Joris Aerts
mbed library sources
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Diff: api/CAN.h
- Revision:
- 13:0645d8841f51
- Parent:
- 10:3bc89ef62ce7
- Child:
- 15:4892fe388435
--- a/api/CAN.h Wed Jul 24 11:11:21 2013 +0100
+++ b/api/CAN.h Mon Aug 05 14:12:34 2013 +0300
@@ -1,196 +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
+/* 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