David DiCarlo / mbed-src-KL05Z-smart-sensor

Fork of mbed for KL05Z based smart sensor which has no crystal on the board, so MCG FEI mode is required.

Dependents:   smart-sensor-KL05Z-debug

Fork of mbed-src by Ermanno Brusadin

api/CAN.h@1:da408b460382, 2018-01-29 (annotated)

Committer:
r14793
Date:
Mon Jan 29 15:38:37 2018 +0000
Revision:
1:da408b460382
Parent:
0:0a673c671a56 
changed KL05 MCG mode to FEI for smart sensor boards (no crystal)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ebrus 0:0a673c671a56 1 /* mbed Microcontroller Library
ebrus 0:0a673c671a56 2 * Copyright (c) 2006-2013 ARM Limited
ebrus 0:0a673c671a56 3 *
ebrus 0:0a673c671a56 4 * Licensed under the Apache License, Version 2.0 (the "License");
ebrus 0:0a673c671a56 5 * you may not use this file except in compliance with the License.
ebrus 0:0a673c671a56 6 * You may obtain a copy of the License at
ebrus 0:0a673c671a56 7 *
ebrus 0:0a673c671a56 8 * http://www.apache.org/licenses/LICENSE-2.0
ebrus 0:0a673c671a56 9 *
ebrus 0:0a673c671a56 10 * Unless required by applicable law or agreed to in writing, software
ebrus 0:0a673c671a56 11 * distributed under the License is distributed on an "AS IS" BASIS,
ebrus 0:0a673c671a56 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ebrus 0:0a673c671a56 13 * See the License for the specific language governing permissions and
ebrus 0:0a673c671a56 14 * limitations under the License.
ebrus 0:0a673c671a56 15 */
ebrus 0:0a673c671a56 16 #ifndef MBED_CAN_H
ebrus 0:0a673c671a56 17 #define MBED_CAN_H
ebrus 0:0a673c671a56 18
ebrus 0:0a673c671a56 19 #include "platform.h"
ebrus 0:0a673c671a56 20
ebrus 0:0a673c671a56 21 #if DEVICE_CAN
ebrus 0:0a673c671a56 22
ebrus 0:0a673c671a56 23 #include "can_api.h"
ebrus 0:0a673c671a56 24 #include "can_helper.h"
ebrus 0:0a673c671a56 25 #include "FunctionPointer.h"
ebrus 0:0a673c671a56 26
ebrus 0:0a673c671a56 27 namespace mbed {
ebrus 0:0a673c671a56 28
ebrus 0:0a673c671a56 29 /** CANMessage class
ebrus 0:0a673c671a56 30 */
ebrus 0:0a673c671a56 31 class CANMessage : public CAN_Message {
ebrus 0:0a673c671a56 32
ebrus 0:0a673c671a56 33 public:
ebrus 0:0a673c671a56 34 /** Creates empty CAN message.
ebrus 0:0a673c671a56 35 */
ebrus 0:0a673c671a56 36 CANMessage() : CAN_Message() {
ebrus 0:0a673c671a56 37 len = 8;
ebrus 0:0a673c671a56 38 type = CANData;
ebrus 0:0a673c671a56 39 format = CANStandard;
ebrus 0:0a673c671a56 40 id = 0;
ebrus 0:0a673c671a56 41 memset(data, 0, 8);
ebrus 0:0a673c671a56 42 }
ebrus 0:0a673c671a56 43
ebrus 0:0a673c671a56 44 /** Creates CAN message with specific content.
ebrus 0:0a673c671a56 45 */
ebrus 0:0a673c671a56 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
ebrus 0:0a673c671a56 47 len = _len & 0xF;
ebrus 0:0a673c671a56 48 type = _type;
ebrus 0:0a673c671a56 49 format = _format;
ebrus 0:0a673c671a56 50 id = _id;
ebrus 0:0a673c671a56 51 memcpy(data, _data, _len);
ebrus 0:0a673c671a56 52 }
ebrus 0:0a673c671a56 53
ebrus 0:0a673c671a56 54 /** Creates CAN remote message.
ebrus 0:0a673c671a56 55 */
ebrus 0:0a673c671a56 56 CANMessage(int _id, CANFormat _format = CANStandard) {
ebrus 0:0a673c671a56 57 len = 0;
ebrus 0:0a673c671a56 58 type = CANRemote;
ebrus 0:0a673c671a56 59 format = _format;
ebrus 0:0a673c671a56 60 id = _id;
ebrus 0:0a673c671a56 61 memset(data, 0, 8);
ebrus 0:0a673c671a56 62 }
ebrus 0:0a673c671a56 63 };
ebrus 0:0a673c671a56 64
ebrus 0:0a673c671a56 65 /** A can bus client, used for communicating with can devices
ebrus 0:0a673c671a56 66 */
ebrus 0:0a673c671a56 67 class CAN {
ebrus 0:0a673c671a56 68
ebrus 0:0a673c671a56 69 public:
ebrus 0:0a673c671a56 70 /** Creates an CAN interface connected to specific pins.
ebrus 0:0a673c671a56 71 *
ebrus 0:0a673c671a56 72 * @param rd read from transmitter
ebrus 0:0a673c671a56 73 * @param td transmit to transmitter
ebrus 0:0a673c671a56 74 *
ebrus 0:0a673c671a56 75 * Example:
ebrus 0:0a673c671a56 76 * @code
ebrus 0:0a673c671a56 77 * #include "mbed.h"
ebrus 0:0a673c671a56 78 *
ebrus 0:0a673c671a56 79 * Ticker ticker;
ebrus 0:0a673c671a56 80 * DigitalOut led1(LED1);
ebrus 0:0a673c671a56 81 * DigitalOut led2(LED2);
ebrus 0:0a673c671a56 82 * CAN can1(p9, p10);
ebrus 0:0a673c671a56 83 * CAN can2(p30, p29);
ebrus 0:0a673c671a56 84 *
ebrus 0:0a673c671a56 85 * char counter = 0;
ebrus 0:0a673c671a56 86 *
ebrus 0:0a673c671a56 87 * void send() {
ebrus 0:0a673c671a56 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
ebrus 0:0a673c671a56 89 * printf("Message sent: %d\n", counter);
ebrus 0:0a673c671a56 90 * counter++;
ebrus 0:0a673c671a56 91 * }
ebrus 0:0a673c671a56 92 * led1 = !led1;
ebrus 0:0a673c671a56 93 * }
ebrus 0:0a673c671a56 94 *
ebrus 0:0a673c671a56 95 * int main() {
ebrus 0:0a673c671a56 96 * ticker.attach(&send, 1);
ebrus 0:0a673c671a56 97 * CANMessage msg;
ebrus 0:0a673c671a56 98 * while(1) {
ebrus 0:0a673c671a56 99 * if(can2.read(msg)) {
ebrus 0:0a673c671a56 100 * printf("Message received: %d\n\n", msg.data[0]);
ebrus 0:0a673c671a56 101 * led2 = !led2;
ebrus 0:0a673c671a56 102 * }
ebrus 0:0a673c671a56 103 * wait(0.2);
ebrus 0:0a673c671a56 104 * }
ebrus 0:0a673c671a56 105 * }
ebrus 0:0a673c671a56 106 * @endcode
ebrus 0:0a673c671a56 107 */
ebrus 0:0a673c671a56 108 CAN(PinName rd, PinName td);
ebrus 0:0a673c671a56 109 virtual ~CAN();
ebrus 0:0a673c671a56 110
ebrus 0:0a673c671a56 111 /** Set the frequency of the CAN interface
ebrus 0:0a673c671a56 112 *
ebrus 0:0a673c671a56 113 * @param hz The bus frequency in hertz
ebrus 0:0a673c671a56 114 *
ebrus 0:0a673c671a56 115 * @returns
ebrus 0:0a673c671a56 116 * 1 if successful,
ebrus 0:0a673c671a56 117 * 0 otherwise
ebrus 0:0a673c671a56 118 */
ebrus 0:0a673c671a56 119 int frequency(int hz);
ebrus 0:0a673c671a56 120
ebrus 0:0a673c671a56 121 /** Write a CANMessage to the bus.
ebrus 0:0a673c671a56 122 *
ebrus 0:0a673c671a56 123 * @param msg The CANMessage to write.
ebrus 0:0a673c671a56 124 *
ebrus 0:0a673c671a56 125 * @returns
ebrus 0:0a673c671a56 126 * 0 if write failed,
ebrus 0:0a673c671a56 127 * 1 if write was successful
ebrus 0:0a673c671a56 128 */
ebrus 0:0a673c671a56 129 int write(CANMessage msg);
ebrus 0:0a673c671a56 130
ebrus 0:0a673c671a56 131 /** Read a CANMessage from the bus.
ebrus 0:0a673c671a56 132 *
ebrus 0:0a673c671a56 133 * @param msg A CANMessage to read to.
ebrus 0:0a673c671a56 134 * @param handle message filter handle (0 for any message)
ebrus 0:0a673c671a56 135 *
ebrus 0:0a673c671a56 136 * @returns
ebrus 0:0a673c671a56 137 * 0 if no message arrived,
ebrus 0:0a673c671a56 138 * 1 if message arrived
ebrus 0:0a673c671a56 139 */
ebrus 0:0a673c671a56 140 int read(CANMessage &msg, int handle = 0);
ebrus 0:0a673c671a56 141
ebrus 0:0a673c671a56 142 /** Reset CAN interface.
ebrus 0:0a673c671a56 143 *
ebrus 0:0a673c671a56 144 * To use after error overflow.
ebrus 0:0a673c671a56 145 */
ebrus 0:0a673c671a56 146 void reset();
ebrus 0:0a673c671a56 147
ebrus 0:0a673c671a56 148 /** Puts or removes the CAN interface into silent monitoring mode
ebrus 0:0a673c671a56 149 *
ebrus 0:0a673c671a56 150 * @param silent boolean indicating whether to go into silent mode or not
ebrus 0:0a673c671a56 151 */
ebrus 0:0a673c671a56 152 void monitor(bool silent);
ebrus 0:0a673c671a56 153
ebrus 0:0a673c671a56 154 enum Mode {
ebrus 0:0a673c671a56 155 Reset = 0,
ebrus 0:0a673c671a56 156 Normal,
ebrus 0:0a673c671a56 157 Silent,
ebrus 0:0a673c671a56 158 LocalTest,
ebrus 0:0a673c671a56 159 GlobalTest,
ebrus 0:0a673c671a56 160 SilentTest
ebrus 0:0a673c671a56 161 };
ebrus 0:0a673c671a56 162
ebrus 0:0a673c671a56 163 /** Change CAN operation to the specified mode
ebrus 0:0a673c671a56 164 *
ebrus 0:0a673c671a56 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
ebrus 0:0a673c671a56 166 *
ebrus 0:0a673c671a56 167 * @returns
ebrus 0:0a673c671a56 168 * 0 if mode change failed or unsupported,
ebrus 0:0a673c671a56 169 * 1 if mode change was successful
ebrus 0:0a673c671a56 170 */
ebrus 0:0a673c671a56 171 int mode(Mode mode);
ebrus 0:0a673c671a56 172
ebrus 0:0a673c671a56 173 /** Filter out incomming messages
ebrus 0:0a673c671a56 174 *
ebrus 0:0a673c671a56 175 * @param id the id to filter on
ebrus 0:0a673c671a56 176 * @param mask the mask applied to the id
ebrus 0:0a673c671a56 177 * @param format format to filter on (Default CANAny)
ebrus 0:0a673c671a56 178 * @param handle message filter handle (Optional)
ebrus 0:0a673c671a56 179 *
ebrus 0:0a673c671a56 180 * @returns
ebrus 0:0a673c671a56 181 * 0 if filter change failed or unsupported,
ebrus 0:0a673c671a56 182 * new filter handle if successful
ebrus 0:0a673c671a56 183 */
ebrus 0:0a673c671a56 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
ebrus 0:0a673c671a56 185
ebrus 0:0a673c671a56 186 /** Returns number of read errors to detect read overflow errors.
ebrus 0:0a673c671a56 187 */
ebrus 0:0a673c671a56 188 unsigned char rderror();
ebrus 0:0a673c671a56 189
ebrus 0:0a673c671a56 190 /** Returns number of write errors to detect write overflow errors.
ebrus 0:0a673c671a56 191 */
ebrus 0:0a673c671a56 192 unsigned char tderror();
ebrus 0:0a673c671a56 193
ebrus 0:0a673c671a56 194 enum IrqType {
ebrus 0:0a673c671a56 195 RxIrq = 0,
ebrus 0:0a673c671a56 196 TxIrq,
ebrus 0:0a673c671a56 197 EwIrq,
ebrus 0:0a673c671a56 198 DoIrq,
ebrus 0:0a673c671a56 199 WuIrq,
ebrus 0:0a673c671a56 200 EpIrq,
ebrus 0:0a673c671a56 201 AlIrq,
ebrus 0:0a673c671a56 202 BeIrq,
ebrus 0:0a673c671a56 203 IdIrq
ebrus 0:0a673c671a56 204 };
ebrus 0:0a673c671a56 205
ebrus 0:0a673c671a56 206 /** Attach a function to call whenever a CAN frame received interrupt is
ebrus 0:0a673c671a56 207 * generated.
ebrus 0:0a673c671a56 208 *
ebrus 0:0a673c671a56 209 * @param fptr A pointer to a void function, or 0 to set as none
ebrus 0:0a673c671a56 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)
ebrus 0:0a673c671a56 211 */
ebrus 0:0a673c671a56 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
ebrus 0:0a673c671a56 213
ebrus 0:0a673c671a56 214 /** Attach a member function to call whenever a CAN frame received interrupt
ebrus 0:0a673c671a56 215 * is generated.
ebrus 0:0a673c671a56 216 *
ebrus 0:0a673c671a56 217 * @param tptr pointer to the object to call the member function on
ebrus 0:0a673c671a56 218 * @param mptr pointer to the member function to be called
ebrus 0:0a673c671a56 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)
ebrus 0:0a673c671a56 220 */
ebrus 0:0a673c671a56 221 template<typename T>
ebrus 0:0a673c671a56 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
ebrus 0:0a673c671a56 223 if((mptr != NULL) && (tptr != NULL)) {
ebrus 0:0a673c671a56 224 _irq[type].attach(tptr, mptr);
ebrus 0:0a673c671a56 225 can_irq_set(&_can, (CanIrqType)type, 1);
ebrus 0:0a673c671a56 226 }
ebrus 0:0a673c671a56 227 else {
ebrus 0:0a673c671a56 228 can_irq_set(&_can, (CanIrqType)type, 0);
ebrus 0:0a673c671a56 229 }
ebrus 0:0a673c671a56 230 }
ebrus 0:0a673c671a56 231
ebrus 0:0a673c671a56 232 static void _irq_handler(uint32_t id, CanIrqType type);
ebrus 0:0a673c671a56 233
ebrus 0:0a673c671a56 234 protected:
ebrus 0:0a673c671a56 235 can_t _can;
ebrus 0:0a673c671a56 236 FunctionPointer _irq[9];
ebrus 0:0a673c671a56 237 };
ebrus 0:0a673c671a56 238
ebrus 0:0a673c671a56 239 } // namespace mbed
ebrus 0:0a673c671a56 240
ebrus 0:0a673c671a56 241 #endif
ebrus 0:0a673c671a56 242
ebrus 0:0a673c671a56 243 #endif // MBED_CAN_H