0:05aad811ea07 119 int frequency(int hz);
esokic 0:05aad811ea07 120
esokic 0:05aad811ea07 121 /** Write a CANMessage to the bus.
esokic 0:05aad811ea07 122 *
esokic 0:05aad811ea07 123 * @param msg The CANMessage to write.
esokic 0:05aad811ea07 124 *
esokic 0:05aad811ea07 125 * @returns
esokic 0:05aad811ea07 126 * 0 if write failed,
esokic 0:05aad811ea07 127 * 1 if write was successful
esokic 0:05aad811ea07 128 */
esokic 0:05aad811ea07 129 int write(CANMessage msg);
esokic 0:05aad811ea07 130
esokic 0:05aad811ea07 131 /** Read a CANMessage from the bus.
esokic 0:05aad811ea07 132 *
esokic 0:05aad811ea07 133 * @param msg A CANMessage to read to.
esokic 0:05aad811ea07 134 * @param handle message filter handle (0 for any message)
esokic 0:05aad811ea07 135 *
esokic 0:05aad811ea07 136 * @returns
esokic 0:05aad811ea07 137 * 0 if no message arrived,
esokic 0:05aad811ea07 138 * 1 if message arrived
esokic 0:05aad811ea07 139 */
esokic 0:05aad811ea07 140 int read(CANMessage &msg, int handle = 0);
esokic 0:05aad811ea07 141
esokic 0:05aad811ea07 142 /** Reset CAN interface.
esokic 0:05aad811ea07 143 *
esokic 0:05aad811ea07 144 * To use after error overflow.
esokic 0:05aad811ea07 145 */
esokic 0:05aad811ea07 146 void reset();
esokic 0:05aad811ea07 147
esokic 0:05aad811ea07 148 /** Puts or removes the CAN interface into silent monitoring mode
esokic 0:05aad811ea07 149 *
esokic 0:05aad811ea07 150 * @param silent boolean indicating whether to go into silent mode or not
esokic 0:05aad811ea07 151 */
esokic 0:05aad811ea07 152 void monitor(bool silent);
esokic 0:05aad811ea07 153
esokic 0:05aad811ea07 154 enum Mode {
esokic 0:05aad811ea07 155 Reset = 0,
esokic 0:05aad811ea07 156 Normal,
esokic 0:05aad811ea07 157 Silent,
esokic 0:05aad811ea07 158 LocalTest,
esokic 0:05aad811ea07 159 GlobalTest,
esokic 0:05aad811ea07 160 SilentTest
esokic 0:05aad811ea07 161 };
esokic 0:05aad811ea07 162
esokic 0:05aad811ea07 163 /** Change CAN operation to the specified mode
esokic 0:05aad811ea07 164 *
esokic 0:05aad811ea07 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
esokic 0:05aad811ea07 166 *
esokic 0:05aad811ea07 167 * @returns
esokic 0:05aad811ea07 168 * 0 if mode change failed or unsupported,
esokic 0:05aad811ea07 169 * 1 if mode change was successful
esokic 0:05aad811ea07 170 */
esokic 0:05aad811ea07 171 int mode(Mode mode);
esokic 0:05aad811ea07 172
esokic 0:05aad811ea07 173 /** Filter out incomming messages
esokic 0:05aad811ea07 174 *
esokic 0:05aad811ea07 175 * @param id the id to filter on
esokic 0:05aad811ea07 176 * @param mask the mask applied to the id
esokic 0:05aad811ea07 177 * @param format format to filter on (Default CANAny)
esokic 0:05aad811ea07 178 * @param handle message filter handle (Optional)
esokic 0:05aad811ea07 179 *
esokic 0:05aad811ea07 180 * @returns
esokic 0:05aad811ea07 181 * 0 if filter change failed or unsupported,
esokic 0:05aad811ea07 182 * new filter handle if successful
esokic 0:05aad811ea07 183 */
esokic 0:05aad811ea07 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
esokic 0:05aad811ea07 185
esokic 0:05aad811ea07 186 /** Returns number of read errors to detect read overflow errors.
esokic 0:05aad811ea07 187 */
esokic 0:05aad811ea07 188 unsigned char rderror();
esokic 0:05aad811ea07 189
esokic 0:05aad811ea07 190 /** Returns number of write errors to detect write overflow errors.
esokic 0:05aad811ea07 191 */
esokic 0:05aad811ea07 192 unsigned char tderror();
esokic 0:05aad811ea07 193
esokic 0:05aad811ea07 194 enum IrqType {
esokic 0:05aad811ea07 195 RxIrq = 0,
esokic 0:05aad811ea07 196 TxIrq,
esokic 0:05aad811ea07 197 EwIrq,
esokic 0:05aad811ea07 198 DoIrq,
esokic 0:05aad811ea07 199 WuIrq,
esokic 0:05aad811ea07 200 EpIrq,
esokic 0:05aad811ea07 201 AlIrq,
esokic 0:05aad811ea07 202 BeIrq,
esokic 0:05aad811ea07 203 IdIrq
esokic 0:05aad811ea07 204 };
esokic 0:05aad811ea07 205
esokic 0:05aad811ea07 206 /** Attach a function to call whenever a CAN frame received interrupt is
esokic 0:05aad811ea07 207 * generated.
esokic 0:05aad811ea07 208 *
esokic 0:05aad811ea07 209 * @param fptr A pointer to a void function, or 0 to set as none
esokic 0:05aad811ea07 210 * @param event Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, CAN::TxIrq for transmitted or aborted, CAN::EwIrq for error warning, CAN::DoIrq for data overrun, CAN::WuIrq for wake-up, CAN::EpIrq for error passive, CAN::AlIrq for arbitration lost, CAN::BeIrq for bus error)
esokic 0:05aad811ea07 211 */
esokic 0:05aad811ea07 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
esokic 0:05aad811ea07 213
esokic 0:05aad811ea07 214 /** Attach a member function to call whenever a CAN frame received interrupt
esokic 0:05aad811ea07 215 * is generated.
esokic 0:05aad811ea07 216 *
esokic 0:05aad811ea07 217 * @param tptr pointer to the object to call the member function on
esokic 0:05aad811ea07 218 * @param mptr pointer to the member function to be called
esokic 0:05aad811ea07 219 * @param event Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, TxIrq for transmitted or aborted, EwIrq for error warning, DoIrq for data overrun, WuIrq for wake-up, EpIrq for error passive, AlIrq for arbitration lost, BeIrq for bus error)
esokic 0:05aad811ea07 220 */
esokic 0:05aad811ea07 221 template<typename T>
esokic 0:05aad811ea07 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
esokic 0:05aad811ea07 223 if((mptr != NULL) && (tptr != NULL)) {
esokic 0:05aad811ea07 224 _irq[type].attach(tptr, mptr);
esokic 0:05aad811ea07 225 can_irq_set(&_can, (CanIrqType)type, 1);
esokic 0:05aad811ea07 226 }
esokic 0:05aad811ea07 227 else {
esokic 0:05aad811ea07 228 can_irq_set(&_can, (CanIrqType)type, 0);
esokic 0:05aad811ea07 229 }
esokic 0:05aad811ea07 230 }
esokic 0:05aad811ea07 231
esokic 0:05aad811ea07 232 static void _irq_handler(uint32_t id, CanIrqType type);
esokic 0:05aad811ea07 233
esokic 0:05aad811ea07 234 protected:
esokic 0:05aad811ea07 235 can_t _can;
esokic 0:05aad811ea07 236 FunctionPointer _irq[9];
esokic 0:05aad811ea07 237 };
esokic 0:05aad811ea07 238
esokic 0:05aad811ea07 239 } // namespace mbed
esokic 0:05aad811ea07 240
esokic 0:05aad811ea07 241 #endif
esokic 0:05aad811ea07 242
esokic 0:05aad811ea07 243 #endif // MBED_CAN_H