Luth Haroon / SD_modified

SD card interface

mbed-export/CAN.h@0:22612ae617a0, 2012-10-08 (annotated)

Committer:
lharoon
Date:
Mon Oct 08 11:14:07 2012 +0000
Revision:
0:22612ae617a0
1st edition

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lharoon 0:22612ae617a0 1 /* mbed Microcontroller Library - can
lharoon 0:22612ae617a0 2 * Copyright (c) 2009-2011 ARM Limited. All rights reserved.
lharoon 0:22612ae617a0 3 */
lharoon 0:22612ae617a0 4
lharoon 0:22612ae617a0 5 #ifndef MBED_CAN_H
lharoon 0:22612ae617a0 6 #define MBED_CAN_H
lharoon 0:22612ae617a0 7
lharoon 0:22612ae617a0 8 #include "device.h"
lharoon 0:22612ae617a0 9
lharoon 0:22612ae617a0 10 #if DEVICE_CAN
lharoon 0:22612ae617a0 11
lharoon 0:22612ae617a0 12 #include "Base.h"
lharoon 0:22612ae617a0 13 #include "platform.h"
lharoon 0:22612ae617a0 14 #include "PinNames.h"
lharoon 0:22612ae617a0 15 #include "PeripheralNames.h"
lharoon 0:22612ae617a0 16
lharoon 0:22612ae617a0 17 #include "can_helper.h"
lharoon 0:22612ae617a0 18 #include "FunctionPointer.h"
lharoon 0:22612ae617a0 19
lharoon 0:22612ae617a0 20 #include <string.h>
lharoon 0:22612ae617a0 21
lharoon 0:22612ae617a0 22 namespace mbed {
lharoon 0:22612ae617a0 23
lharoon 0:22612ae617a0 24 /* Class: CANMessage
lharoon 0:22612ae617a0 25 *
lharoon 0:22612ae617a0 26 */
lharoon 0:22612ae617a0 27 class CANMessage : public CAN_Message {
lharoon 0:22612ae617a0 28
lharoon 0:22612ae617a0 29 public:
lharoon 0:22612ae617a0 30
lharoon 0:22612ae617a0 31 /* Constructor: CANMessage
lharoon 0:22612ae617a0 32 * Creates empty CAN message.
lharoon 0:22612ae617a0 33 */
lharoon 0:22612ae617a0 34 CANMessage() {
lharoon 0:22612ae617a0 35 len = 8;
lharoon 0:22612ae617a0 36 type = CANData;
lharoon 0:22612ae617a0 37 format = CANStandard;
lharoon 0:22612ae617a0 38 id = 0;
lharoon 0:22612ae617a0 39 memset(data, 0, 8);
lharoon 0:22612ae617a0 40 }
lharoon 0:22612ae617a0 41
lharoon 0:22612ae617a0 42 /* Constructor: CANMessage
lharoon 0:22612ae617a0 43 * Creates CAN message with specific content.
lharoon 0:22612ae617a0 44 */
lharoon 0:22612ae617a0 45 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
lharoon 0:22612ae617a0 46 len = _len & 0xF;
lharoon 0:22612ae617a0 47 type = _type;
lharoon 0:22612ae617a0 48 format = _format;
lharoon 0:22612ae617a0 49 id = _id;
lharoon 0:22612ae617a0 50 memcpy(data, _data, _len);
lharoon 0:22612ae617a0 51 }
lharoon 0:22612ae617a0 52
lharoon 0:22612ae617a0 53 /* Constructor: CANMessage
lharoon 0:22612ae617a0 54 * Creates CAN remote message.
lharoon 0:22612ae617a0 55 */
lharoon 0:22612ae617a0 56 CANMessage(int _id, CANFormat _format = CANStandard) {
lharoon 0:22612ae617a0 57 len = 0;
lharoon 0:22612ae617a0 58 type = CANRemote;
lharoon 0:22612ae617a0 59 format = _format;
lharoon 0:22612ae617a0 60 id = _id;
lharoon 0:22612ae617a0 61 memset(data, 0, 8);
lharoon 0:22612ae617a0 62 }
lharoon 0:22612ae617a0 63 #if 0 // Inhereted from CAN_Message, for documentation only
lharoon 0:22612ae617a0 64
lharoon 0:22612ae617a0 65 /* Variable: id
lharoon 0:22612ae617a0 66 * The message id.
lharoon 0:22612ae617a0 67 *
lharoon 0:22612ae617a0 68 * If format is CANStandard it must be an 11 bit long id
lharoon 0:22612ae617a0 69 * If format is CANExtended it must be an 29 bit long id
lharoon 0:22612ae617a0 70 */
lharoon 0:22612ae617a0 71 unsigned int id;
lharoon 0:22612ae617a0 72
lharoon 0:22612ae617a0 73 /* Variable: data
lharoon 0:22612ae617a0 74 * Space for 8 byte payload.
lharoon 0:22612ae617a0 75 *
lharoon 0:22612ae617a0 76 * If type is CANData data can store up to 8 byte data.
lharoon 0:22612ae617a0 77 */
lharoon 0:22612ae617a0 78 unsigned char data[8];
lharoon 0:22612ae617a0 79
lharoon 0:22612ae617a0 80 /* Variable: len
lharoon 0:22612ae617a0 81 * Length of data in bytes.
lharoon 0:22612ae617a0 82 *
lharoon 0:22612ae617a0 83 * If type is CANData data can store up to 8 byte data.
lharoon 0:22612ae617a0 84 */
lharoon 0:22612ae617a0 85 unsigned char len;
lharoon 0:22612ae617a0 86
lharoon 0:22612ae617a0 87 /* Variable: format
lharoon 0:22612ae617a0 88 * Defines if the message has standard or extended format.
lharoon 0:22612ae617a0 89 *
lharoon 0:22612ae617a0 90 * Defines the type of message id:
lharoon 0:22612ae617a0 91 * Default is CANStandard which implies 11 bit id.
lharoon 0:22612ae617a0 92 * CANExtended means 29 bit message id.
lharoon 0:22612ae617a0 93 */
lharoon 0:22612ae617a0 94 CANFormat format;
lharoon 0:22612ae617a0 95
lharoon 0:22612ae617a0 96 /* Variable: type
lharoon 0:22612ae617a0 97 * Defines the type of a message.
lharoon 0:22612ae617a0 98 *
lharoon 0:22612ae617a0 99 * The message type can rather be CANData for a message with data (default).
lharoon 0:22612ae617a0 100 * Or CANRemote for a request of a specific CAN message.
lharoon 0:22612ae617a0 101 */
lharoon 0:22612ae617a0 102 CANType type; // 0 - DATA FRAME, 1 - REMOTE FRAME
lharoon 0:22612ae617a0 103 #endif
lharoon 0:22612ae617a0 104 };
lharoon 0:22612ae617a0 105
lharoon 0:22612ae617a0 106 /* Class: CAN
lharoon 0:22612ae617a0 107 * A can bus client, used for communicating with can devices
lharoon 0:22612ae617a0 108 */
lharoon 0:22612ae617a0 109 class CAN : public Base {
lharoon 0:22612ae617a0 110
lharoon 0:22612ae617a0 111 public:
lharoon 0:22612ae617a0 112
lharoon 0:22612ae617a0 113 /* Constructor: CAN
lharoon 0:22612ae617a0 114 * Creates an CAN interface connected to specific pins.
lharoon 0:22612ae617a0 115 *
lharoon 0:22612ae617a0 116 * Example:
lharoon 0:22612ae617a0 117 * > #include "mbed.h"
lharoon 0:22612ae617a0 118 * >
lharoon 0:22612ae617a0 119 * > Ticker ticker;
lharoon 0:22612ae617a0 120 * > DigitalOut led1(LED1);
lharoon 0:22612ae617a0 121 * > DigitalOut led2(LED2);
lharoon 0:22612ae617a0 122 * > CAN can1(p9, p10);
lharoon 0:22612ae617a0 123 * > CAN can2(p30, p29);
lharoon 0:22612ae617a0 124 * >
lharoon 0:22612ae617a0 125 * > char counter = 0;
lharoon 0:22612ae617a0 126 * >
lharoon 0:22612ae617a0 127 * > void send() {
lharoon 0:22612ae617a0 128 * > if(can1.write(CANMessage(1337, &counter, 1))) {
lharoon 0:22612ae617a0 129 * > printf("Message sent: %d\n", counter);
lharoon 0:22612ae617a0 130 * > counter++;
lharoon 0:22612ae617a0 131 * > }
lharoon 0:22612ae617a0 132 * > led1 = !led1;
lharoon 0:22612ae617a0 133 * > }
lharoon 0:22612ae617a0 134 * >
lharoon 0:22612ae617a0 135 * > int main() {
lharoon 0:22612ae617a0 136 * > ticker.attach(&send, 1);
lharoon 0:22612ae617a0 137 * > CANMessage msg;
lharoon 0:22612ae617a0 138 * > while(1) {
lharoon 0:22612ae617a0 139 * > if(can2.read(msg)) {
lharoon 0:22612ae617a0 140 * > printf("Message received: %d\n\n", msg.data[0]);
lharoon 0:22612ae617a0 141 * > led2 = !led2;
lharoon 0:22612ae617a0 142 * > }
lharoon 0:22612ae617a0 143 * > wait(0.2);
lharoon 0:22612ae617a0 144 * > }
lharoon 0:22612ae617a0 145 * > }
lharoon 0:22612ae617a0 146 *
lharoon 0:22612ae617a0 147 * Variables:
lharoon 0:22612ae617a0 148 * rd - read from transmitter
lharoon 0:22612ae617a0 149 * td - transmit to transmitter
lharoon 0:22612ae617a0 150 */
lharoon 0:22612ae617a0 151 CAN(PinName rd, PinName td);
lharoon 0:22612ae617a0 152 virtual ~CAN();
lharoon 0:22612ae617a0 153
lharoon 0:22612ae617a0 154 /* Function: frequency
lharoon 0:22612ae617a0 155 * Set the frequency of the CAN interface
lharoon 0:22612ae617a0 156 *
lharoon 0:22612ae617a0 157 * Variables:
lharoon 0:22612ae617a0 158 * hz - The bus frequency in hertz
lharoon 0:22612ae617a0 159 * returns - 1 if successful, 0 otherwise
lharoon 0:22612ae617a0 160 */
lharoon 0:22612ae617a0 161 int frequency(int hz);
lharoon 0:22612ae617a0 162
lharoon 0:22612ae617a0 163 /* Function: write
lharoon 0:22612ae617a0 164 * Write a CANMessage to the bus.
lharoon 0:22612ae617a0 165 *
lharoon 0:22612ae617a0 166 * Variables:
lharoon 0:22612ae617a0 167 * msg - The CANMessage to write.
lharoon 0:22612ae617a0 168 *
lharoon 0:22612ae617a0 169 * Returns:
lharoon 0:22612ae617a0 170 * 0 - If write failed.
lharoon 0:22612ae617a0 171 * 1 - If write was successful.
lharoon 0:22612ae617a0 172 */
lharoon 0:22612ae617a0 173 int write(CANMessage msg);
lharoon 0:22612ae617a0 174
lharoon 0:22612ae617a0 175 /* Function: read
lharoon 0:22612ae617a0 176 * Read a CANMessage from the bus.
lharoon 0:22612ae617a0 177 *
lharoon 0:22612ae617a0 178 * Variables:
lharoon 0:22612ae617a0 179 * msg - A CANMessage to read to.
lharoon 0:22612ae617a0 180 *
lharoon 0:22612ae617a0 181 * Returns:
lharoon 0:22612ae617a0 182 * 0 - If no message arrived.
lharoon 0:22612ae617a0 183 * 1 - If message arrived.
lharoon 0:22612ae617a0 184 */
lharoon 0:22612ae617a0 185 int read(CANMessage &msg);
lharoon 0:22612ae617a0 186
lharoon 0:22612ae617a0 187 /* Function: reset
lharoon 0:22612ae617a0 188 * Reset CAN interface.
lharoon 0:22612ae617a0 189 *
lharoon 0:22612ae617a0 190 * To use after error overflow.
lharoon 0:22612ae617a0 191 */
lharoon 0:22612ae617a0 192 void reset();
lharoon 0:22612ae617a0 193
lharoon 0:22612ae617a0 194 /* Function: monitor
lharoon 0:22612ae617a0 195 * Puts or removes the CAN interface into silent monitoring mode
lharoon 0:22612ae617a0 196 *
lharoon 0:22612ae617a0 197 * Variables:
lharoon 0:22612ae617a0 198 * silent - boolean indicating whether to go into silent mode or not
lharoon 0:22612ae617a0 199 */
lharoon 0:22612ae617a0 200 void monitor(bool silent);
lharoon 0:22612ae617a0 201
lharoon 0:22612ae617a0 202 /* Function: rderror
lharoon 0:22612ae617a0 203 * Returns number of read errors to detect read overflow errors.
lharoon 0:22612ae617a0 204 */
lharoon 0:22612ae617a0 205 unsigned char rderror();
lharoon 0:22612ae617a0 206
lharoon 0:22612ae617a0 207 /* Function: tderror
lharoon 0:22612ae617a0 208 * Returns number of write errors to detect write overflow errors.
lharoon 0:22612ae617a0 209 */
lharoon 0:22612ae617a0 210 unsigned char tderror();
lharoon 0:22612ae617a0 211
lharoon 0:22612ae617a0 212 /* Function: attach
lharoon 0:22612ae617a0 213 * Attach a function to call whenever a CAN frame received interrupt is
lharoon 0:22612ae617a0 214 * generated.
lharoon 0:22612ae617a0 215 *
lharoon 0:22612ae617a0 216 * Variables:
lharoon 0:22612ae617a0 217 * fptr - A pointer to a void function, or 0 to set as none
lharoon 0:22612ae617a0 218 */
lharoon 0:22612ae617a0 219 void attach(void (*fptr)(void));
lharoon 0:22612ae617a0 220
lharoon 0:22612ae617a0 221 /* Function attach
lharoon 0:22612ae617a0 222 * Attach a member function to call whenever a CAN frame received interrupt
lharoon 0:22612ae617a0 223 * is generated.
lharoon 0:22612ae617a0 224 *
lharoon 0:22612ae617a0 225 * Variables:
lharoon 0:22612ae617a0 226 * tptr - pointer to the object to call the member function on
lharoon 0:22612ae617a0 227 * mptr - pointer to the member function to be called
lharoon 0:22612ae617a0 228 */
lharoon 0:22612ae617a0 229 template<typename T>
lharoon 0:22612ae617a0 230 void attach(T* tptr, void (T::*mptr)(void)) {
lharoon 0:22612ae617a0 231 if((mptr != NULL) && (tptr != NULL)) {
lharoon 0:22612ae617a0 232 _rxirq.attach(tptr, mptr);
lharoon 0:22612ae617a0 233 setup_interrupt();
lharoon 0:22612ae617a0 234 } else {
lharoon 0:22612ae617a0 235 remove_interrupt();
lharoon 0:22612ae617a0 236 }
lharoon 0:22612ae617a0 237 }
lharoon 0:22612ae617a0 238
lharoon 0:22612ae617a0 239 private:
lharoon 0:22612ae617a0 240
lharoon 0:22612ae617a0 241 CANName _id;
lharoon 0:22612ae617a0 242 FunctionPointer _rxirq;
lharoon 0:22612ae617a0 243
lharoon 0:22612ae617a0 244 void setup_interrupt(void);
lharoon 0:22612ae617a0 245 void remove_interrupt(void);
lharoon 0:22612ae617a0 246 };
lharoon 0:22612ae617a0 247
lharoon 0:22612ae617a0 248 } // namespace mbed
lharoon 0:22612ae617a0 249
lharoon 0:22612ae617a0 250 #endif // MBED_CAN_H
lharoon 0:22612ae617a0 251
lharoon 0:22612ae617a0 252 #endif