Micah B / mbed

mbed

Dependents:   DHTSensor_Test K64F_eCompass_OneNET_JW

CAN.h@0:2cc6bb4d7fea, 2015-02-25 (annotated)

Committer:
mbotkinl
Date:
Wed Feb 25 20:22:22 2015 +0000
Revision:
0:2cc6bb4d7fea
Working code to read Temperature and Humidity readings

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbotkinl 0:2cc6bb4d7fea 1 /* mbed Microcontroller Library
mbotkinl 0:2cc6bb4d7fea 2 * Copyright (c) 2006-2013 ARM Limited
mbotkinl 0:2cc6bb4d7fea 3 *
mbotkinl 0:2cc6bb4d7fea 4 * Licensed under the Apache License, Version 2.0 (the "License");
mbotkinl 0:2cc6bb4d7fea 5 * you may not use this file except in compliance with the License.
mbotkinl 0:2cc6bb4d7fea 6 * You may obtain a copy of the License at
mbotkinl 0:2cc6bb4d7fea 7 *
mbotkinl 0:2cc6bb4d7fea 8 * http://www.apache.org/licenses/LICENSE-2.0
mbotkinl 0:2cc6bb4d7fea 9 *
mbotkinl 0:2cc6bb4d7fea 10 * Unless required by applicable law or agreed to in writing, software
mbotkinl 0:2cc6bb4d7fea 11 * distributed under the License is distributed on an "AS IS" BASIS,
mbotkinl 0:2cc6bb4d7fea 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
mbotkinl 0:2cc6bb4d7fea 13 * See the License for the specific language governing permissions and
mbotkinl 0:2cc6bb4d7fea 14 * limitations under the License.
mbotkinl 0:2cc6bb4d7fea 15 */
mbotkinl 0:2cc6bb4d7fea 16 #ifndef MBED_CAN_H
mbotkinl 0:2cc6bb4d7fea 17 #define MBED_CAN_H
mbotkinl 0:2cc6bb4d7fea 18
mbotkinl 0:2cc6bb4d7fea 19 #include "platform.h"
mbotkinl 0:2cc6bb4d7fea 20
mbotkinl 0:2cc6bb4d7fea 21 #if DEVICE_CAN
mbotkinl 0:2cc6bb4d7fea 22
mbotkinl 0:2cc6bb4d7fea 23 #include "can_api.h"
mbotkinl 0:2cc6bb4d7fea 24 #include "can_helper.h"
mbotkinl 0:2cc6bb4d7fea 25 #include "FunctionPointer.h"
mbotkinl 0:2cc6bb4d7fea 26
mbotkinl 0:2cc6bb4d7fea 27 namespace mbed {
mbotkinl 0:2cc6bb4d7fea 28
mbotkinl 0:2cc6bb4d7fea 29 /** CANMessage class
mbotkinl 0:2cc6bb4d7fea 30 */
mbotkinl 0:2cc6bb4d7fea 31 class CANMessage : public CAN_Message {
mbotkinl 0:2cc6bb4d7fea 32
mbotkinl 0:2cc6bb4d7fea 33 public:
mbotkinl 0:2cc6bb4d7fea 34 /** Creates empty CAN message.
mbotkinl 0:2cc6bb4d7fea 35 */
mbotkinl 0:2cc6bb4d7fea 36 CANMessage() : CAN_Message() {
mbotkinl 0:2cc6bb4d7fea 37 len = 8;
mbotkinl 0:2cc6bb4d7fea 38 type = CANData;
mbotkinl 0:2cc6bb4d7fea 39 format = CANStandard;
mbotkinl 0:2cc6bb4d7fea 40 id = 0;
mbotkinl 0:2cc6bb4d7fea 41 memset(data, 0, 8);
mbotkinl 0:2cc6bb4d7fea 42 }
mbotkinl 0:2cc6bb4d7fea 43
mbotkinl 0:2cc6bb4d7fea 44 /** Creates CAN message with specific content.
mbotkinl 0:2cc6bb4d7fea 45 */
mbotkinl 0:2cc6bb4d7fea 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
mbotkinl 0:2cc6bb4d7fea 47 len = _len & 0xF;
mbotkinl 0:2cc6bb4d7fea 48 type = _type;
mbotkinl 0:2cc6bb4d7fea 49 format = _format;
mbotkinl 0:2cc6bb4d7fea 50 id = _id;
mbotkinl 0:2cc6bb4d7fea 51 memcpy(data, _data, _len);
mbotkinl 0:2cc6bb4d7fea 52 }
mbotkinl 0:2cc6bb4d7fea 53
mbotkinl 0:2cc6bb4d7fea 54 /** Creates CAN remote message.
mbotkinl 0:2cc6bb4d7fea 55 */
mbotkinl 0:2cc6bb4d7fea 56 CANMessage(int _id, CANFormat _format = CANStandard) {
mbotkinl 0:2cc6bb4d7fea 57 len = 0;
mbotkinl 0:2cc6bb4d7fea 58 type = CANRemote;
mbotkinl 0:2cc6bb4d7fea 59 format = _format;
mbotkinl 0:2cc6bb4d7fea 60 id = _id;
mbotkinl 0:2cc6bb4d7fea 61 memset(data, 0, 8);
mbotkinl 0:2cc6bb4d7fea 62 }
mbotkinl 0:2cc6bb4d7fea 63 };
mbotkinl 0:2cc6bb4d7fea 64
mbotkinl 0:2cc6bb4d7fea 65 /** A can bus client, used for communicating with can devices
mbotkinl 0:2cc6bb4d7fea 66 */
mbotkinl 0:2cc6bb4d7fea 67 class CAN {
mbotkinl 0:2cc6bb4d7fea 68
mbotkinl 0:2cc6bb4d7fea 69 public:
mbotkinl 0:2cc6bb4d7fea 70 /** Creates an CAN interface connected to specific pins.
mbotkinl 0:2cc6bb4d7fea 71 *
mbotkinl 0:2cc6bb4d7fea 72 * @param rd read from transmitter
mbotkinl 0:2cc6bb4d7fea 73 * @param td transmit to transmitter
mbotkinl 0:2cc6bb4d7fea 74 *
mbotkinl 0:2cc6bb4d7fea 75 * Example:
mbotkinl 0:2cc6bb4d7fea 76 * @code
mbotkinl 0:2cc6bb4d7fea 77 * #include "mbed.h"
mbotkinl 0:2cc6bb4d7fea 78 *
mbotkinl 0:2cc6bb4d7fea 79 * Ticker ticker;
mbotkinl 0:2cc6bb4d7fea 80 * DigitalOut led1(LED1);
mbotkinl 0:2cc6bb4d7fea 81 * DigitalOut led2(LED2);
mbotkinl 0:2cc6bb4d7fea 82 * CAN can1(p9, p10);
mbotkinl 0:2cc6bb4d7fea 83 * CAN can2(p30, p29);
mbotkinl 0:2cc6bb4d7fea 84 *
mbotkinl 0:2cc6bb4d7fea 85 * char counter = 0;
mbotkinl 0:2cc6bb4d7fea 86 *
mbotkinl 0:2cc6bb4d7fea 87 * void send() {
mbotkinl 0:2cc6bb4d7fea 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
mbotkinl 0:2cc6bb4d7fea 89 * printf("Message sent: %d\n", counter);
mbotkinl 0:2cc6bb4d7fea 90 * counter++;
mbotkinl 0:2cc6bb4d7fea 91 * }
mbotkinl 0:2cc6bb4d7fea 92 * led1 = !led1;
mbotkinl 0:2cc6bb4d7fea 93 * }
mbotkinl 0:2cc6bb4d7fea 94 *
mbotkinl 0:2cc6bb4d7fea 95 * int main() {
mbotkinl 0:2cc6bb4d7fea 96 * ticker.attach(&send, 1);
mbotkinl 0:2cc6bb4d7fea 97 * CANMessage msg;
mbotkinl 0:2cc6bb4d7fea 98 * while(1) {
mbotkinl 0:2cc6bb4d7fea 99 * if(can2.read(msg)) {
mbotkinl 0:2cc6bb4d7fea 100 * printf("Message received: %d\n\n", msg.data[0]);
mbotkinl 0:2cc6bb4d7fea 101 * led2 = !led2;
mbotkinl 0:2cc6bb4d7fea 102 * }
mbotkinl 0:2cc6bb4d7fea 103 * wait(0.2);
mbotkinl 0:2cc6bb4d7fea 104 * }
mbotkinl 0:2cc6bb4d7fea 105 * }
mbotkinl 0:2cc6bb4d7fea 106 * @endcode
mbotkinl 0:2cc6bb4d7fea 107 */
mbotkinl 0:2cc6bb4d7fea 108 CAN(PinName rd, PinName td);
mbotkinl 0:2cc6bb4d7fea 109 virtual ~CAN();
mbotkinl 0:2cc6bb4d7fea 110
mbotkinl 0:2cc6bb4d7fea 111 /** Set the frequency of the CAN interface
mbotkinl 0:2cc6bb4d7fea 112 *
mbotkinl 0:2cc6bb4d7fea 113 * @param hz The bus frequency in hertz
mbotkinl 0:2cc6bb4d7fea 114 *
mbotkinl 0:2cc6bb4d7fea 115 * @returns
mbotkinl 0:2cc6bb4d7fea 116 * 1 if successful,
mbotkinl 0:2cc6bb4d7fea 117 * 0 otherwise
mbotkinl 0:2cc6bb4d7fea 118 */
mbotkinl 0:2cc6bb4d7fea 119 int frequency(int hz);
mbotkinl 0:2cc6bb4d7fea 120
mbotkinl 0:2cc6bb4d7fea 121 /** Write a CANMessage to the bus.
mbotkinl 0:2cc6bb4d7fea 122 *
mbotkinl 0:2cc6bb4d7fea 123 * @param msg The CANMessage to write.
mbotkinl 0:2cc6bb4d7fea 124 *
mbotkinl 0:2cc6bb4d7fea 125 * @returns
mbotkinl 0:2cc6bb4d7fea 126 * 0 if write failed,
mbotkinl 0:2cc6bb4d7fea 127 * 1 if write was successful
mbotkinl 0:2cc6bb4d7fea 128 */
mbotkinl 0:2cc6bb4d7fea 129 int write(CANMessage msg);
mbotkinl 0:2cc6bb4d7fea 130
mbotkinl 0:2cc6bb4d7fea 131 /** Read a CANMessage from the bus.
mbotkinl 0:2cc6bb4d7fea 132 *
mbotkinl 0:2cc6bb4d7fea 133 * @param msg A CANMessage to read to.
mbotkinl 0:2cc6bb4d7fea 134 * @param handle message filter handle (0 for any message)
mbotkinl 0:2cc6bb4d7fea 135 *
mbotkinl 0:2cc6bb4d7fea 136 * @returns
mbotkinl 0:2cc6bb4d7fea 137 * 0 if no message arrived,
mbotkinl 0:2cc6bb4d7fea 138 * 1 if message arrived
mbotkinl 0:2cc6bb4d7fea 139 */
mbotkinl 0:2cc6bb4d7fea 140 int read(CANMessage &msg, int handle = 0);
mbotkinl 0:2cc6bb4d7fea 141
mbotkinl 0:2cc6bb4d7fea 142 /** Reset CAN interface.
mbotkinl 0:2cc6bb4d7fea 143 *
mbotkinl 0:2cc6bb4d7fea 144 * To use after error overflow.
mbotkinl 0:2cc6bb4d7fea 145 */
mbotkinl 0:2cc6bb4d7fea 146 void reset();
mbotkinl 0:2cc6bb4d7fea 147
mbotkinl 0:2cc6bb4d7fea 148 /** Puts or removes the CAN interface into silent monitoring mode
mbotkinl 0:2cc6bb4d7fea 149 *
mbotkinl 0:2cc6bb4d7fea 150 * @param silent boolean indicating whether to go into silent mode or not
mbotkinl 0:2cc6bb4d7fea 151 */
mbotkinl 0:2cc6bb4d7fea 152 void monitor(bool silent);
mbotkinl 0:2cc6bb4d7fea 153
mbotkinl 0:2cc6bb4d7fea 154 enum Mode {
mbotkinl 0:2cc6bb4d7fea 155 Reset = 0,
mbotkinl 0:2cc6bb4d7fea 156 Normal,
mbotkinl 0:2cc6bb4d7fea 157 Silent,
mbotkinl 0:2cc6bb4d7fea 158 LocalTest,
mbotkinl 0:2cc6bb4d7fea 159 GlobalTest,
mbotkinl 0:2cc6bb4d7fea 160 SilentTest
mbotkinl 0:2cc6bb4d7fea 161 };
mbotkinl 0:2cc6bb4d7fea 162
mbotkinl 0:2cc6bb4d7fea 163 /** Change CAN operation to the specified mode
mbotkinl 0:2cc6bb4d7fea 164 *
mbotkinl 0:2cc6bb4d7fea 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
mbotkinl 0:2cc6bb4d7fea 166 *
mbotkinl 0:2cc6bb4d7fea 167 * @returns
mbotkinl 0:2cc6bb4d7fea 168 * 0 if mode change failed or unsupported,
mbotkinl 0:2cc6bb4d7fea 169 * 1 if mode change was successful
mbotkinl 0:2cc6bb4d7fea 170 */
mbotkinl 0:2cc6bb4d7fea 171 int mode(Mode mode);
mbotkinl 0:2cc6bb4d7fea 172
mbotkinl 0:2cc6bb4d7fea 173 /** Filter out incomming messages
mbotkinl 0:2cc6bb4d7fea 174 *
mbotkinl 0:2cc6bb4d7fea 175 * @param id the id to filter on
mbotkinl 0:2cc6bb4d7fea 176 * @param mask the mask applied to the id
mbotkinl 0:2cc6bb4d7fea 177 * @param format format to filter on (Default CANAny)
mbotkinl 0:2cc6bb4d7fea 178 * @param handle message filter handle (Optional)
mbotkinl 0:2cc6bb4d7fea 179 *
mbotkinl 0:2cc6bb4d7fea 180 * @returns
mbotkinl 0:2cc6bb4d7fea 181 * 0 if filter change failed or unsupported,
mbotkinl 0:2cc6bb4d7fea 182 * new filter handle if successful
mbotkinl 0:2cc6bb4d7fea 183 */
mbotkinl 0:2cc6bb4d7fea 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
mbotkinl 0:2cc6bb4d7fea 185
mbotkinl 0:2cc6bb4d7fea 186 /** Returns number of read errors to detect read overflow errors.
mbotkinl 0:2cc6bb4d7fea 187 */
mbotkinl 0:2cc6bb4d7fea 188 unsigned char rderror();
mbotkinl 0:2cc6bb4d7fea 189
mbotkinl 0:2cc6bb4d7fea 190 /** Returns number of write errors to detect write overflow errors.
mbotkinl 0:2cc6bb4d7fea 191 */
mbotkinl 0:2cc6bb4d7fea 192 unsigned char tderror();
mbotkinl 0:2cc6bb4d7fea 193
mbotkinl 0:2cc6bb4d7fea 194 enum IrqType {
mbotkinl 0:2cc6bb4d7fea 195 RxIrq = 0,
mbotkinl 0:2cc6bb4d7fea 196 TxIrq,
mbotkinl 0:2cc6bb4d7fea 197 EwIrq,
mbotkinl 0:2cc6bb4d7fea 198 DoIrq,
mbotkinl 0:2cc6bb4d7fea 199 WuIrq,
mbotkinl 0:2cc6bb4d7fea 200 EpIrq,
mbotkinl 0:2cc6bb4d7fea 201 AlIrq,
mbotkinl 0:2cc6bb4d7fea 202 BeIrq,
mbotkinl 0:2cc6bb4d7fea 203 IdIrq
mbotkinl 0:2cc6bb4d7fea 204 };
mbotkinl 0:2cc6bb4d7fea 205
mbotkinl 0:2cc6bb4d7fea 206 /** Attach a function to call whenever a CAN frame received interrupt is
mbotkinl 0:2cc6bb4d7fea 207 * generated.
mbotkinl 0:2cc6bb4d7fea 208 *
mbotkinl 0:2cc6bb4d7fea 209 * @param fptr A pointer to a void function, or 0 to set as none
mbotkinl 0:2cc6bb4d7fea 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)
mbotkinl 0:2cc6bb4d7fea 211 */
mbotkinl 0:2cc6bb4d7fea 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
mbotkinl 0:2cc6bb4d7fea 213
mbotkinl 0:2cc6bb4d7fea 214 /** Attach a member function to call whenever a CAN frame received interrupt
mbotkinl 0:2cc6bb4d7fea 215 * is generated.
mbotkinl 0:2cc6bb4d7fea 216 *
mbotkinl 0:2cc6bb4d7fea 217 * @param tptr pointer to the object to call the member function on
mbotkinl 0:2cc6bb4d7fea 218 * @param mptr pointer to the member function to be called
mbotkinl 0:2cc6bb4d7fea 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)
mbotkinl 0:2cc6bb4d7fea 220 */
mbotkinl 0:2cc6bb4d7fea 221 template<typename T>
mbotkinl 0:2cc6bb4d7fea 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
mbotkinl 0:2cc6bb4d7fea 223 if((mptr != NULL) && (tptr != NULL)) {
mbotkinl 0:2cc6bb4d7fea 224 _irq[type].attach(tptr, mptr);
mbotkinl 0:2cc6bb4d7fea 225 can_irq_set(&_can, (CanIrqType)type, 1);
mbotkinl 0:2cc6bb4d7fea 226 }
mbotkinl 0:2cc6bb4d7fea 227 else {
mbotkinl 0:2cc6bb4d7fea 228 can_irq_set(&_can, (CanIrqType)type, 0);
mbotkinl 0:2cc6bb4d7fea 229 }
mbotkinl 0:2cc6bb4d7fea 230 }
mbotkinl 0:2cc6bb4d7fea 231
mbotkinl 0:2cc6bb4d7fea 232 static void _irq_handler(uint32_t id, CanIrqType type);
mbotkinl 0:2cc6bb4d7fea 233
mbotkinl 0:2cc6bb4d7fea 234 protected:
mbotkinl 0:2cc6bb4d7fea 235 can_t _can;
mbotkinl 0:2cc6bb4d7fea 236 FunctionPointer _irq[9];
mbotkinl 0:2cc6bb4d7fea 237 };
mbotkinl 0:2cc6bb4d7fea 238
mbotkinl 0:2cc6bb4d7fea 239 } // namespace mbed
mbotkinl 0:2cc6bb4d7fea 240
mbotkinl 0:2cc6bb4d7fea 241 #endif
mbotkinl 0:2cc6bb4d7fea 242
mbotkinl 0:2cc6bb4d7fea 243 #endif // MBED_CAN_H