George Roussos / BLE_iBeacon_Exercise

Birkbeck College Mobile and Ubiquitous Computing IoT Lab Exercise 2

Dependencies:   BLE_API_Native_blog

mbed/CAN.h@0:e8fdba0ed044, 2015-03-07 (annotated)

Committer:
gkroussos
Date:
Sat Mar 07 16:34:53 2015 +0000
Revision:
0:e8fdba0ed044
MUC IoT Workshop v1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gkroussos 0:e8fdba0ed044 1 /* mbed Microcontroller Library
gkroussos 0:e8fdba0ed044 2 * Copyright (c) 2006-2013 ARM Limited
gkroussos 0:e8fdba0ed044 3 *
gkroussos 0:e8fdba0ed044 4 * Licensed under the Apache License, Version 2.0 (the "License");
gkroussos 0:e8fdba0ed044 5 * you may not use this file except in compliance with the License.
gkroussos 0:e8fdba0ed044 6 * You may obtain a copy of the License at
gkroussos 0:e8fdba0ed044 7 *
gkroussos 0:e8fdba0ed044 8 * http://www.apache.org/licenses/LICENSE-2.0
gkroussos 0:e8fdba0ed044 9 *
gkroussos 0:e8fdba0ed044 10 * Unless required by applicable law or agreed to in writing, software
gkroussos 0:e8fdba0ed044 11 * distributed under the License is distributed on an "AS IS" BASIS,
gkroussos 0:e8fdba0ed044 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
gkroussos 0:e8fdba0ed044 13 * See the License for the specific language governing permissions and
gkroussos 0:e8fdba0ed044 14 * limitations under the License.
gkroussos 0:e8fdba0ed044 15 */
gkroussos 0:e8fdba0ed044 16 #ifndef MBED_CAN_H
gkroussos 0:e8fdba0ed044 17 #define MBED_CAN_H
gkroussos 0:e8fdba0ed044 18
gkroussos 0:e8fdba0ed044 19 #include "platform.h"
gkroussos 0:e8fdba0ed044 20
gkroussos 0:e8fdba0ed044 21 #if DEVICE_CAN
gkroussos 0:e8fdba0ed044 22
gkroussos 0:e8fdba0ed044 23 #include "can_api.h"
gkroussos 0:e8fdba0ed044 24 #include "can_helper.h"
gkroussos 0:e8fdba0ed044 25 #include "FunctionPointer.h"
gkroussos 0:e8fdba0ed044 26
gkroussos 0:e8fdba0ed044 27 namespace mbed {
gkroussos 0:e8fdba0ed044 28
gkroussos 0:e8fdba0ed044 29 /** CANMessage class
gkroussos 0:e8fdba0ed044 30 */
gkroussos 0:e8fdba0ed044 31 class CANMessage : public CAN_Message {
gkroussos 0:e8fdba0ed044 32
gkroussos 0:e8fdba0ed044 33 public:
gkroussos 0:e8fdba0ed044 34 /** Creates empty CAN message.
gkroussos 0:e8fdba0ed044 35 */
gkroussos 0:e8fdba0ed044 36 CANMessage() {
gkroussos 0:e8fdba0ed044 37 len = 8;
gkroussos 0:e8fdba0ed044 38 type = CANData;
gkroussos 0:e8fdba0ed044 39 format = CANStandard;
gkroussos 0:e8fdba0ed044 40 id = 0;
gkroussos 0:e8fdba0ed044 41 memset(data, 0, 8);
gkroussos 0:e8fdba0ed044 42 }
gkroussos 0:e8fdba0ed044 43
gkroussos 0:e8fdba0ed044 44 /** Creates CAN message with specific content.
gkroussos 0:e8fdba0ed044 45 */
gkroussos 0:e8fdba0ed044 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
gkroussos 0:e8fdba0ed044 47 len = _len & 0xF;
gkroussos 0:e8fdba0ed044 48 type = _type;
gkroussos 0:e8fdba0ed044 49 format = _format;
gkroussos 0:e8fdba0ed044 50 id = _id;
gkroussos 0:e8fdba0ed044 51 memcpy(data, _data, _len);
gkroussos 0:e8fdba0ed044 52 }
gkroussos 0:e8fdba0ed044 53
gkroussos 0:e8fdba0ed044 54 /** Creates CAN remote message.
gkroussos 0:e8fdba0ed044 55 */
gkroussos 0:e8fdba0ed044 56 CANMessage(int _id, CANFormat _format = CANStandard) {
gkroussos 0:e8fdba0ed044 57 len = 0;
gkroussos 0:e8fdba0ed044 58 type = CANRemote;
gkroussos 0:e8fdba0ed044 59 format = _format;
gkroussos 0:e8fdba0ed044 60 id = _id;
gkroussos 0:e8fdba0ed044 61 memset(data, 0, 8);
gkroussos 0:e8fdba0ed044 62 }
gkroussos 0:e8fdba0ed044 63 };
gkroussos 0:e8fdba0ed044 64
gkroussos 0:e8fdba0ed044 65 /** A can bus client, used for communicating with can devices
gkroussos 0:e8fdba0ed044 66 */
gkroussos 0:e8fdba0ed044 67 class CAN {
gkroussos 0:e8fdba0ed044 68
gkroussos 0:e8fdba0ed044 69 public:
gkroussos 0:e8fdba0ed044 70 /** Creates an CAN interface connected to specific pins.
gkroussos 0:e8fdba0ed044 71 *
gkroussos 0:e8fdba0ed044 72 * @param rd read from transmitter
gkroussos 0:e8fdba0ed044 73 * @param td transmit to transmitter
gkroussos 0:e8fdba0ed044 74 *
gkroussos 0:e8fdba0ed044 75 * Example:
gkroussos 0:e8fdba0ed044 76 * @code
gkroussos 0:e8fdba0ed044 77 * #include "mbed.h"
gkroussos 0:e8fdba0ed044 78 *
gkroussos 0:e8fdba0ed044 79 * Ticker ticker;
gkroussos 0:e8fdba0ed044 80 * DigitalOut led1(LED1);
gkroussos 0:e8fdba0ed044 81 * DigitalOut led2(LED2);
gkroussos 0:e8fdba0ed044 82 * CAN can1(p9, p10);
gkroussos 0:e8fdba0ed044 83 * CAN can2(p30, p29);
gkroussos 0:e8fdba0ed044 84 *
gkroussos 0:e8fdba0ed044 85 * char counter = 0;
gkroussos 0:e8fdba0ed044 86 *
gkroussos 0:e8fdba0ed044 87 * void send() {
gkroussos 0:e8fdba0ed044 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
gkroussos 0:e8fdba0ed044 89 * printf("Message sent: %d\n", counter);
gkroussos 0:e8fdba0ed044 90 * counter++;
gkroussos 0:e8fdba0ed044 91 * }
gkroussos 0:e8fdba0ed044 92 * led1 = !led1;
gkroussos 0:e8fdba0ed044 93 * }
gkroussos 0:e8fdba0ed044 94 *
gkroussos 0:e8fdba0ed044 95 * int main() {
gkroussos 0:e8fdba0ed044 96 * ticker.attach(&send, 1);
gkroussos 0:e8fdba0ed044 97 * CANMessage msg;
gkroussos 0:e8fdba0ed044 98 * while(1) {
gkroussos 0:e8fdba0ed044 99 * if(can2.read(msg)) {
gkroussos 0:e8fdba0ed044 100 * printf("Message received: %d\n\n", msg.data[0]);
gkroussos 0:e8fdba0ed044 101 * led2 = !led2;
gkroussos 0:e8fdba0ed044 102 * }
gkroussos 0:e8fdba0ed044 103 * wait(0.2);
gkroussos 0:e8fdba0ed044 104 * }
gkroussos 0:e8fdba0ed044 105 * }
gkroussos 0:e8fdba0ed044 106 * @endcode
gkroussos 0:e8fdba0ed044 107 */
gkroussos 0:e8fdba0ed044 108 CAN(PinName rd, PinName td);
gkroussos 0:e8fdba0ed044 109 virtual ~CAN();
gkroussos 0:e8fdba0ed044 110
gkroussos 0:e8fdba0ed044 111 /** Set the frequency of the CAN interface
gkroussos 0:e8fdba0ed044 112 *
gkroussos 0:e8fdba0ed044 113 * @param hz The bus frequency in hertz
gkroussos 0:e8fdba0ed044 114 *
gkroussos 0:e8fdba0ed044 115 * @returns
gkroussos 0:e8fdba0ed044 116 * 1 if successful,
gkroussos 0:e8fdba0ed044 117 * 0 otherwise
gkroussos 0:e8fdba0ed044 118 */
gkroussos 0:e8fdba0ed044 119 int frequency(int hz);
gkroussos 0:e8fdba0ed044 120
gkroussos 0:e8fdba0ed044 121 /** Write a CANMessage to the bus.
gkroussos 0:e8fdba0ed044 122 *
gkroussos 0:e8fdba0ed044 123 * @param msg The CANMessage to write.
gkroussos 0:e8fdba0ed044 124 *
gkroussos 0:e8fdba0ed044 125 * @returns
gkroussos 0:e8fdba0ed044 126 * 0 if write failed,
gkroussos 0:e8fdba0ed044 127 * 1 if write was successful
gkroussos 0:e8fdba0ed044 128 */
gkroussos 0:e8fdba0ed044 129 int write(CANMessage msg);
gkroussos 0:e8fdba0ed044 130
gkroussos 0:e8fdba0ed044 131 /** Read a CANMessage from the bus.
gkroussos 0:e8fdba0ed044 132 *
gkroussos 0:e8fdba0ed044 133 * @param msg A CANMessage to read to.
gkroussos 0:e8fdba0ed044 134 * @param handle message filter handle (0 for any message)
gkroussos 0:e8fdba0ed044 135 *
gkroussos 0:e8fdba0ed044 136 * @returns
gkroussos 0:e8fdba0ed044 137 * 0 if no message arrived,
gkroussos 0:e8fdba0ed044 138 * 1 if message arrived
gkroussos 0:e8fdba0ed044 139 */
gkroussos 0:e8fdba0ed044 140 int read(CANMessage &msg, int handle = 0);
gkroussos 0:e8fdba0ed044 141
gkroussos 0:e8fdba0ed044 142 /** Reset CAN interface.
gkroussos 0:e8fdba0ed044 143 *
gkroussos 0:e8fdba0ed044 144 * To use after error overflow.
gkroussos 0:e8fdba0ed044 145 */
gkroussos 0:e8fdba0ed044 146 void reset();
gkroussos 0:e8fdba0ed044 147
gkroussos 0:e8fdba0ed044 148 /** Puts or removes the CAN interface into silent monitoring mode
gkroussos 0:e8fdba0ed044 149 *
gkroussos 0:e8fdba0ed044 150 * @param silent boolean indicating whether to go into silent mode or not
gkroussos 0:e8fdba0ed044 151 */
gkroussos 0:e8fdba0ed044 152 void monitor(bool silent);
gkroussos 0:e8fdba0ed044 153
gkroussos 0:e8fdba0ed044 154 enum Mode {
gkroussos 0:e8fdba0ed044 155 Reset = 0,
gkroussos 0:e8fdba0ed044 156 Normal,
gkroussos 0:e8fdba0ed044 157 Silent,
gkroussos 0:e8fdba0ed044 158 LocalTest,
gkroussos 0:e8fdba0ed044 159 GlobalTest,
gkroussos 0:e8fdba0ed044 160 SilentTest
gkroussos 0:e8fdba0ed044 161 };
gkroussos 0:e8fdba0ed044 162
gkroussos 0:e8fdba0ed044 163 /** Change CAN operation to the specified mode
gkroussos 0:e8fdba0ed044 164 *
gkroussos 0:e8fdba0ed044 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
gkroussos 0:e8fdba0ed044 166 *
gkroussos 0:e8fdba0ed044 167 * @returns
gkroussos 0:e8fdba0ed044 168 * 0 if mode change failed or unsupported,
gkroussos 0:e8fdba0ed044 169 * 1 if mode change was successful
gkroussos 0:e8fdba0ed044 170 */
gkroussos 0:e8fdba0ed044 171 int mode(Mode mode);
gkroussos 0:e8fdba0ed044 172
gkroussos 0:e8fdba0ed044 173 /** Filter out incomming messages
gkroussos 0:e8fdba0ed044 174 *
gkroussos 0:e8fdba0ed044 175 * @param id the id to filter on
gkroussos 0:e8fdba0ed044 176 * @param mask the mask applied to the id
gkroussos 0:e8fdba0ed044 177 * @param format format to filter on (Default CANAny)
gkroussos 0:e8fdba0ed044 178 * @param handle message filter handle (Optional)
gkroussos 0:e8fdba0ed044 179 *
gkroussos 0:e8fdba0ed044 180 * @returns
gkroussos 0:e8fdba0ed044 181 * 0 if filter change failed or unsupported,
gkroussos 0:e8fdba0ed044 182 * new filter handle if successful
gkroussos 0:e8fdba0ed044 183 */
gkroussos 0:e8fdba0ed044 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
gkroussos 0:e8fdba0ed044 185
gkroussos 0:e8fdba0ed044 186 /** Returns number of read errors to detect read overflow errors.
gkroussos 0:e8fdba0ed044 187 */
gkroussos 0:e8fdba0ed044 188 unsigned char rderror();
gkroussos 0:e8fdba0ed044 189
gkroussos 0:e8fdba0ed044 190 /** Returns number of write errors to detect write overflow errors.
gkroussos 0:e8fdba0ed044 191 */
gkroussos 0:e8fdba0ed044 192 unsigned char tderror();
gkroussos 0:e8fdba0ed044 193
gkroussos 0:e8fdba0ed044 194 enum IrqType {
gkroussos 0:e8fdba0ed044 195 RxIrq = 0,
gkroussos 0:e8fdba0ed044 196 TxIrq,
gkroussos 0:e8fdba0ed044 197 EwIrq,
gkroussos 0:e8fdba0ed044 198 DoIrq,
gkroussos 0:e8fdba0ed044 199 WuIrq,
gkroussos 0:e8fdba0ed044 200 EpIrq,
gkroussos 0:e8fdba0ed044 201 AlIrq,
gkroussos 0:e8fdba0ed044 202 BeIrq,
gkroussos 0:e8fdba0ed044 203 IdIrq
gkroussos 0:e8fdba0ed044 204 };
gkroussos 0:e8fdba0ed044 205
gkroussos 0:e8fdba0ed044 206 /** Attach a function to call whenever a CAN frame received interrupt is
gkroussos 0:e8fdba0ed044 207 * generated.
gkroussos 0:e8fdba0ed044 208 *
gkroussos 0:e8fdba0ed044 209 * @param fptr A pointer to a void function, or 0 to set as none
gkroussos 0:e8fdba0ed044 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)
gkroussos 0:e8fdba0ed044 211 */
gkroussos 0:e8fdba0ed044 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
gkroussos 0:e8fdba0ed044 213
gkroussos 0:e8fdba0ed044 214 /** Attach a member function to call whenever a CAN frame received interrupt
gkroussos 0:e8fdba0ed044 215 * is generated.
gkroussos 0:e8fdba0ed044 216 *
gkroussos 0:e8fdba0ed044 217 * @param tptr pointer to the object to call the member function on
gkroussos 0:e8fdba0ed044 218 * @param mptr pointer to the member function to be called
gkroussos 0:e8fdba0ed044 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)
gkroussos 0:e8fdba0ed044 220 */
gkroussos 0:e8fdba0ed044 221 template<typename T>
gkroussos 0:e8fdba0ed044 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
gkroussos 0:e8fdba0ed044 223 if((mptr != NULL) && (tptr != NULL)) {
gkroussos 0:e8fdba0ed044 224 _irq[type].attach(tptr, mptr);
gkroussos 0:e8fdba0ed044 225 can_irq_set(&_can, (CanIrqType)type, 1);
gkroussos 0:e8fdba0ed044 226 }
gkroussos 0:e8fdba0ed044 227 else {
gkroussos 0:e8fdba0ed044 228 can_irq_set(&_can, (CanIrqType)type, 0);
gkroussos 0:e8fdba0ed044 229 }
gkroussos 0:e8fdba0ed044 230 }
gkroussos 0:e8fdba0ed044 231
gkroussos 0:e8fdba0ed044 232 static void _irq_handler(uint32_t id, CanIrqType type);
gkroussos 0:e8fdba0ed044 233
gkroussos 0:e8fdba0ed044 234 protected:
gkroussos 0:e8fdba0ed044 235 can_t _can;
gkroussos 0:e8fdba0ed044 236 FunctionPointer _irq[9];
gkroussos 0:e8fdba0ed044 237 };
gkroussos 0:e8fdba0ed044 238
gkroussos 0:e8fdba0ed044 239 } // namespace mbed
gkroussos 0:e8fdba0ed044 240
gkroussos 0:e8fdba0ed044 241 #endif
gkroussos 0:e8fdba0ed044 242
gkroussos 0:e8fdba0ed044 243 #endif // MBED_CAN_H