mbed official / mbed-src

mbed library sources

Dependents:   Encrypted my_mbed lklk CyaSSL_DTLS_Cellular ... more

Superseded

This library was superseded by mbed-dev - https://os.mbed.com/users/mbed_official/code/mbed-dev/.

Development branch of the mbed library sources. This library is kept in synch with the latest changes from the mbed SDK and it is not guaranteed to work.

If you are looking for a stable and tested release, please import one of the official mbed library releases:

Import librarymbed

The official Mbed 2 C/C++ SDK provides the software platform and libraries to build your applications.

Last commit 20 Feb 2019 by mbed official

api/CAN.h@9:0ce32e54c9a7, 2013-06-10 (annotated)

Committer:
emilmont
Date:
Mon Jun 10 16:03:00 2013 +0100
Revision:
9:0ce32e54c9a7
Parent:
cpp/CAN.h@2:143cac498751
Child:
10:3bc89ef62ce7
Refactoring of the mbed SDK:

- Provide a well defined HAL and API

- Keep separated the HAL implementations for the different targets

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 0:fd0d7bdfcdc2 1 /* mbed Microcontroller Library
emilmont 2:143cac498751 2 * Copyright (c) 2006-2013 ARM Limited
mbed_official 0:fd0d7bdfcdc2 3 *
emilmont 2:143cac498751 4 * Licensed under the Apache License, Version 2.0 (the "License");
emilmont 2:143cac498751 5 * you may not use this file except in compliance with the License.
emilmont 2:143cac498751 6 * You may obtain a copy of the License at
mbed_official 0:fd0d7bdfcdc2 7 *
emilmont 2:143cac498751 8 * http://www.apache.org/licenses/LICENSE-2.0
mbed_official 0:fd0d7bdfcdc2 9 *
emilmont 2:143cac498751 10 * Unless required by applicable law or agreed to in writing, software
emilmont 2:143cac498751 11 * distributed under the License is distributed on an "AS IS" BASIS,
emilmont 2:143cac498751 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
emilmont 2:143cac498751 13 * See the License for the specific language governing permissions and
emilmont 2:143cac498751 14 * limitations under the License.
mbed_official 0:fd0d7bdfcdc2 15 */
mbed_official 0:fd0d7bdfcdc2 16 #ifndef MBED_CAN_H
mbed_official 0:fd0d7bdfcdc2 17 #define MBED_CAN_H
mbed_official 0:fd0d7bdfcdc2 18
mbed_official 0:fd0d7bdfcdc2 19 #include "platform.h"
mbed_official 0:fd0d7bdfcdc2 20
mbed_official 0:fd0d7bdfcdc2 21 #if DEVICE_CAN
mbed_official 0:fd0d7bdfcdc2 22
mbed_official 0:fd0d7bdfcdc2 23 #include "can_api.h"
emilmont 2:143cac498751 24 #include "can_helper.h"
mbed_official 0:fd0d7bdfcdc2 25 #include "FunctionPointer.h"
mbed_official 0:fd0d7bdfcdc2 26
mbed_official 0:fd0d7bdfcdc2 27 namespace mbed {
mbed_official 0:fd0d7bdfcdc2 28
mbed_official 0:fd0d7bdfcdc2 29 /** CANMessage class
mbed_official 0:fd0d7bdfcdc2 30 */
mbed_official 0:fd0d7bdfcdc2 31 class CANMessage : public CAN_Message {
mbed_official 0:fd0d7bdfcdc2 32
mbed_official 0:fd0d7bdfcdc2 33 public:
mbed_official 0:fd0d7bdfcdc2 34 /** Creates empty CAN message.
mbed_official 0:fd0d7bdfcdc2 35 */
mbed_official 0:fd0d7bdfcdc2 36 CANMessage() {
mbed_official 0:fd0d7bdfcdc2 37 len = 8;
mbed_official 0:fd0d7bdfcdc2 38 type = CANData;
mbed_official 0:fd0d7bdfcdc2 39 format = CANStandard;
mbed_official 0:fd0d7bdfcdc2 40 id = 0;
mbed_official 0:fd0d7bdfcdc2 41 memset(data, 0, 8);
mbed_official 0:fd0d7bdfcdc2 42 }
emilmont 2:143cac498751 43
mbed_official 0:fd0d7bdfcdc2 44 /** Creates CAN message with specific content.
mbed_official 0:fd0d7bdfcdc2 45 */
mbed_official 0:fd0d7bdfcdc2 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
mbed_official 0:fd0d7bdfcdc2 47 len = _len & 0xF;
mbed_official 0:fd0d7bdfcdc2 48 type = _type;
mbed_official 0:fd0d7bdfcdc2 49 format = _format;
mbed_official 0:fd0d7bdfcdc2 50 id = _id;
mbed_official 0:fd0d7bdfcdc2 51 memcpy(data, _data, _len);
mbed_official 0:fd0d7bdfcdc2 52 }
mbed_official 0:fd0d7bdfcdc2 53
mbed_official 0:fd0d7bdfcdc2 54 /** Creates CAN remote message.
mbed_official 0:fd0d7bdfcdc2 55 */
mbed_official 0:fd0d7bdfcdc2 56 CANMessage(int _id, CANFormat _format = CANStandard) {
mbed_official 0:fd0d7bdfcdc2 57 len = 0;
mbed_official 0:fd0d7bdfcdc2 58 type = CANRemote;
mbed_official 0:fd0d7bdfcdc2 59 format = _format;
mbed_official 0:fd0d7bdfcdc2 60 id = _id;
mbed_official 0:fd0d7bdfcdc2 61 memset(data, 0, 8);
mbed_official 0:fd0d7bdfcdc2 62 }
mbed_official 0:fd0d7bdfcdc2 63 };
mbed_official 0:fd0d7bdfcdc2 64
mbed_official 0:fd0d7bdfcdc2 65 /** A can bus client, used for communicating with can devices
mbed_official 0:fd0d7bdfcdc2 66 */
mbed_official 0:fd0d7bdfcdc2 67 class CAN {
mbed_official 0:fd0d7bdfcdc2 68
mbed_official 0:fd0d7bdfcdc2 69 public:
mbed_official 0:fd0d7bdfcdc2 70 /** Creates an CAN interface connected to specific pins.
mbed_official 0:fd0d7bdfcdc2 71 *
mbed_official 0:fd0d7bdfcdc2 72 * @param rd read from transmitter
mbed_official 0:fd0d7bdfcdc2 73 * @param td transmit to transmitter
mbed_official 0:fd0d7bdfcdc2 74 *
mbed_official 0:fd0d7bdfcdc2 75 * Example:
mbed_official 0:fd0d7bdfcdc2 76 * @code
mbed_official 0:fd0d7bdfcdc2 77 * #include "mbed.h"
emilmont 2:143cac498751 78 *
mbed_official 0:fd0d7bdfcdc2 79 * Ticker ticker;
mbed_official 0:fd0d7bdfcdc2 80 * DigitalOut led1(LED1);
mbed_official 0:fd0d7bdfcdc2 81 * DigitalOut led2(LED2);
mbed_official 0:fd0d7bdfcdc2 82 * CAN can1(p9, p10);
mbed_official 0:fd0d7bdfcdc2 83 * CAN can2(p30, p29);
emilmont 2:143cac498751 84 *
mbed_official 0:fd0d7bdfcdc2 85 * char counter = 0;
emilmont 2:143cac498751 86 *
mbed_official 0:fd0d7bdfcdc2 87 * void send() {
mbed_official 0:fd0d7bdfcdc2 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
mbed_official 0:fd0d7bdfcdc2 89 * printf("Message sent: %d\n", counter);
mbed_official 0:fd0d7bdfcdc2 90 * counter++;
emilmont 2:143cac498751 91 * }
mbed_official 0:fd0d7bdfcdc2 92 * led1 = !led1;
mbed_official 0:fd0d7bdfcdc2 93 * }
emilmont 2:143cac498751 94 *
mbed_official 0:fd0d7bdfcdc2 95 * int main() {
mbed_official 0:fd0d7bdfcdc2 96 * ticker.attach(&send, 1);
mbed_official 0:fd0d7bdfcdc2 97 * CANMessage msg;
mbed_official 0:fd0d7bdfcdc2 98 * while(1) {
mbed_official 0:fd0d7bdfcdc2 99 * if(can2.read(msg)) {
mbed_official 0:fd0d7bdfcdc2 100 * printf("Message received: %d\n\n", msg.data[0]);
mbed_official 0:fd0d7bdfcdc2 101 * led2 = !led2;
emilmont 2:143cac498751 102 * }
mbed_official 0:fd0d7bdfcdc2 103 * wait(0.2);
mbed_official 0:fd0d7bdfcdc2 104 * }
emilmont 2:143cac498751 105 * }
mbed_official 0:fd0d7bdfcdc2 106 * @endcode
mbed_official 0:fd0d7bdfcdc2 107 */
mbed_official 0:fd0d7bdfcdc2 108 CAN(PinName rd, PinName td);
mbed_official 0:fd0d7bdfcdc2 109 virtual ~CAN();
emilmont 2:143cac498751 110
mbed_official 0:fd0d7bdfcdc2 111 /** Set the frequency of the CAN interface
mbed_official 0:fd0d7bdfcdc2 112 *
mbed_official 0:fd0d7bdfcdc2 113 * @param hz The bus frequency in hertz
mbed_official 0:fd0d7bdfcdc2 114 *
mbed_official 0:fd0d7bdfcdc2 115 * @returns
mbed_official 0:fd0d7bdfcdc2 116 * 1 if successful,
mbed_official 0:fd0d7bdfcdc2 117 * 0 otherwise
mbed_official 0:fd0d7bdfcdc2 118 */
mbed_official 0:fd0d7bdfcdc2 119 int frequency(int hz);
emilmont 2:143cac498751 120
mbed_official 0:fd0d7bdfcdc2 121 /** Write a CANMessage to the bus.
mbed_official 0:fd0d7bdfcdc2 122 *
mbed_official 0:fd0d7bdfcdc2 123 * @param msg The CANMessage to write.
mbed_official 0:fd0d7bdfcdc2 124 *
mbed_official 0:fd0d7bdfcdc2 125 * @returns
mbed_official 0:fd0d7bdfcdc2 126 * 0 if write failed,
mbed_official 0:fd0d7bdfcdc2 127 * 1 if write was successful
mbed_official 0:fd0d7bdfcdc2 128 */
mbed_official 0:fd0d7bdfcdc2 129 int write(CANMessage msg);
emilmont 2:143cac498751 130
mbed_official 0:fd0d7bdfcdc2 131 /** Read a CANMessage from the bus.
emilmont 2:143cac498751 132 *
mbed_official 0:fd0d7bdfcdc2 133 * @param msg A CANMessage to read to.
mbed_official 0:fd0d7bdfcdc2 134 *
mbed_official 0:fd0d7bdfcdc2 135 * @returns
mbed_official 0:fd0d7bdfcdc2 136 * 0 if no message arrived,
mbed_official 0:fd0d7bdfcdc2 137 * 1 if message arrived
mbed_official 0:fd0d7bdfcdc2 138 */
mbed_official 0:fd0d7bdfcdc2 139 int read(CANMessage &msg);
emilmont 2:143cac498751 140
mbed_official 0:fd0d7bdfcdc2 141 /** Reset CAN interface.
mbed_official 0:fd0d7bdfcdc2 142 *
mbed_official 0:fd0d7bdfcdc2 143 * To use after error overflow.
mbed_official 0:fd0d7bdfcdc2 144 */
mbed_official 0:fd0d7bdfcdc2 145 void reset();
emilmont 2:143cac498751 146
mbed_official 0:fd0d7bdfcdc2 147 /** Puts or removes the CAN interface into silent monitoring mode
mbed_official 0:fd0d7bdfcdc2 148 *
mbed_official 0:fd0d7bdfcdc2 149 * @param silent boolean indicating whether to go into silent mode or not
mbed_official 0:fd0d7bdfcdc2 150 */
mbed_official 0:fd0d7bdfcdc2 151 void monitor(bool silent);
emilmont 2:143cac498751 152
mbed_official 0:fd0d7bdfcdc2 153 /** Returns number of read errors to detect read overflow errors.
mbed_official 0:fd0d7bdfcdc2 154 */
mbed_official 0:fd0d7bdfcdc2 155 unsigned char rderror();
mbed_official 0:fd0d7bdfcdc2 156
mbed_official 0:fd0d7bdfcdc2 157 /** Returns number of write errors to detect write overflow errors.
mbed_official 0:fd0d7bdfcdc2 158 */
mbed_official 0:fd0d7bdfcdc2 159 unsigned char tderror();
mbed_official 0:fd0d7bdfcdc2 160
mbed_official 0:fd0d7bdfcdc2 161 /** Attach a function to call whenever a CAN frame received interrupt is
mbed_official 0:fd0d7bdfcdc2 162 * generated.
mbed_official 0:fd0d7bdfcdc2 163 *
mbed_official 0:fd0d7bdfcdc2 164 * @param fptr A pointer to a void function, or 0 to set as none
mbed_official 0:fd0d7bdfcdc2 165 */
mbed_official 0:fd0d7bdfcdc2 166 void attach(void (*fptr)(void));
emilmont 2:143cac498751 167
mbed_official 0:fd0d7bdfcdc2 168 /** Attach a member function to call whenever a CAN frame received interrupt
mbed_official 0:fd0d7bdfcdc2 169 * is generated.
mbed_official 0:fd0d7bdfcdc2 170 *
mbed_official 0:fd0d7bdfcdc2 171 * @param tptr pointer to the object to call the member function on
mbed_official 0:fd0d7bdfcdc2 172 * @param mptr pointer to the member function to be called
mbed_official 0:fd0d7bdfcdc2 173 */
mbed_official 0:fd0d7bdfcdc2 174 template<typename T>
mbed_official 0:fd0d7bdfcdc2 175 void attach(T* tptr, void (T::*mptr)(void)) {
mbed_official 0:fd0d7bdfcdc2 176 if((mptr != NULL) && (tptr != NULL)) {
mbed_official 0:fd0d7bdfcdc2 177 _rxirq.attach(tptr, mptr);
mbed_official 0:fd0d7bdfcdc2 178 setup_interrupt();
mbed_official 0:fd0d7bdfcdc2 179 } else {
mbed_official 0:fd0d7bdfcdc2 180 remove_interrupt();
mbed_official 0:fd0d7bdfcdc2 181 }
mbed_official 0:fd0d7bdfcdc2 182 }
emilmont 2:143cac498751 183
mbed_official 0:fd0d7bdfcdc2 184 private:
mbed_official 0:fd0d7bdfcdc2 185 can_t _can;
mbed_official 0:fd0d7bdfcdc2 186 FunctionPointer _rxirq;
emilmont 2:143cac498751 187
mbed_official 0:fd0d7bdfcdc2 188 void setup_interrupt(void);
mbed_official 0:fd0d7bdfcdc2 189 void remove_interrupt(void);
mbed_official 0:fd0d7bdfcdc2 190 };
mbed_official 0:fd0d7bdfcdc2 191
mbed_official 0:fd0d7bdfcdc2 192 } // namespace mbed
mbed_official 0:fd0d7bdfcdc2 193
mbed_official 0:fd0d7bdfcdc2 194 #endif
mbed_official 0:fd0d7bdfcdc2 195
mbed_official 0:fd0d7bdfcdc2 196 #endif // MBED_CAN_H