Renato Grottesi / mbed-dev-bin

Microbit as a BLE gamepad

Dependents:   microbit-dal

Fork of mbed-dev-bin by Lancaster University

CAN.h@4:bb4b3734941b, 2017-01-30 (annotated)

Committer:
rengro01
Date:
Mon Jan 30 08:23:23 2017 +0000
Revision:
4:bb4b3734941b
Parent:
0:e1a608bb55e8 
Microbit as a BLE gamepad

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jamesadevine 0:e1a608bb55e8 1 /* mbed Microcontroller Library
jamesadevine 0:e1a608bb55e8 2 * Copyright (c) 2006-2013 ARM Limited
jamesadevine 0:e1a608bb55e8 3 *
jamesadevine 0:e1a608bb55e8 4 * Licensed under the Apache License, Version 2.0 (the "License");
jamesadevine 0:e1a608bb55e8 5 * you may not use this file except in compliance with the License.
jamesadevine 0:e1a608bb55e8 6 * You may obtain a copy of the License at
jamesadevine 0:e1a608bb55e8 7 *
jamesadevine 0:e1a608bb55e8 8 * http://www.apache.org/licenses/LICENSE-2.0
jamesadevine 0:e1a608bb55e8 9 *
jamesadevine 0:e1a608bb55e8 10 * Unless required by applicable law or agreed to in writing, software
jamesadevine 0:e1a608bb55e8 11 * distributed under the License is distributed on an "AS IS" BASIS,
jamesadevine 0:e1a608bb55e8 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jamesadevine 0:e1a608bb55e8 13 * See the License for the specific language governing permissions and
jamesadevine 0:e1a608bb55e8 14 * limitations under the License.
jamesadevine 0:e1a608bb55e8 15 */
jamesadevine 0:e1a608bb55e8 16 #ifndef MBED_CAN_H
jamesadevine 0:e1a608bb55e8 17 #define MBED_CAN_H
jamesadevine 0:e1a608bb55e8 18
jamesadevine 0:e1a608bb55e8 19 #include "platform.h"
jamesadevine 0:e1a608bb55e8 20
jamesadevine 0:e1a608bb55e8 21 #if DEVICE_CAN
jamesadevine 0:e1a608bb55e8 22
jamesadevine 0:e1a608bb55e8 23 #include "can_api.h"
jamesadevine 0:e1a608bb55e8 24 #include "can_helper.h"
jamesadevine 0:e1a608bb55e8 25 #include "FunctionPointer.h"
jamesadevine 0:e1a608bb55e8 26
jamesadevine 0:e1a608bb55e8 27 namespace mbed {
jamesadevine 0:e1a608bb55e8 28
jamesadevine 0:e1a608bb55e8 29 /** CANMessage class
jamesadevine 0:e1a608bb55e8 30 */
jamesadevine 0:e1a608bb55e8 31 class CANMessage : public CAN_Message {
jamesadevine 0:e1a608bb55e8 32
jamesadevine 0:e1a608bb55e8 33 public:
jamesadevine 0:e1a608bb55e8 34 /** Creates empty CAN message.
jamesadevine 0:e1a608bb55e8 35 */
jamesadevine 0:e1a608bb55e8 36 CANMessage() : CAN_Message() {
jamesadevine 0:e1a608bb55e8 37 len = 8;
jamesadevine 0:e1a608bb55e8 38 type = CANData;
jamesadevine 0:e1a608bb55e8 39 format = CANStandard;
jamesadevine 0:e1a608bb55e8 40 id = 0;
jamesadevine 0:e1a608bb55e8 41 memset(data, 0, 8);
jamesadevine 0:e1a608bb55e8 42 }
jamesadevine 0:e1a608bb55e8 43
jamesadevine 0:e1a608bb55e8 44 /** Creates CAN message with specific content.
jamesadevine 0:e1a608bb55e8 45 */
jamesadevine 0:e1a608bb55e8 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
jamesadevine 0:e1a608bb55e8 47 len = _len & 0xF;
jamesadevine 0:e1a608bb55e8 48 type = _type;
jamesadevine 0:e1a608bb55e8 49 format = _format;
jamesadevine 0:e1a608bb55e8 50 id = _id;
jamesadevine 0:e1a608bb55e8 51 memcpy(data, _data, _len);
jamesadevine 0:e1a608bb55e8 52 }
jamesadevine 0:e1a608bb55e8 53
jamesadevine 0:e1a608bb55e8 54 /** Creates CAN remote message.
jamesadevine 0:e1a608bb55e8 55 */
jamesadevine 0:e1a608bb55e8 56 CANMessage(int _id, CANFormat _format = CANStandard) {
jamesadevine 0:e1a608bb55e8 57 len = 0;
jamesadevine 0:e1a608bb55e8 58 type = CANRemote;
jamesadevine 0:e1a608bb55e8 59 format = _format;
jamesadevine 0:e1a608bb55e8 60 id = _id;
jamesadevine 0:e1a608bb55e8 61 memset(data, 0, 8);
jamesadevine 0:e1a608bb55e8 62 }
jamesadevine 0:e1a608bb55e8 63 };
jamesadevine 0:e1a608bb55e8 64
jamesadevine 0:e1a608bb55e8 65 /** A can bus client, used for communicating with can devices
jamesadevine 0:e1a608bb55e8 66 */
jamesadevine 0:e1a608bb55e8 67 class CAN {
jamesadevine 0:e1a608bb55e8 68
jamesadevine 0:e1a608bb55e8 69 public:
jamesadevine 0:e1a608bb55e8 70 /** Creates an CAN interface connected to specific pins.
jamesadevine 0:e1a608bb55e8 71 *
jamesadevine 0:e1a608bb55e8 72 * @param rd read from transmitter
jamesadevine 0:e1a608bb55e8 73 * @param td transmit to transmitter
jamesadevine 0:e1a608bb55e8 74 *
jamesadevine 0:e1a608bb55e8 75 * Example:
jamesadevine 0:e1a608bb55e8 76 * @code
jamesadevine 0:e1a608bb55e8 77 * #include "mbed.h"
jamesadevine 0:e1a608bb55e8 78 *
jamesadevine 0:e1a608bb55e8 79 * Ticker ticker;
jamesadevine 0:e1a608bb55e8 80 * DigitalOut led1(LED1);
jamesadevine 0:e1a608bb55e8 81 * DigitalOut led2(LED2);
jamesadevine 0:e1a608bb55e8 82 * CAN can1(p9, p10);
jamesadevine 0:e1a608bb55e8 83 * CAN can2(p30, p29);
jamesadevine 0:e1a608bb55e8 84 *
jamesadevine 0:e1a608bb55e8 85 * char counter = 0;
jamesadevine 0:e1a608bb55e8 86 *
jamesadevine 0:e1a608bb55e8 87 * void send() {
jamesadevine 0:e1a608bb55e8 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
jamesadevine 0:e1a608bb55e8 89 * printf("Message sent: %d\n", counter);
jamesadevine 0:e1a608bb55e8 90 * counter++;
jamesadevine 0:e1a608bb55e8 91 * }
jamesadevine 0:e1a608bb55e8 92 * led1 = !led1;
jamesadevine 0:e1a608bb55e8 93 * }
jamesadevine 0:e1a608bb55e8 94 *
jamesadevine 0:e1a608bb55e8 95 * int main() {
jamesadevine 0:e1a608bb55e8 96 * ticker.attach(&send, 1);
jamesadevine 0:e1a608bb55e8 97 * CANMessage msg;
jamesadevine 0:e1a608bb55e8 98 * while(1) {
jamesadevine 0:e1a608bb55e8 99 * if(can2.read(msg)) {
jamesadevine 0:e1a608bb55e8 100 * printf("Message received: %d\n\n", msg.data[0]);
jamesadevine 0:e1a608bb55e8 101 * led2 = !led2;
jamesadevine 0:e1a608bb55e8 102 * }
jamesadevine 0:e1a608bb55e8 103 * wait(0.2);
jamesadevine 0:e1a608bb55e8 104 * }
jamesadevine 0:e1a608bb55e8 105 * }
jamesadevine 0:e1a608bb55e8 106 * @endcode
jamesadevine 0:e1a608bb55e8 107 */
jamesadevine 0:e1a608bb55e8 108 CAN(PinName rd, PinName td);
jamesadevine 0:e1a608bb55e8 109 virtual ~CAN();
jamesadevine 0:e1a608bb55e8 110
jamesadevine 0:e1a608bb55e8 111 /** Set the frequency of the CAN interface
jamesadevine 0:e1a608bb55e8 112 *
jamesadevine 0:e1a608bb55e8 113 * @param hz The bus frequency in hertz
jamesadevine 0:e1a608bb55e8 114 *
jamesadevine 0:e1a608bb55e8 115 * @returns
jamesadevine 0:e1a608bb55e8 116 * 1 if successful,
jamesadevine 0:e1a608bb55e8 117 * 0 otherwise
jamesadevine 0:e1a608bb55e8 118 */
jamesadevine 0:e1a608bb55e8 119 int frequency(int hz);
jamesadevine 0:e1a608bb55e8 120
jamesadevine 0:e1a608bb55e8 121 /** Write a CANMessage to the bus.
jamesadevine 0:e1a608bb55e8 122 *
jamesadevine 0:e1a608bb55e8 123 * @param msg The CANMessage to write.
jamesadevine 0:e1a608bb55e8 124 *
jamesadevine 0:e1a608bb55e8 125 * @returns
jamesadevine 0:e1a608bb55e8 126 * 0 if write failed,
jamesadevine 0:e1a608bb55e8 127 * 1 if write was successful
jamesadevine 0:e1a608bb55e8 128 */
jamesadevine 0:e1a608bb55e8 129 int write(CANMessage msg);
jamesadevine 0:e1a608bb55e8 130
jamesadevine 0:e1a608bb55e8 131 /** Read a CANMessage from the bus.
jamesadevine 0:e1a608bb55e8 132 *
jamesadevine 0:e1a608bb55e8 133 * @param msg A CANMessage to read to.
jamesadevine 0:e1a608bb55e8 134 * @param handle message filter handle (0 for any message)
jamesadevine 0:e1a608bb55e8 135 *
jamesadevine 0:e1a608bb55e8 136 * @returns
jamesadevine 0:e1a608bb55e8 137 * 0 if no message arrived,
jamesadevine 0:e1a608bb55e8 138 * 1 if message arrived
jamesadevine 0:e1a608bb55e8 139 */
jamesadevine 0:e1a608bb55e8 140 int read(CANMessage &msg, int handle = 0);
jamesadevine 0:e1a608bb55e8 141
jamesadevine 0:e1a608bb55e8 142 /** Reset CAN interface.
jamesadevine 0:e1a608bb55e8 143 *
jamesadevine 0:e1a608bb55e8 144 * To use after error overflow.
jamesadevine 0:e1a608bb55e8 145 */
jamesadevine 0:e1a608bb55e8 146 void reset();
jamesadevine 0:e1a608bb55e8 147
jamesadevine 0:e1a608bb55e8 148 /** Puts or removes the CAN interface into silent monitoring mode
jamesadevine 0:e1a608bb55e8 149 *
jamesadevine 0:e1a608bb55e8 150 * @param silent boolean indicating whether to go into silent mode or not
jamesadevine 0:e1a608bb55e8 151 */
jamesadevine 0:e1a608bb55e8 152 void monitor(bool silent);
jamesadevine 0:e1a608bb55e8 153
jamesadevine 0:e1a608bb55e8 154 enum Mode {
jamesadevine 0:e1a608bb55e8 155 Reset = 0,
jamesadevine 0:e1a608bb55e8 156 Normal,
jamesadevine 0:e1a608bb55e8 157 Silent,
jamesadevine 0:e1a608bb55e8 158 LocalTest,
jamesadevine 0:e1a608bb55e8 159 GlobalTest,
jamesadevine 0:e1a608bb55e8 160 SilentTest
jamesadevine 0:e1a608bb55e8 161 };
jamesadevine 0:e1a608bb55e8 162
jamesadevine 0:e1a608bb55e8 163 /** Change CAN operation to the specified mode
jamesadevine 0:e1a608bb55e8 164 *
jamesadevine 0:e1a608bb55e8 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
jamesadevine 0:e1a608bb55e8 166 *
jamesadevine 0:e1a608bb55e8 167 * @returns
jamesadevine 0:e1a608bb55e8 168 * 0 if mode change failed or unsupported,
jamesadevine 0:e1a608bb55e8 169 * 1 if mode change was successful
jamesadevine 0:e1a608bb55e8 170 */
jamesadevine 0:e1a608bb55e8 171 int mode(Mode mode);
jamesadevine 0:e1a608bb55e8 172
jamesadevine 0:e1a608bb55e8 173 /** Filter out incomming messages
jamesadevine 0:e1a608bb55e8 174 *
jamesadevine 0:e1a608bb55e8 175 * @param id the id to filter on
jamesadevine 0:e1a608bb55e8 176 * @param mask the mask applied to the id
jamesadevine 0:e1a608bb55e8 177 * @param format format to filter on (Default CANAny)
jamesadevine 0:e1a608bb55e8 178 * @param handle message filter handle (Optional)
jamesadevine 0:e1a608bb55e8 179 *
jamesadevine 0:e1a608bb55e8 180 * @returns
jamesadevine 0:e1a608bb55e8 181 * 0 if filter change failed or unsupported,
jamesadevine 0:e1a608bb55e8 182 * new filter handle if successful
jamesadevine 0:e1a608bb55e8 183 */
jamesadevine 0:e1a608bb55e8 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
jamesadevine 0:e1a608bb55e8 185
jamesadevine 0:e1a608bb55e8 186 /** Returns number of read errors to detect read overflow errors.
jamesadevine 0:e1a608bb55e8 187 */
jamesadevine 0:e1a608bb55e8 188 unsigned char rderror();
jamesadevine 0:e1a608bb55e8 189
jamesadevine 0:e1a608bb55e8 190 /** Returns number of write errors to detect write overflow errors.
jamesadevine 0:e1a608bb55e8 191 */
jamesadevine 0:e1a608bb55e8 192 unsigned char tderror();
jamesadevine 0:e1a608bb55e8 193
jamesadevine 0:e1a608bb55e8 194 enum IrqType {
jamesadevine 0:e1a608bb55e8 195 RxIrq = 0,
jamesadevine 0:e1a608bb55e8 196 TxIrq,
jamesadevine 0:e1a608bb55e8 197 EwIrq,
jamesadevine 0:e1a608bb55e8 198 DoIrq,
jamesadevine 0:e1a608bb55e8 199 WuIrq,
jamesadevine 0:e1a608bb55e8 200 EpIrq,
jamesadevine 0:e1a608bb55e8 201 AlIrq,
jamesadevine 0:e1a608bb55e8 202 BeIrq,
jamesadevine 0:e1a608bb55e8 203 IdIrq
jamesadevine 0:e1a608bb55e8 204 };
jamesadevine 0:e1a608bb55e8 205
jamesadevine 0:e1a608bb55e8 206 /** Attach a function to call whenever a CAN frame received interrupt is
jamesadevine 0:e1a608bb55e8 207 * generated.
jamesadevine 0:e1a608bb55e8 208 *
jamesadevine 0:e1a608bb55e8 209 * @param fptr A pointer to a void function, or 0 to set as none
jamesadevine 0:e1a608bb55e8 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)
jamesadevine 0:e1a608bb55e8 211 */
jamesadevine 0:e1a608bb55e8 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
jamesadevine 0:e1a608bb55e8 213
jamesadevine 0:e1a608bb55e8 214 /** Attach a member function to call whenever a CAN frame received interrupt
jamesadevine 0:e1a608bb55e8 215 * is generated.
jamesadevine 0:e1a608bb55e8 216 *
jamesadevine 0:e1a608bb55e8 217 * @param tptr pointer to the object to call the member function on
jamesadevine 0:e1a608bb55e8 218 * @param mptr pointer to the member function to be called
jamesadevine 0:e1a608bb55e8 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)
jamesadevine 0:e1a608bb55e8 220 */
jamesadevine 0:e1a608bb55e8 221 template<typename T>
jamesadevine 0:e1a608bb55e8 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
jamesadevine 0:e1a608bb55e8 223 if((mptr != NULL) && (tptr != NULL)) {
jamesadevine 0:e1a608bb55e8 224 _irq[type].attach(tptr, mptr);
jamesadevine 0:e1a608bb55e8 225 can_irq_set(&_can, (CanIrqType)type, 1);
jamesadevine 0:e1a608bb55e8 226 }
jamesadevine 0:e1a608bb55e8 227 else {
jamesadevine 0:e1a608bb55e8 228 can_irq_set(&_can, (CanIrqType)type, 0);
jamesadevine 0:e1a608bb55e8 229 }
jamesadevine 0:e1a608bb55e8 230 }
jamesadevine 0:e1a608bb55e8 231
jamesadevine 0:e1a608bb55e8 232 static void _irq_handler(uint32_t id, CanIrqType type);
jamesadevine 0:e1a608bb55e8 233
jamesadevine 0:e1a608bb55e8 234 protected:
jamesadevine 0:e1a608bb55e8 235 can_t _can;
jamesadevine 0:e1a608bb55e8 236 FunctionPointer _irq[9];
jamesadevine 0:e1a608bb55e8 237 };
jamesadevine 0:e1a608bb55e8 238
jamesadevine 0:e1a608bb55e8 239 } // namespace mbed
jamesadevine 0:e1a608bb55e8 240
jamesadevine 0:e1a608bb55e8 241 #endif
jamesadevine 0:e1a608bb55e8 242
jamesadevine 0:e1a608bb55e8 243 #endif // MBED_CAN_H