kushagra brahmbhatt / IoT_Security

IoT Home Alarm System

Dependents:   IoTBurglar_and_Fire_AlarmSystem

CAN.h@0:2f388b030837, 2016-04-29 (annotated)

Committer:
kbrahmbhatt6
Date:
Fri Apr 29 06:59:59 2016 +0000
Revision:
0:2f388b030837
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kbrahmbhatt6 0:2f388b030837 1 /* mbed Microcontroller Library
kbrahmbhatt6 0:2f388b030837 2 * Copyright (c) 2006-2013 ARM Limited
kbrahmbhatt6 0:2f388b030837 3 *
kbrahmbhatt6 0:2f388b030837 4 * Licensed under the Apache License, Version 2.0 (the "License");
kbrahmbhatt6 0:2f388b030837 5 * you may not use this file except in compliance with the License.
kbrahmbhatt6 0:2f388b030837 6 * You may obtain a copy of the License at
kbrahmbhatt6 0:2f388b030837 7 *
kbrahmbhatt6 0:2f388b030837 8 * http://www.apache.org/licenses/LICENSE-2.0
kbrahmbhatt6 0:2f388b030837 9 *
kbrahmbhatt6 0:2f388b030837 10 * Unless required by applicable law or agreed to in writing, software
kbrahmbhatt6 0:2f388b030837 11 * distributed under the License is distributed on an "AS IS" BASIS,
kbrahmbhatt6 0:2f388b030837 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
kbrahmbhatt6 0:2f388b030837 13 * See the License for the specific language governing permissions and
kbrahmbhatt6 0:2f388b030837 14 * limitations under the License.
kbrahmbhatt6 0:2f388b030837 15 */
kbrahmbhatt6 0:2f388b030837 16 #ifndef MBED_CAN_H
kbrahmbhatt6 0:2f388b030837 17 #define MBED_CAN_H
kbrahmbhatt6 0:2f388b030837 18
kbrahmbhatt6 0:2f388b030837 19 #include "platform.h"
kbrahmbhatt6 0:2f388b030837 20
kbrahmbhatt6 0:2f388b030837 21 #if DEVICE_CAN
kbrahmbhatt6 0:2f388b030837 22
kbrahmbhatt6 0:2f388b030837 23 #include "can_api.h"
kbrahmbhatt6 0:2f388b030837 24 #include "can_helper.h"
kbrahmbhatt6 0:2f388b030837 25 #include "FunctionPointer.h"
kbrahmbhatt6 0:2f388b030837 26
kbrahmbhatt6 0:2f388b030837 27 namespace mbed {
kbrahmbhatt6 0:2f388b030837 28
kbrahmbhatt6 0:2f388b030837 29 /** CANMessage class
kbrahmbhatt6 0:2f388b030837 30 */
kbrahmbhatt6 0:2f388b030837 31 class CANMessage : public CAN_Message {
kbrahmbhatt6 0:2f388b030837 32
kbrahmbhatt6 0:2f388b030837 33 public:
kbrahmbhatt6 0:2f388b030837 34 /** Creates empty CAN message.
kbrahmbhatt6 0:2f388b030837 35 */
kbrahmbhatt6 0:2f388b030837 36 CANMessage() {
kbrahmbhatt6 0:2f388b030837 37 len = 8;
kbrahmbhatt6 0:2f388b030837 38 type = CANData;
kbrahmbhatt6 0:2f388b030837 39 format = CANStandard;
kbrahmbhatt6 0:2f388b030837 40 id = 0;
kbrahmbhatt6 0:2f388b030837 41 memset(data, 0, 8);
kbrahmbhatt6 0:2f388b030837 42 }
kbrahmbhatt6 0:2f388b030837 43
kbrahmbhatt6 0:2f388b030837 44 /** Creates CAN message with specific content.
kbrahmbhatt6 0:2f388b030837 45 */
kbrahmbhatt6 0:2f388b030837 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
kbrahmbhatt6 0:2f388b030837 47 len = _len & 0xF;
kbrahmbhatt6 0:2f388b030837 48 type = _type;
kbrahmbhatt6 0:2f388b030837 49 format = _format;
kbrahmbhatt6 0:2f388b030837 50 id = _id;
kbrahmbhatt6 0:2f388b030837 51 memcpy(data, _data, _len);
kbrahmbhatt6 0:2f388b030837 52 }
kbrahmbhatt6 0:2f388b030837 53
kbrahmbhatt6 0:2f388b030837 54 /** Creates CAN remote message.
kbrahmbhatt6 0:2f388b030837 55 */
kbrahmbhatt6 0:2f388b030837 56 CANMessage(int _id, CANFormat _format = CANStandard) {
kbrahmbhatt6 0:2f388b030837 57 len = 0;
kbrahmbhatt6 0:2f388b030837 58 type = CANRemote;
kbrahmbhatt6 0:2f388b030837 59 format = _format;
kbrahmbhatt6 0:2f388b030837 60 id = _id;
kbrahmbhatt6 0:2f388b030837 61 memset(data, 0, 8);
kbrahmbhatt6 0:2f388b030837 62 }
kbrahmbhatt6 0:2f388b030837 63 };
kbrahmbhatt6 0:2f388b030837 64
kbrahmbhatt6 0:2f388b030837 65 /** A can bus client, used for communicating with can devices
kbrahmbhatt6 0:2f388b030837 66 */
kbrahmbhatt6 0:2f388b030837 67 class CAN {
kbrahmbhatt6 0:2f388b030837 68
kbrahmbhatt6 0:2f388b030837 69 public:
kbrahmbhatt6 0:2f388b030837 70 /** Creates an CAN interface connected to specific pins.
kbrahmbhatt6 0:2f388b030837 71 *
kbrahmbhatt6 0:2f388b030837 72 * @param rd read from transmitter
kbrahmbhatt6 0:2f388b030837 73 * @param td transmit to transmitter
kbrahmbhatt6 0:2f388b030837 74 *
kbrahmbhatt6 0:2f388b030837 75 * Example:
kbrahmbhatt6 0:2f388b030837 76 * @code
kbrahmbhatt6 0:2f388b030837 77 * #include "mbed.h"
kbrahmbhatt6 0:2f388b030837 78 *
kbrahmbhatt6 0:2f388b030837 79 * Ticker ticker;
kbrahmbhatt6 0:2f388b030837 80 * DigitalOut led1(LED1);
kbrahmbhatt6 0:2f388b030837 81 * DigitalOut led2(LED2);
kbrahmbhatt6 0:2f388b030837 82 * CAN can1(p9, p10);
kbrahmbhatt6 0:2f388b030837 83 * CAN can2(p30, p29);
kbrahmbhatt6 0:2f388b030837 84 *
kbrahmbhatt6 0:2f388b030837 85 * char counter = 0;
kbrahmbhatt6 0:2f388b030837 86 *
kbrahmbhatt6 0:2f388b030837 87 * void send() {
kbrahmbhatt6 0:2f388b030837 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
kbrahmbhatt6 0:2f388b030837 89 * printf("Message sent: %d\n", counter);
kbrahmbhatt6 0:2f388b030837 90 * counter++;
kbrahmbhatt6 0:2f388b030837 91 * }
kbrahmbhatt6 0:2f388b030837 92 * led1 = !led1;
kbrahmbhatt6 0:2f388b030837 93 * }
kbrahmbhatt6 0:2f388b030837 94 *
kbrahmbhatt6 0:2f388b030837 95 * int main() {
kbrahmbhatt6 0:2f388b030837 96 * ticker.attach(&send, 1);
kbrahmbhatt6 0:2f388b030837 97 * CANMessage msg;
kbrahmbhatt6 0:2f388b030837 98 * while(1) {
kbrahmbhatt6 0:2f388b030837 99 * if(can2.read(msg)) {
kbrahmbhatt6 0:2f388b030837 100 * printf("Message received: %d\n\n", msg.data[0]);
kbrahmbhatt6 0:2f388b030837 101 * led2 = !led2;
kbrahmbhatt6 0:2f388b030837 102 * }
kbrahmbhatt6 0:2f388b030837 103 * wait(0.2);
kbrahmbhatt6 0:2f388b030837 104 * }
kbrahmbhatt6 0:2f388b030837 105 * }
kbrahmbhatt6 0:2f388b030837 106 * @endcode
kbrahmbhatt6 0:2f388b030837 107 */
kbrahmbhatt6 0:2f388b030837 108 CAN(PinName rd, PinName td);
kbrahmbhatt6 0:2f388b030837 109 virtual ~CAN();
kbrahmbhatt6 0:2f388b030837 110
kbrahmbhatt6 0:2f388b030837 111 /** Set the frequency of the CAN interface
kbrahmbhatt6 0:2f388b030837 112 *
kbrahmbhatt6 0:2f388b030837 113 * @param hz The bus frequency in hertz
kbrahmbhatt6 0:2f388b030837 114 *
kbrahmbhatt6 0:2f388b030837 115 * @returns
kbrahmbhatt6 0:2f388b030837 116 * 1 if successful,
kbrahmbhatt6 0:2f388b030837 117 * 0 otherwise
kbrahmbhatt6 0:2f388b030837 118 */
kbrahmbhatt6 0:2f388b030837 119 int frequency(int hz);
kbrahmbhatt6 0:2f388b030837 120
kbrahmbhatt6 0:2f388b030837 121 /** Write a CANMessage to the bus.
kbrahmbhatt6 0:2f388b030837 122 *
kbrahmbhatt6 0:2f388b030837 123 * @param msg The CANMessage to write.
kbrahmbhatt6 0:2f388b030837 124 *
kbrahmbhatt6 0:2f388b030837 125 * @returns
kbrahmbhatt6 0:2f388b030837 126 * 0 if write failed,
kbrahmbhatt6 0:2f388b030837 127 * 1 if write was successful
kbrahmbhatt6 0:2f388b030837 128 */
kbrahmbhatt6 0:2f388b030837 129 int write(CANMessage msg);
kbrahmbhatt6 0:2f388b030837 130
kbrahmbhatt6 0:2f388b030837 131 /** Read a CANMessage from the bus.
kbrahmbhatt6 0:2f388b030837 132 *
kbrahmbhatt6 0:2f388b030837 133 * @param msg A CANMessage to read to.
kbrahmbhatt6 0:2f388b030837 134 * @param handle message filter handle (0 for any message)
kbrahmbhatt6 0:2f388b030837 135 *
kbrahmbhatt6 0:2f388b030837 136 * @returns
kbrahmbhatt6 0:2f388b030837 137 * 0 if no message arrived,
kbrahmbhatt6 0:2f388b030837 138 * 1 if message arrived
kbrahmbhatt6 0:2f388b030837 139 */
kbrahmbhatt6 0:2f388b030837 140 int read(CANMessage &msg, int handle = 0);
kbrahmbhatt6 0:2f388b030837 141
kbrahmbhatt6 0:2f388b030837 142 /** Reset CAN interface.
kbrahmbhatt6 0:2f388b030837 143 *
kbrahmbhatt6 0:2f388b030837 144 * To use after error overflow.
kbrahmbhatt6 0:2f388b030837 145 */
kbrahmbhatt6 0:2f388b030837 146 void reset();
kbrahmbhatt6 0:2f388b030837 147
kbrahmbhatt6 0:2f388b030837 148 /** Puts or removes the CAN interface into silent monitoring mode
kbrahmbhatt6 0:2f388b030837 149 *
kbrahmbhatt6 0:2f388b030837 150 * @param silent boolean indicating whether to go into silent mode or not
kbrahmbhatt6 0:2f388b030837 151 */
kbrahmbhatt6 0:2f388b030837 152 void monitor(bool silent);
kbrahmbhatt6 0:2f388b030837 153
kbrahmbhatt6 0:2f388b030837 154 enum Mode {
kbrahmbhatt6 0:2f388b030837 155 Reset = 0,
kbrahmbhatt6 0:2f388b030837 156 Normal,
kbrahmbhatt6 0:2f388b030837 157 Silent,
kbrahmbhatt6 0:2f388b030837 158 LocalTest,
kbrahmbhatt6 0:2f388b030837 159 GlobalTest,
kbrahmbhatt6 0:2f388b030837 160 SilentTest
kbrahmbhatt6 0:2f388b030837 161 };
kbrahmbhatt6 0:2f388b030837 162
kbrahmbhatt6 0:2f388b030837 163 /** Change CAN operation to the specified mode
kbrahmbhatt6 0:2f388b030837 164 *
kbrahmbhatt6 0:2f388b030837 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
kbrahmbhatt6 0:2f388b030837 166 *
kbrahmbhatt6 0:2f388b030837 167 * @returns
kbrahmbhatt6 0:2f388b030837 168 * 0 if mode change failed or unsupported,
kbrahmbhatt6 0:2f388b030837 169 * 1 if mode change was successful
kbrahmbhatt6 0:2f388b030837 170 */
kbrahmbhatt6 0:2f388b030837 171 int mode(Mode mode);
kbrahmbhatt6 0:2f388b030837 172
kbrahmbhatt6 0:2f388b030837 173 /** Filter out incomming messages
kbrahmbhatt6 0:2f388b030837 174 *
kbrahmbhatt6 0:2f388b030837 175 * @param id the id to filter on
kbrahmbhatt6 0:2f388b030837 176 * @param mask the mask applied to the id
kbrahmbhatt6 0:2f388b030837 177 * @param format format to filter on (Default CANAny)
kbrahmbhatt6 0:2f388b030837 178 * @param handle message filter handle (Optional)
kbrahmbhatt6 0:2f388b030837 179 *
kbrahmbhatt6 0:2f388b030837 180 * @returns
kbrahmbhatt6 0:2f388b030837 181 * 0 if filter change failed or unsupported,
kbrahmbhatt6 0:2f388b030837 182 * new filter handle if successful
kbrahmbhatt6 0:2f388b030837 183 */
kbrahmbhatt6 0:2f388b030837 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
kbrahmbhatt6 0:2f388b030837 185
kbrahmbhatt6 0:2f388b030837 186 /** Returns number of read errors to detect read overflow errors.
kbrahmbhatt6 0:2f388b030837 187 */
kbrahmbhatt6 0:2f388b030837 188 unsigned char rderror();
kbrahmbhatt6 0:2f388b030837 189
kbrahmbhatt6 0:2f388b030837 190 /** Returns number of write errors to detect write overflow errors.
kbrahmbhatt6 0:2f388b030837 191 */
kbrahmbhatt6 0:2f388b030837 192 unsigned char tderror();
kbrahmbhatt6 0:2f388b030837 193
kbrahmbhatt6 0:2f388b030837 194 enum IrqType {
kbrahmbhatt6 0:2f388b030837 195 RxIrq = 0,
kbrahmbhatt6 0:2f388b030837 196 TxIrq,
kbrahmbhatt6 0:2f388b030837 197 EwIrq,
kbrahmbhatt6 0:2f388b030837 198 DoIrq,
kbrahmbhatt6 0:2f388b030837 199 WuIrq,
kbrahmbhatt6 0:2f388b030837 200 EpIrq,
kbrahmbhatt6 0:2f388b030837 201 AlIrq,
kbrahmbhatt6 0:2f388b030837 202 BeIrq,
kbrahmbhatt6 0:2f388b030837 203 IdIrq
kbrahmbhatt6 0:2f388b030837 204 };
kbrahmbhatt6 0:2f388b030837 205
kbrahmbhatt6 0:2f388b030837 206 /** Attach a function to call whenever a CAN frame received interrupt is
kbrahmbhatt6 0:2f388b030837 207 * generated.
kbrahmbhatt6 0:2f388b030837 208 *
kbrahmbhatt6 0:2f388b030837 209 * @param fptr A pointer to a void function, or 0 to set as none
kbrahmbhatt6 0:2f388b030837 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)
kbrahmbhatt6 0:2f388b030837 211 */
kbrahmbhatt6 0:2f388b030837 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
kbrahmbhatt6 0:2f388b030837 213
kbrahmbhatt6 0:2f388b030837 214 /** Attach a member function to call whenever a CAN frame received interrupt
kbrahmbhatt6 0:2f388b030837 215 * is generated.
kbrahmbhatt6 0:2f388b030837 216 *
kbrahmbhatt6 0:2f388b030837 217 * @param tptr pointer to the object to call the member function on
kbrahmbhatt6 0:2f388b030837 218 * @param mptr pointer to the member function to be called
kbrahmbhatt6 0:2f388b030837 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)
kbrahmbhatt6 0:2f388b030837 220 */
kbrahmbhatt6 0:2f388b030837 221 template<typename T>
kbrahmbhatt6 0:2f388b030837 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
kbrahmbhatt6 0:2f388b030837 223 if((mptr != NULL) && (tptr != NULL)) {
kbrahmbhatt6 0:2f388b030837 224 _irq[type].attach(tptr, mptr);
kbrahmbhatt6 0:2f388b030837 225 can_irq_set(&_can, (CanIrqType)type, 1);
kbrahmbhatt6 0:2f388b030837 226 }
kbrahmbhatt6 0:2f388b030837 227 else {
kbrahmbhatt6 0:2f388b030837 228 can_irq_set(&_can, (CanIrqType)type, 0);
kbrahmbhatt6 0:2f388b030837 229 }
kbrahmbhatt6 0:2f388b030837 230 }
kbrahmbhatt6 0:2f388b030837 231
kbrahmbhatt6 0:2f388b030837 232 static void _irq_handler(uint32_t id, CanIrqType type);
kbrahmbhatt6 0:2f388b030837 233
kbrahmbhatt6 0:2f388b030837 234 protected:
kbrahmbhatt6 0:2f388b030837 235 can_t _can;
kbrahmbhatt6 0:2f388b030837 236 FunctionPointer _irq[9];
kbrahmbhatt6 0:2f388b030837 237 };
kbrahmbhatt6 0:2f388b030837 238
kbrahmbhatt6 0:2f388b030837 239 } // namespace mbed
kbrahmbhatt6 0:2f388b030837 240
kbrahmbhatt6 0:2f388b030837 241 #endif
kbrahmbhatt6 0:2f388b030837 242
kbrahmbhatt6 0:2f388b030837 243 #endif // MBED_CAN_H