mbed library sources 只保留l0和l1系列的库,修改l0的库的晶振为12m
Dependents: SANFAN_read_analog_value nucleo-wdg Nucleo_sleep_copy
Fork of mbed-src by
Diff: api/CAN.h
- Revision:
- 15:4892fe388435
- Parent:
- 13:0645d8841f51
- Child:
- 41:e8b66477f5bf
--- a/api/CAN.h Mon Aug 05 14:54:27 2013 +0000 +++ b/api/CAN.h Wed Aug 07 16:43:59 2013 +0300 @@ -1,196 +1,229 @@ -/* 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); + + enum Mode { + Reset = 0, + Normal, + Silent, + LocalTest, + GlobalTest, + SilentTest + }; + + /** Change CAN operation to the specified mode + * + * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest) + * + * @returns + * 0 if mode change failed or unsupported, + * 1 if mode change was successful + */ + int mode(Mode mode); + + /** 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(); + + enum IrqType { + RxIrq = 0, + TxIrq, + EwIrq, + DoIrq, + WuIrq, + EpIrq, + AlIrq, + BeIrq, + IdIrq + }; + + /** 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 + * @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) + */ + void attach(void (*fptr)(void), IrqType type=RxIrq); + + /** 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 + * @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) + */ + template<typename T> + void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) { + if((mptr != NULL) && (tptr != NULL)) { + _irq[type].attach(tptr, mptr); + can_irq_set(&_can, (CanIrqType)type, 1); + } + else { + can_irq_set(&_can, (CanIrqType)type, 0); + } + } + + static void _irq_handler(uint32_t id, CanIrqType type); + +protected: + can_t _can; + FunctionPointer _irq[9]; +}; + +} // namespace mbed + +#endif + +#endif // MBED_CAN_H