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Superseded

This library was superseded by mbed-dev - https://os.mbed.com/users/mbed_official/code/mbed-dev/.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

cpp/CAN.h@0:fd0d7bdfcdc2, 2012-11-20 (annotated)

Committer:
mbed_official
Date:
Tue Nov 20 17:24:08 2012 +0000
Revision:
0:fd0d7bdfcdc2
Child:
2:143cac498751
mbed sources

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 0:fd0d7bdfcdc2 1 /* mbed Microcontroller Library
mbed_official 0:fd0d7bdfcdc2 2 * Copyright (c) 2006-2012 ARM Limited
mbed_official 0:fd0d7bdfcdc2 3 *
mbed_official 0:fd0d7bdfcdc2 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
mbed_official 0:fd0d7bdfcdc2 5 * of this software and associated documentation files (the "Software"), to deal
mbed_official 0:fd0d7bdfcdc2 6 * in the Software without restriction, including without limitation the rights
mbed_official 0:fd0d7bdfcdc2 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
mbed_official 0:fd0d7bdfcdc2 8 * copies of the Software, and to permit persons to whom the Software is
mbed_official 0:fd0d7bdfcdc2 9 * furnished to do so, subject to the following conditions:
mbed_official 0:fd0d7bdfcdc2 10 *
mbed_official 0:fd0d7bdfcdc2 11 * The above copyright notice and this permission notice shall be included in
mbed_official 0:fd0d7bdfcdc2 12 * all copies or substantial portions of the Software.
mbed_official 0:fd0d7bdfcdc2 13 *
mbed_official 0:fd0d7bdfcdc2 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
mbed_official 0:fd0d7bdfcdc2 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
mbed_official 0:fd0d7bdfcdc2 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
mbed_official 0:fd0d7bdfcdc2 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
mbed_official 0:fd0d7bdfcdc2 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
mbed_official 0:fd0d7bdfcdc2 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
mbed_official 0:fd0d7bdfcdc2 20 * SOFTWARE.
mbed_official 0:fd0d7bdfcdc2 21 */
mbed_official 0:fd0d7bdfcdc2 22 #ifndef MBED_CAN_H
mbed_official 0:fd0d7bdfcdc2 23 #define MBED_CAN_H
mbed_official 0:fd0d7bdfcdc2 24
mbed_official 0:fd0d7bdfcdc2 25 #include "platform.h"
mbed_official 0:fd0d7bdfcdc2 26
mbed_official 0:fd0d7bdfcdc2 27 #if DEVICE_CAN
mbed_official 0:fd0d7bdfcdc2 28
mbed_official 0:fd0d7bdfcdc2 29 #include "can_api.h"
mbed_official 0:fd0d7bdfcdc2 30 #include "can_helper.h"
mbed_official 0:fd0d7bdfcdc2 31 #include "FunctionPointer.h"
mbed_official 0:fd0d7bdfcdc2 32
mbed_official 0:fd0d7bdfcdc2 33 namespace mbed {
mbed_official 0:fd0d7bdfcdc2 34
mbed_official 0:fd0d7bdfcdc2 35 /** CANMessage class
mbed_official 0:fd0d7bdfcdc2 36 */
mbed_official 0:fd0d7bdfcdc2 37 class CANMessage : public CAN_Message {
mbed_official 0:fd0d7bdfcdc2 38
mbed_official 0:fd0d7bdfcdc2 39 public:
mbed_official 0:fd0d7bdfcdc2 40 /** Creates empty CAN message.
mbed_official 0:fd0d7bdfcdc2 41 */
mbed_official 0:fd0d7bdfcdc2 42 CANMessage() {
mbed_official 0:fd0d7bdfcdc2 43 len = 8;
mbed_official 0:fd0d7bdfcdc2 44 type = CANData;
mbed_official 0:fd0d7bdfcdc2 45 format = CANStandard;
mbed_official 0:fd0d7bdfcdc2 46 id = 0;
mbed_official 0:fd0d7bdfcdc2 47 memset(data, 0, 8);
mbed_official 0:fd0d7bdfcdc2 48 }
mbed_official 0:fd0d7bdfcdc2 49
mbed_official 0:fd0d7bdfcdc2 50 /** Creates CAN message with specific content.
mbed_official 0:fd0d7bdfcdc2 51 */
mbed_official 0:fd0d7bdfcdc2 52 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
mbed_official 0:fd0d7bdfcdc2 53 len = _len & 0xF;
mbed_official 0:fd0d7bdfcdc2 54 type = _type;
mbed_official 0:fd0d7bdfcdc2 55 format = _format;
mbed_official 0:fd0d7bdfcdc2 56 id = _id;
mbed_official 0:fd0d7bdfcdc2 57 memcpy(data, _data, _len);
mbed_official 0:fd0d7bdfcdc2 58 }
mbed_official 0:fd0d7bdfcdc2 59
mbed_official 0:fd0d7bdfcdc2 60 /** Creates CAN remote message.
mbed_official 0:fd0d7bdfcdc2 61 */
mbed_official 0:fd0d7bdfcdc2 62 CANMessage(int _id, CANFormat _format = CANStandard) {
mbed_official 0:fd0d7bdfcdc2 63 len = 0;
mbed_official 0:fd0d7bdfcdc2 64 type = CANRemote;
mbed_official 0:fd0d7bdfcdc2 65 format = _format;
mbed_official 0:fd0d7bdfcdc2 66 id = _id;
mbed_official 0:fd0d7bdfcdc2 67 memset(data, 0, 8);
mbed_official 0:fd0d7bdfcdc2 68 }
mbed_official 0:fd0d7bdfcdc2 69 };
mbed_official 0:fd0d7bdfcdc2 70
mbed_official 0:fd0d7bdfcdc2 71 /** A can bus client, used for communicating with can devices
mbed_official 0:fd0d7bdfcdc2 72 */
mbed_official 0:fd0d7bdfcdc2 73 class CAN {
mbed_official 0:fd0d7bdfcdc2 74
mbed_official 0:fd0d7bdfcdc2 75 public:
mbed_official 0:fd0d7bdfcdc2 76 /** Creates an CAN interface connected to specific pins.
mbed_official 0:fd0d7bdfcdc2 77 *
mbed_official 0:fd0d7bdfcdc2 78 * @param rd read from transmitter
mbed_official 0:fd0d7bdfcdc2 79 * @param td transmit to transmitter
mbed_official 0:fd0d7bdfcdc2 80 *
mbed_official 0:fd0d7bdfcdc2 81 * Example:
mbed_official 0:fd0d7bdfcdc2 82 * @code
mbed_official 0:fd0d7bdfcdc2 83 * #include "mbed.h"
mbed_official 0:fd0d7bdfcdc2 84 *
mbed_official 0:fd0d7bdfcdc2 85 * Ticker ticker;
mbed_official 0:fd0d7bdfcdc2 86 * DigitalOut led1(LED1);
mbed_official 0:fd0d7bdfcdc2 87 * DigitalOut led2(LED2);
mbed_official 0:fd0d7bdfcdc2 88 * CAN can1(p9, p10);
mbed_official 0:fd0d7bdfcdc2 89 * CAN can2(p30, p29);
mbed_official 0:fd0d7bdfcdc2 90 *
mbed_official 0:fd0d7bdfcdc2 91 * char counter = 0;
mbed_official 0:fd0d7bdfcdc2 92 *
mbed_official 0:fd0d7bdfcdc2 93 * void send() {
mbed_official 0:fd0d7bdfcdc2 94 * if(can1.write(CANMessage(1337, &counter, 1))) {
mbed_official 0:fd0d7bdfcdc2 95 * printf("Message sent: %d\n", counter);
mbed_official 0:fd0d7bdfcdc2 96 * counter++;
mbed_official 0:fd0d7bdfcdc2 97 * }
mbed_official 0:fd0d7bdfcdc2 98 * led1 = !led1;
mbed_official 0:fd0d7bdfcdc2 99 * }
mbed_official 0:fd0d7bdfcdc2 100 *
mbed_official 0:fd0d7bdfcdc2 101 * int main() {
mbed_official 0:fd0d7bdfcdc2 102 * ticker.attach(&send, 1);
mbed_official 0:fd0d7bdfcdc2 103 * CANMessage msg;
mbed_official 0:fd0d7bdfcdc2 104 * while(1) {
mbed_official 0:fd0d7bdfcdc2 105 * if(can2.read(msg)) {
mbed_official 0:fd0d7bdfcdc2 106 * printf("Message received: %d\n\n", msg.data[0]);
mbed_official 0:fd0d7bdfcdc2 107 * led2 = !led2;
mbed_official 0:fd0d7bdfcdc2 108 * }
mbed_official 0:fd0d7bdfcdc2 109 * wait(0.2);
mbed_official 0:fd0d7bdfcdc2 110 * }
mbed_official 0:fd0d7bdfcdc2 111 * }
mbed_official 0:fd0d7bdfcdc2 112 * @endcode
mbed_official 0:fd0d7bdfcdc2 113 */
mbed_official 0:fd0d7bdfcdc2 114 CAN(PinName rd, PinName td);
mbed_official 0:fd0d7bdfcdc2 115 virtual ~CAN();
mbed_official 0:fd0d7bdfcdc2 116
mbed_official 0:fd0d7bdfcdc2 117 /** Set the frequency of the CAN interface
mbed_official 0:fd0d7bdfcdc2 118 *
mbed_official 0:fd0d7bdfcdc2 119 * @param hz The bus frequency in hertz
mbed_official 0:fd0d7bdfcdc2 120 *
mbed_official 0:fd0d7bdfcdc2 121 * @returns
mbed_official 0:fd0d7bdfcdc2 122 * 1 if successful,
mbed_official 0:fd0d7bdfcdc2 123 * 0 otherwise
mbed_official 0:fd0d7bdfcdc2 124 */
mbed_official 0:fd0d7bdfcdc2 125 int frequency(int hz);
mbed_official 0:fd0d7bdfcdc2 126
mbed_official 0:fd0d7bdfcdc2 127 /** Write a CANMessage to the bus.
mbed_official 0:fd0d7bdfcdc2 128 *
mbed_official 0:fd0d7bdfcdc2 129 * @param msg The CANMessage to write.
mbed_official 0:fd0d7bdfcdc2 130 *
mbed_official 0:fd0d7bdfcdc2 131 * @returns
mbed_official 0:fd0d7bdfcdc2 132 * 0 if write failed,
mbed_official 0:fd0d7bdfcdc2 133 * 1 if write was successful
mbed_official 0:fd0d7bdfcdc2 134 */
mbed_official 0:fd0d7bdfcdc2 135 int write(CANMessage msg);
mbed_official 0:fd0d7bdfcdc2 136
mbed_official 0:fd0d7bdfcdc2 137 /** Read a CANMessage from the bus.
mbed_official 0:fd0d7bdfcdc2 138 *
mbed_official 0:fd0d7bdfcdc2 139 * @param msg A CANMessage to read to.
mbed_official 0:fd0d7bdfcdc2 140 *
mbed_official 0:fd0d7bdfcdc2 141 * @returns
mbed_official 0:fd0d7bdfcdc2 142 * 0 if no message arrived,
mbed_official 0:fd0d7bdfcdc2 143 * 1 if message arrived
mbed_official 0:fd0d7bdfcdc2 144 */
mbed_official 0:fd0d7bdfcdc2 145 int read(CANMessage &msg);
mbed_official 0:fd0d7bdfcdc2 146
mbed_official 0:fd0d7bdfcdc2 147 /** Reset CAN interface.
mbed_official 0:fd0d7bdfcdc2 148 *
mbed_official 0:fd0d7bdfcdc2 149 * To use after error overflow.
mbed_official 0:fd0d7bdfcdc2 150 */
mbed_official 0:fd0d7bdfcdc2 151 void reset();
mbed_official 0:fd0d7bdfcdc2 152
mbed_official 0:fd0d7bdfcdc2 153 /** Puts or removes the CAN interface into silent monitoring mode
mbed_official 0:fd0d7bdfcdc2 154 *
mbed_official 0:fd0d7bdfcdc2 155 * @param silent boolean indicating whether to go into silent mode or not
mbed_official 0:fd0d7bdfcdc2 156 */
mbed_official 0:fd0d7bdfcdc2 157 void monitor(bool silent);
mbed_official 0:fd0d7bdfcdc2 158
mbed_official 0:fd0d7bdfcdc2 159 /** Returns number of read errors to detect read overflow errors.
mbed_official 0:fd0d7bdfcdc2 160 */
mbed_official 0:fd0d7bdfcdc2 161 unsigned char rderror();
mbed_official 0:fd0d7bdfcdc2 162
mbed_official 0:fd0d7bdfcdc2 163 /** Returns number of write errors to detect write overflow errors.
mbed_official 0:fd0d7bdfcdc2 164 */
mbed_official 0:fd0d7bdfcdc2 165 unsigned char tderror();
mbed_official 0:fd0d7bdfcdc2 166
mbed_official 0:fd0d7bdfcdc2 167 /** Attach a function to call whenever a CAN frame received interrupt is
mbed_official 0:fd0d7bdfcdc2 168 * generated.
mbed_official 0:fd0d7bdfcdc2 169 *
mbed_official 0:fd0d7bdfcdc2 170 * @param fptr A pointer to a void function, or 0 to set as none
mbed_official 0:fd0d7bdfcdc2 171 */
mbed_official 0:fd0d7bdfcdc2 172 void attach(void (*fptr)(void));
mbed_official 0:fd0d7bdfcdc2 173
mbed_official 0:fd0d7bdfcdc2 174 /** Attach a member function to call whenever a CAN frame received interrupt
mbed_official 0:fd0d7bdfcdc2 175 * is generated.
mbed_official 0:fd0d7bdfcdc2 176 *
mbed_official 0:fd0d7bdfcdc2 177 * @param tptr pointer to the object to call the member function on
mbed_official 0:fd0d7bdfcdc2 178 * @param mptr pointer to the member function to be called
mbed_official 0:fd0d7bdfcdc2 179 */
mbed_official 0:fd0d7bdfcdc2 180 template<typename T>
mbed_official 0:fd0d7bdfcdc2 181 void attach(T* tptr, void (T::*mptr)(void)) {
mbed_official 0:fd0d7bdfcdc2 182 if((mptr != NULL) && (tptr != NULL)) {
mbed_official 0:fd0d7bdfcdc2 183 _rxirq.attach(tptr, mptr);
mbed_official 0:fd0d7bdfcdc2 184 setup_interrupt();
mbed_official 0:fd0d7bdfcdc2 185 } else {
mbed_official 0:fd0d7bdfcdc2 186 remove_interrupt();
mbed_official 0:fd0d7bdfcdc2 187 }
mbed_official 0:fd0d7bdfcdc2 188 }
mbed_official 0:fd0d7bdfcdc2 189
mbed_official 0:fd0d7bdfcdc2 190 private:
mbed_official 0:fd0d7bdfcdc2 191 can_t _can;
mbed_official 0:fd0d7bdfcdc2 192 FunctionPointer _rxirq;
mbed_official 0:fd0d7bdfcdc2 193
mbed_official 0:fd0d7bdfcdc2 194 void setup_interrupt(void);
mbed_official 0:fd0d7bdfcdc2 195 void remove_interrupt(void);
mbed_official 0:fd0d7bdfcdc2 196 };
mbed_official 0:fd0d7bdfcdc2 197
mbed_official 0:fd0d7bdfcdc2 198 } // namespace mbed
mbed_official 0:fd0d7bdfcdc2 199
mbed_official 0:fd0d7bdfcdc2 200 #endif
mbed_official 0:fd0d7bdfcdc2 201
mbed_official 0:fd0d7bdfcdc2 202 #endif // MBED_CAN_H