Diff: CAN.h

Revision:

0:e29bc8e0dddd

Child:

4:38403b42718b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN.h	Sun Jul 19 09:06:26 2015 +0000
@@ -0,0 +1,311 @@
+/* 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.
+ *
+ * Modified by Zoltan Hudak    <hudakz@inbox.com>
+ *
+ */
+#ifndef CAN_H
+#define CAN_H
+
+#include "platform.h"
+
+#define DEVICE_CAN 1
+
+#if DEVICE_CAN
+
+#define DEBUG 1
+
+#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() : CAN_Message() {
+        len    = 8;
+        type   = CANData;
+        format = CANStandard;
+        id     = 0;
+        memset(data, 0, 8);
+    }
+
+    /** Copy constructor.
+     */
+    CANMessage(const CANMessage& canMessage) {
+        len     = canMessage.len;
+        type    = canMessage.type;
+        format  = canMessage.format;
+        id      = canMessage.id;
+        memcpy(data, canMessage.data, canMessage.len);
+    }
+
+    /** 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);
+    }
+
+    /*********************************************************************/
+    /*********************************************************************/
+    /*********************************************************************/
+    /** Clears CAN message content
+     */
+    void clear(void) {
+        len    = 0;
+        type   = CANData;
+        format = CANStandard;
+        id     = 0;
+        memset(data, 0, 8);
+    };
+
+    /** Inserter operator: Appends data (value) to CAN message
+     */
+    template<class T>
+    CANMessage &operator<<(const T val) {
+        if(len + sizeof(T) <= 8) {
+            *reinterpret_cast < T * > (&data[len]) = val;
+            len += sizeof(T);
+        } 
+#if DEBUG
+        else {
+            printf("Error: Cannot append data because it exceeds CAN data length!\r\n");
+        }
+#endif
+       return *this;
+    }
+
+    /** Extractor operator: Extracts data (value) from CAN message
+     */
+    template<class T>
+    CANMessage &operator>>(T& val) {
+        if(sizeof(T) <= len) {
+            val = *reinterpret_cast < T * > (&data[0]);
+            len -= sizeof(T);
+            memcpy(data, data + sizeof(T), len);
+        } 
+#if DEBUG
+        else {
+            printf("Error: Cannot extract data because it exceeds CAN data length!\r\n");
+        }
+#endif
+        return *this;
+    }
+
+};
+
+/** 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"
+     * #include "CAN.h"
+     *
+     * Ticker ticker;
+     * DigitalOut led1(LED1);
+     * CAN can(PA_11, PA_12);
+     *
+     * char counter = 0;
+     *
+     * void send() {
+     *     if(can.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(can.read(msg)) {
+     *             printf("Message received: %d\n\n", msg.data[0]);
+     *             led1 = !led1;
+     *         }
+     *         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.
+     *  @param handle message filter handle (0 for any message)
+     *
+     *  @returns
+     *    0 if no message arrived,
+     *    1 if message arrived
+     */
+    int read(CANMessage &msg, int handle = 0);
+
+    /** 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);
+
+    /** Filter out incomming messages
+     *
+     *  @param id the id to filter on
+     *  @param mask the mask applied to the id
+     *  @param format format to filter on (Default CANAny)
+     *  @param handle message filter handle (Optional)
+     *
+     *  @returns
+     *    0 if filter change failed or unsupported,
+     *    new filter handle if successful
+     */
+    int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
+
+    /** 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
+
+