Milen Pavlov / XRange_mbed_src

Mbed SDK for XRange SX1272 LoRa module

Dependents:   XRangePingPong XRange-LoRaWAN-lmic-app lora-transceiver

SX1272 LoRa RF module

https://www.netblocks.eu/xrange-sx1272-lora-datasheet/

api/CAN.h@339:ac6f3fd999f3, 2016-01-07 (annotated)

Committer:
netblocks
Date:
Thu Jan 07 13:01:25 2016 +0000
Revision:
339:ac6f3fd999f3
Parent:
336:1e18a06a987b 
HSE_VALUE set for XTAL 16Mhz

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dudmuck 336:1e18a06a987b 1 /* mbed Microcontroller Library
dudmuck 336:1e18a06a987b 2 * Copyright (c) 2006-2013 ARM Limited
dudmuck 336:1e18a06a987b 3 *
dudmuck 336:1e18a06a987b 4 * Licensed under the Apache License, Version 2.0 (the "License");
dudmuck 336:1e18a06a987b 5 * you may not use this file except in compliance with the License.
dudmuck 336:1e18a06a987b 6 * You may obtain a copy of the License at
dudmuck 336:1e18a06a987b 7 *
dudmuck 336:1e18a06a987b 8 * http://www.apache.org/licenses/LICENSE-2.0
dudmuck 336:1e18a06a987b 9 *
dudmuck 336:1e18a06a987b 10 * Unless required by applicable law or agreed to in writing, software
dudmuck 336:1e18a06a987b 11 * distributed under the License is distributed on an "AS IS" BASIS,
dudmuck 336:1e18a06a987b 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
dudmuck 336:1e18a06a987b 13 * See the License for the specific language governing permissions and
dudmuck 336:1e18a06a987b 14 * limitations under the License.
dudmuck 336:1e18a06a987b 15 */
dudmuck 336:1e18a06a987b 16 #ifndef MBED_CAN_H
dudmuck 336:1e18a06a987b 17 #define MBED_CAN_H
dudmuck 336:1e18a06a987b 18
dudmuck 336:1e18a06a987b 19 #include "platform.h"
dudmuck 336:1e18a06a987b 20
dudmuck 336:1e18a06a987b 21 #if DEVICE_CAN
dudmuck 336:1e18a06a987b 22
dudmuck 336:1e18a06a987b 23 #include "can_api.h"
dudmuck 336:1e18a06a987b 24 #include "can_helper.h"
dudmuck 336:1e18a06a987b 25 #include "FunctionPointer.h"
dudmuck 336:1e18a06a987b 26
dudmuck 336:1e18a06a987b 27 namespace mbed {
dudmuck 336:1e18a06a987b 28
dudmuck 336:1e18a06a987b 29 /** CANMessage class
dudmuck 336:1e18a06a987b 30 */
dudmuck 336:1e18a06a987b 31 class CANMessage : public CAN_Message {
dudmuck 336:1e18a06a987b 32
dudmuck 336:1e18a06a987b 33 public:
dudmuck 336:1e18a06a987b 34 /** Creates empty CAN message.
dudmuck 336:1e18a06a987b 35 */
dudmuck 336:1e18a06a987b 36 CANMessage() : CAN_Message() {
dudmuck 336:1e18a06a987b 37 len = 8;
dudmuck 336:1e18a06a987b 38 type = CANData;
dudmuck 336:1e18a06a987b 39 format = CANStandard;
dudmuck 336:1e18a06a987b 40 id = 0;
dudmuck 336:1e18a06a987b 41 memset(data, 0, 8);
dudmuck 336:1e18a06a987b 42 }
dudmuck 336:1e18a06a987b 43
dudmuck 336:1e18a06a987b 44 /** Creates CAN message with specific content.
dudmuck 336:1e18a06a987b 45 */
dudmuck 336:1e18a06a987b 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
dudmuck 336:1e18a06a987b 47 len = _len & 0xF;
dudmuck 336:1e18a06a987b 48 type = _type;
dudmuck 336:1e18a06a987b 49 format = _format;
dudmuck 336:1e18a06a987b 50 id = _id;
dudmuck 336:1e18a06a987b 51 memcpy(data, _data, _len);
dudmuck 336:1e18a06a987b 52 }
dudmuck 336:1e18a06a987b 53
dudmuck 336:1e18a06a987b 54 /** Creates CAN remote message.
dudmuck 336:1e18a06a987b 55 */
dudmuck 336:1e18a06a987b 56 CANMessage(int _id, CANFormat _format = CANStandard) {
dudmuck 336:1e18a06a987b 57 len = 0;
dudmuck 336:1e18a06a987b 58 type = CANRemote;
dudmuck 336:1e18a06a987b 59 format = _format;
dudmuck 336:1e18a06a987b 60 id = _id;
dudmuck 336:1e18a06a987b 61 memset(data, 0, 8);
dudmuck 336:1e18a06a987b 62 }
dudmuck 336:1e18a06a987b 63 };
dudmuck 336:1e18a06a987b 64
dudmuck 336:1e18a06a987b 65 /** A can bus client, used for communicating with can devices
dudmuck 336:1e18a06a987b 66 */
dudmuck 336:1e18a06a987b 67 class CAN {
dudmuck 336:1e18a06a987b 68
dudmuck 336:1e18a06a987b 69 public:
dudmuck 336:1e18a06a987b 70 /** Creates an CAN interface connected to specific pins.
dudmuck 336:1e18a06a987b 71 *
dudmuck 336:1e18a06a987b 72 * @param rd read from transmitter
dudmuck 336:1e18a06a987b 73 * @param td transmit to transmitter
dudmuck 336:1e18a06a987b 74 *
dudmuck 336:1e18a06a987b 75 * Example:
dudmuck 336:1e18a06a987b 76 * @code
dudmuck 336:1e18a06a987b 77 * #include "mbed.h"
dudmuck 336:1e18a06a987b 78 *
dudmuck 336:1e18a06a987b 79 * Ticker ticker;
dudmuck 336:1e18a06a987b 80 * DigitalOut led1(LED1);
dudmuck 336:1e18a06a987b 81 * DigitalOut led2(LED2);
dudmuck 336:1e18a06a987b 82 * CAN can1(p9, p10);
dudmuck 336:1e18a06a987b 83 * CAN can2(p30, p29);
dudmuck 336:1e18a06a987b 84 *
dudmuck 336:1e18a06a987b 85 * char counter = 0;
dudmuck 336:1e18a06a987b 86 *
dudmuck 336:1e18a06a987b 87 * void send() {
dudmuck 336:1e18a06a987b 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
dudmuck 336:1e18a06a987b 89 * printf("Message sent: %d\n", counter);
dudmuck 336:1e18a06a987b 90 * counter++;
dudmuck 336:1e18a06a987b 91 * }
dudmuck 336:1e18a06a987b 92 * led1 = !led1;
dudmuck 336:1e18a06a987b 93 * }
dudmuck 336:1e18a06a987b 94 *
dudmuck 336:1e18a06a987b 95 * int main() {
dudmuck 336:1e18a06a987b 96 * ticker.attach(&send, 1);
dudmuck 336:1e18a06a987b 97 * CANMessage msg;
dudmuck 336:1e18a06a987b 98 * while(1) {
dudmuck 336:1e18a06a987b 99 * if(can2.read(msg)) {
dudmuck 336:1e18a06a987b 100 * printf("Message received: %d\n\n", msg.data[0]);
dudmuck 336:1e18a06a987b 101 * led2 = !led2;
dudmuck 336:1e18a06a987b 102 * }
dudmuck 336:1e18a06a987b 103 * wait(0.2);
dudmuck 336:1e18a06a987b 104 * }
dudmuck 336:1e18a06a987b 105 * }
dudmuck 336:1e18a06a987b 106 * @endcode
dudmuck 336:1e18a06a987b 107 */
dudmuck 336:1e18a06a987b 108 CAN(PinName rd, PinName td);
dudmuck 336:1e18a06a987b 109 virtual ~CAN();
dudmuck 336:1e18a06a987b 110
dudmuck 336:1e18a06a987b 111 /** Set the frequency of the CAN interface
dudmuck 336:1e18a06a987b 112 *
dudmuck 336:1e18a06a987b 113 * @param hz The bus frequency in hertz
dudmuck 336:1e18a06a987b 114 *
dudmuck 336:1e18a06a987b 115 * @returns
dudmuck 336:1e18a06a987b 116 * 1 if successful,
dudmuck 336:1e18a06a987b 117 * 0 otherwise
dudmuck 336:1e18a06a987b 118 */
dudmuck 336:1e18a06a987b 119 int frequency(int hz);
dudmuck 336:1e18a06a987b 120
dudmuck 336:1e18a06a987b 121 /** Write a CANMessage to the bus.
dudmuck 336:1e18a06a987b 122 *
dudmuck 336:1e18a06a987b 123 * @param msg The CANMessage to write.
dudmuck 336:1e18a06a987b 124 *
dudmuck 336:1e18a06a987b 125 * @returns
dudmuck 336:1e18a06a987b 126 * 0 if write failed,
dudmuck 336:1e18a06a987b 127 * 1 if write was successful
dudmuck 336:1e18a06a987b 128 */
dudmuck 336:1e18a06a987b 129 int write(CANMessage msg);
dudmuck 336:1e18a06a987b 130
dudmuck 336:1e18a06a987b 131 /** Read a CANMessage from the bus.
dudmuck 336:1e18a06a987b 132 *
dudmuck 336:1e18a06a987b 133 * @param msg A CANMessage to read to.
dudmuck 336:1e18a06a987b 134 * @param handle message filter handle (0 for any message)
dudmuck 336:1e18a06a987b 135 *
dudmuck 336:1e18a06a987b 136 * @returns
dudmuck 336:1e18a06a987b 137 * 0 if no message arrived,
dudmuck 336:1e18a06a987b 138 * 1 if message arrived
dudmuck 336:1e18a06a987b 139 */
dudmuck 336:1e18a06a987b 140 int read(CANMessage &msg, int handle = 0);
dudmuck 336:1e18a06a987b 141
dudmuck 336:1e18a06a987b 142 /** Reset CAN interface.
dudmuck 336:1e18a06a987b 143 *
dudmuck 336:1e18a06a987b 144 * To use after error overflow.
dudmuck 336:1e18a06a987b 145 */
dudmuck 336:1e18a06a987b 146 void reset();
dudmuck 336:1e18a06a987b 147
dudmuck 336:1e18a06a987b 148 /** Puts or removes the CAN interface into silent monitoring mode
dudmuck 336:1e18a06a987b 149 *
dudmuck 336:1e18a06a987b 150 * @param silent boolean indicating whether to go into silent mode or not
dudmuck 336:1e18a06a987b 151 */
dudmuck 336:1e18a06a987b 152 void monitor(bool silent);
dudmuck 336:1e18a06a987b 153
dudmuck 336:1e18a06a987b 154 enum Mode {
dudmuck 336:1e18a06a987b 155 Reset = 0,
dudmuck 336:1e18a06a987b 156 Normal,
dudmuck 336:1e18a06a987b 157 Silent,
dudmuck 336:1e18a06a987b 158 LocalTest,
dudmuck 336:1e18a06a987b 159 GlobalTest,
dudmuck 336:1e18a06a987b 160 SilentTest
dudmuck 336:1e18a06a987b 161 };
dudmuck 336:1e18a06a987b 162
dudmuck 336:1e18a06a987b 163 /** Change CAN operation to the specified mode
dudmuck 336:1e18a06a987b 164 *
dudmuck 336:1e18a06a987b 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
dudmuck 336:1e18a06a987b 166 *
dudmuck 336:1e18a06a987b 167 * @returns
dudmuck 336:1e18a06a987b 168 * 0 if mode change failed or unsupported,
dudmuck 336:1e18a06a987b 169 * 1 if mode change was successful
dudmuck 336:1e18a06a987b 170 */
dudmuck 336:1e18a06a987b 171 int mode(Mode mode);
dudmuck 336:1e18a06a987b 172
dudmuck 336:1e18a06a987b 173 /** Filter out incomming messages
dudmuck 336:1e18a06a987b 174 *
dudmuck 336:1e18a06a987b 175 * @param id the id to filter on
dudmuck 336:1e18a06a987b 176 * @param mask the mask applied to the id
dudmuck 336:1e18a06a987b 177 * @param format format to filter on (Default CANAny)
dudmuck 336:1e18a06a987b 178 * @param handle message filter handle (Optional)
dudmuck 336:1e18a06a987b 179 *
dudmuck 336:1e18a06a987b 180 * @returns
dudmuck 336:1e18a06a987b 181 * 0 if filter change failed or unsupported,
dudmuck 336:1e18a06a987b 182 * new filter handle if successful
dudmuck 336:1e18a06a987b 183 */
dudmuck 336:1e18a06a987b 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
dudmuck 336:1e18a06a987b 185
dudmuck 336:1e18a06a987b 186 /** Returns number of read errors to detect read overflow errors.
dudmuck 336:1e18a06a987b 187 */
dudmuck 336:1e18a06a987b 188 unsigned char rderror();
dudmuck 336:1e18a06a987b 189
dudmuck 336:1e18a06a987b 190 /** Returns number of write errors to detect write overflow errors.
dudmuck 336:1e18a06a987b 191 */
dudmuck 336:1e18a06a987b 192 unsigned char tderror();
dudmuck 336:1e18a06a987b 193
dudmuck 336:1e18a06a987b 194 enum IrqType {
dudmuck 336:1e18a06a987b 195 RxIrq = 0,
dudmuck 336:1e18a06a987b 196 TxIrq,
dudmuck 336:1e18a06a987b 197 EwIrq,
dudmuck 336:1e18a06a987b 198 DoIrq,
dudmuck 336:1e18a06a987b 199 WuIrq,
dudmuck 336:1e18a06a987b 200 EpIrq,
dudmuck 336:1e18a06a987b 201 AlIrq,
dudmuck 336:1e18a06a987b 202 BeIrq,
dudmuck 336:1e18a06a987b 203 IdIrq
dudmuck 336:1e18a06a987b 204 };
dudmuck 336:1e18a06a987b 205
dudmuck 336:1e18a06a987b 206 /** Attach a function to call whenever a CAN frame received interrupt is
dudmuck 336:1e18a06a987b 207 * generated.
dudmuck 336:1e18a06a987b 208 *
dudmuck 336:1e18a06a987b 209 * @param fptr A pointer to a void function, or 0 to set as none
dudmuck 336:1e18a06a987b 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)
dudmuck 336:1e18a06a987b 211 */
dudmuck 336:1e18a06a987b 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
dudmuck 336:1e18a06a987b 213
dudmuck 336:1e18a06a987b 214 /** Attach a member function to call whenever a CAN frame received interrupt
dudmuck 336:1e18a06a987b 215 * is generated.
dudmuck 336:1e18a06a987b 216 *
dudmuck 336:1e18a06a987b 217 * @param tptr pointer to the object to call the member function on
dudmuck 336:1e18a06a987b 218 * @param mptr pointer to the member function to be called
dudmuck 336:1e18a06a987b 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)
dudmuck 336:1e18a06a987b 220 */
dudmuck 336:1e18a06a987b 221 template<typename T>
dudmuck 336:1e18a06a987b 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
dudmuck 336:1e18a06a987b 223 if((mptr != NULL) && (tptr != NULL)) {
dudmuck 336:1e18a06a987b 224 _irq[type].attach(tptr, mptr);
dudmuck 336:1e18a06a987b 225 can_irq_set(&_can, (CanIrqType)type, 1);
dudmuck 336:1e18a06a987b 226 }
dudmuck 336:1e18a06a987b 227 else {
dudmuck 336:1e18a06a987b 228 can_irq_set(&_can, (CanIrqType)type, 0);
dudmuck 336:1e18a06a987b 229 }
dudmuck 336:1e18a06a987b 230 }
dudmuck 336:1e18a06a987b 231
dudmuck 336:1e18a06a987b 232 static void _irq_handler(uint32_t id, CanIrqType type);
dudmuck 336:1e18a06a987b 233
dudmuck 336:1e18a06a987b 234 protected:
dudmuck 336:1e18a06a987b 235 can_t _can;
dudmuck 336:1e18a06a987b 236 FunctionPointer _irq[9];
dudmuck 336:1e18a06a987b 237 };
dudmuck 336:1e18a06a987b 238
dudmuck 336:1e18a06a987b 239 } // namespace mbed
dudmuck 336:1e18a06a987b 240
dudmuck 336:1e18a06a987b 241 #endif
dudmuck 336:1e18a06a987b 242
dudmuck 336:1e18a06a987b 243 #endif // MBED_CAN_H