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cpp/CAN.h@0:fd0d7bdfcdc2, 2012-11-20 (annotated)

Committer:
mbed_official
Date:
Tue Nov 20 17:24:08 2012 +0000
Revision:
0:fd0d7bdfcdc2
Child:
2:143cac498751
mbed sources

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mbed_official 0:fd0d7bdfcdc2 1 /* mbed Microcontroller Library
mbed_official 0:fd0d7bdfcdc2 2 * Copyright (c) 2006-2012 ARM Limited
mbed_official 0:fd0d7bdfcdc2 3 *
mbed_official 0:fd0d7bdfcdc2 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
mbed_official 0:fd0d7bdfcdc2 5 * of this software and associated documentation files (the "Software"), to deal
mbed_official 0:fd0d7bdfcdc2 6 * in the Software without restriction, including without limitation the rights
mbed_official 0:fd0d7bdfcdc2 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
mbed_official 0:fd0d7bdfcdc2 8 * copies of the Software, and to permit persons to whom the Software is
mbed_official 0:fd0d7bdfcdc2 9 * furnished to do so, subject to the following conditions:
mbed_official 0:fd0d7bdfcdc2 10 *
mbed_official 0:fd0d7bdfcdc2 11 * The above copyright notice and this permission notice shall be included in
mbed_official 0:fd0d7bdfcdc2 12 * all copies or substantial portions of the Software.
mbed_official 0:fd0d7bdfcdc2 13 *
mbed_official 0:fd0d7bdfcdc2 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
mbed_official 0:fd0d7bdfcdc2 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
mbed_official 0:fd0d7bdfcdc2 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
mbed_official 0:fd0d7bdfcdc2 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
mbed_official 0:fd0d7bdfcdc2 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
mbed_official 0:fd0d7bdfcdc2 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
mbed_official 0:fd0d7bdfcdc2 20 * SOFTWARE.
mbed_official 0:fd0d7bdfcdc2 21 */
mbed_official 0:fd0d7bdfcdc2 22 #ifndef MBED_CAN_H
mbed_official 0:fd0d7bdfcdc2 23 #define MBED_CAN_H
mbed_official 0:fd0d7bdfcdc2 24
mbed_official 0:fd0d7bdfcdc2 25 #include "platform.h"
mbed_official 0:fd0d7bdfcdc2 26
mbed_official 0:fd0d7bdfcdc2 27 #if DEVICE_CAN
mbed_official 0:fd0d7bdfcdc2 28
mbed_official 0:fd0d7bdfcdc2 29 #include "can_api.h"
mbed_official 0:fd0d7bdfcdc2 30 #include "can_helper.h"
mbed_official 0:fd0d7bdfcdc2 31 #include "FunctionPointer.h"
mbed_official 0:fd0d7bdfcdc2 32
mbed_official 0:fd0d7bdfcdc2 33 namespace mbed {
mbed_official 0:fd0d7bdfcdc2 34
mbed_official 0:fd0d7bdfcdc2 35 /** CANMessage class
mbed_official 0:fd0d7bdfcdc2 36 */
mbed_official 0:fd0d7bdfcdc2 37 class CANMessage : public CAN_Message {
mbed_official 0:fd0d7bdfcdc2 38
mbed_official 0:fd0d7bdfcdc2 39 public:
mbed_official 0:fd0d7bdfcdc2 40 /** Creates empty CAN message.
mbed_official 0:fd0d7bdfcdc2 41 */
mbed_official 0:fd0d7bdfcdc2 42 CANMessage() {
mbed_official 0:fd0d7bdfcdc2 43 len = 8;
mbed_official 0:fd0d7bdfcdc2 44 type = CANData;
mbed_official 0:fd0d7bdfcdc2 45 format = CANStandard;
mbed_official 0:fd0d7bdfcdc2 46 id = 0;
mbed_official 0:fd0d7bdfcdc2 47 memset(data, 0, 8);
mbed_official 0:fd0d7bdfcdc2 48 }
mbed_official 0:fd0d7bdfcdc2 49
mbed_official 0:fd0d7bdfcdc2 50 /** Creates CAN message with specific content.
mbed_official 0:fd0d7bdfcdc2 51 */
mbed_official 0:fd0d7bdfcdc2 52 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
mbed_official 0:fd0d7bdfcdc2 53 len = _len & 0xF;
mbed_official 0:fd0d7bdfcdc2 54 type = _type;
mbed_official 0:fd0d7bdfcdc2 55 format = _format;
mbed_official 0:fd0d7bdfcdc2 56 id = _id;
mbed_official 0:fd0d7bdfcdc2 57 memcpy(data, _data, _len);
mbed_official 0:fd0d7bdfcdc2 58 }
mbed_official 0:fd0d7bdfcdc2 59
mbed_official 0:fd0d7bdfcdc2 60 /** Creates CAN remote message.
mbed_official 0:fd0d7bdfcdc2 61 */
mbed_official 0:fd0d7bdfcdc2 62 CANMessage(int _id, CANFormat _format = CANStandard) {
mbed_official 0:fd0d7bdfcdc2 63 len = 0;
mbed_official 0:fd0d7bdfcdc2 64 type = CANRemote;
mbed_official 0:fd0d7bdfcdc2 65 format = _format;
mbed_official 0:fd0d7bdfcdc2 66 id = _id;
mbed_official 0:fd0d7bdfcdc2 67 memset(data, 0, 8);
mbed_official 0:fd0d7bdfcdc2 68 }
mbed_official 0:fd0d7bdfcdc2 69 };
mbed_official 0:fd0d7bdfcdc2 70
mbed_official 0:fd0d7bdfcdc2 71 /** A can bus client, used for communicating with can devices
mbed_official 0:fd0d7bdfcdc2 72 */
mbed_official 0:fd0d7bdfcdc2 73 class CAN {
mbed_official 0:fd0d7bdfcdc2 74
mbed_official 0:fd0d7bdfcdc2 75 public:
mbed_official 0:fd0d7bdfcdc2 76 /** Creates an CAN interface connected to specific pins.
mbed_official 0:fd0d7bdfcdc2 77 *
mbed_official 0:fd0d7bdfcdc2 78 * @param rd read from transmitter
mbed_official 0:fd0d7bdfcdc2 79 * @param td transmit to transmitter
mbed_official 0:fd0d7bdfcdc2 80 *
mbed_official 0:fd0d7bdfcdc2 81 * Example:
mbed_official 0:fd0d7bdfcdc2 82 * @code
mbed_official 0:fd0d7bdfcdc2 83 * #include "mbed.h"
mbed_official 0:fd0d7bdfcdc2 84 *
mbed_official 0:fd0d7bdfcdc2 85 * Ticker ticker;
mbed_official 0:fd0d7bdfcdc2 86 * DigitalOut led1(LED1);
mbed_official 0:fd0d7bdfcdc2 87 * DigitalOut led2(LED2);
mbed_official 0:fd0d7bdfcdc2 88 * CAN can1(p9, p10);
mbed_official 0:fd0d7bdfcdc2 89 * CAN can2(p30, p29);
mbed_official 0:fd0d7bdfcdc2 90 *
mbed_official 0:fd0d7bdfcdc2 91 * char counter = 0;
mbed_official 0:fd0d7bdfcdc2 92 *
mbed_official 0:fd0d7bdfcdc2 93 * void send() {
mbed_official 0:fd0d7bdfcdc2 94 * if(can1.write(CANMessage(1337, &counter, 1))) {
mbed_official 0:fd0d7bdfcdc2 95 * printf("Message sent: %d\n", counter);
mbed_official 0:fd0d7bdfcdc2 96 * counter++;
mbed_official 0:fd0d7bdfcdc2 97 * }
mbed_official 0:fd0d7bdfcdc2 98 * led1 = !led1;
mbed_official 0:fd0d7bdfcdc2 99 * }
mbed_official 0:fd0d7bdfcdc2 100 *
mbed_official 0:fd0d7bdfcdc2 101 * int main() {
mbed_official 0:fd0d7bdfcdc2 102 * ticker.attach(&send, 1);
mbed_official 0:fd0d7bdfcdc2 103 * CANMessage msg;
mbed_official 0:fd0d7bdfcdc2 104 * while(1) {
mbed_official 0:fd0d7bdfcdc2 105 * if(can2.read(msg)) {
mbed_official 0:fd0d7bdfcdc2 106 * printf("Message received: %d\n\n", msg.data[0]);
mbed_official 0:fd0d7bdfcdc2 107 * led2 = !led2;
mbed_official 0:fd0d7bdfcdc2 108 * }
mbed_official 0:fd0d7bdfcdc2 109 * wait(0.2);
mbed_official 0:fd0d7bdfcdc2 110 * }
mbed_official 0:fd0d7bdfcdc2 111 * }
mbed_official 0:fd0d7bdfcdc2 112 * @endcode
mbed_official 0:fd0d7bdfcdc2 113 */
mbed_official 0:fd0d7bdfcdc2 114 CAN(PinName rd, PinName td);
mbed_official 0:fd0d7bdfcdc2 115 virtual ~CAN();
mbed_official 0:fd0d7bdfcdc2 116
mbed_official 0:fd0d7bdfcdc2 117 /** Set the frequency of the CAN interface
mbed_official 0:fd0d7bdfcdc2 118 *
mbed_official 0:fd0d7bdfcdc2 119 * @param hz The bus frequency in hertz
mbed_official 0:fd0d7bdfcdc2 120 *
mbed_official 0:fd0d7bdfcdc2 121 * @returns
mbed_official 0:fd0d7bdfcdc2 122 * 1 if successful,
mbed_official 0:fd0d7bdfcdc2 123 * 0 otherwise
mbed_official 0:fd0d7bdfcdc2 124 */
mbed_official 0:fd0d7bdfcdc2 125 int frequency(int hz);
mbed_official 0:fd0d7bdfcdc2 126
mbed_official 0:fd0d7bdfcdc2 127 /** Write a CANMessage to the bus.
mbed_official 0:fd0d7bdfcdc2 128 *
mbed_official 0:fd0d7bdfcdc2 129 * @param msg The CANMessage to write.
mbed_official 0:fd0d7bdfcdc2 130 *
mbed_official 0:fd0d7bdfcdc2 131 * @returns
mbed_official 0:fd0d7bdfcdc2 132 * 0 if write failed,
mbed_official 0:fd0d7bdfcdc2 133 * 1 if write was successful
mbed_official 0:fd0d7bdfcdc2 134 */
mbed_official 0:fd0d7bdfcdc2 135 int write(CANMessage msg);
mbed_official 0:fd0d7bdfcdc2 136
mbed_official 0:fd0d7bdfcdc2 137 /** Read a CANMessage from the bus.
mbed_official 0:fd0d7bdfcdc2 138 *
mbed_official 0:fd0d7bdfcdc2 139 * @param msg A CANMessage to read to.
mbed_official 0:fd0d7bdfcdc2 140 *
mbed_official 0:fd0d7bdfcdc2 141 * @returns
mbed_official 0:fd0d7bdfcdc2 142 * 0 if no message arrived,
mbed_official 0:fd0d7bdfcdc2 143 * 1 if message arrived
mbed_official 0:fd0d7bdfcdc2 144 */
mbed_official 0:fd0d7bdfcdc2 145 int read(CANMessage &msg);
mbed_official 0:fd0d7bdfcdc2 146
mbed_official 0:fd0d7bdfcdc2 147 /** Reset CAN interface.
mbed_official 0:fd0d7bdfcdc2 148 *
mbed_official 0:fd0d7bdfcdc2 149 * To use after error overflow.
mbed_official 0:fd0d7bdfcdc2 150 */
mbed_official 0:fd0d7bdfcdc2 151 void reset();
mbed_official 0:fd0d7bdfcdc2 152
mbed_official 0:fd0d7bdfcdc2 153 /** Puts or removes the CAN interface into silent monitoring mode
mbed_official 0:fd0d7bdfcdc2 154 *
mbed_official 0:fd0d7bdfcdc2 155 * @param silent boolean indicating whether to go into silent mode or not
mbed_official 0:fd0d7bdfcdc2 156 */
mbed_official 0:fd0d7bdfcdc2 157 void monitor(bool silent);
mbed_official 0:fd0d7bdfcdc2 158
mbed_official 0:fd0d7bdfcdc2 159 /** Returns number of read errors to detect read overflow errors.
mbed_official 0:fd0d7bdfcdc2 160 */
mbed_official 0:fd0d7bdfcdc2 161 unsigned char rderror();
mbed_official 0:fd0d7bdfcdc2 162
mbed_official 0:fd0d7bdfcdc2 163 /** Returns number of write errors to detect write overflow errors.
mbed_official 0:fd0d7bdfcdc2 164 */
mbed_official 0:fd0d7bdfcdc2 165 unsigned char tderror();
mbed_official 0:fd0d7bdfcdc2 166
mbed_official 0:fd0d7bdfcdc2 167 /** Attach a function to call whenever a CAN frame received interrupt is
mbed_official 0:fd0d7bdfcdc2 168 * generated.
mbed_official 0:fd0d7bdfcdc2 169 *
mbed_official 0:fd0d7bdfcdc2 170 * @param fptr A pointer to a void function, or 0 to set as none
mbed_official 0:fd0d7bdfcdc2 171 */
mbed_official 0:fd0d7bdfcdc2 172 void attach(void (*fptr)(void));
mbed_official 0:fd0d7bdfcdc2 173
mbed_official 0:fd0d7bdfcdc2 174 /** Attach a member function to call whenever a CAN frame received interrupt
mbed_official 0:fd0d7bdfcdc2 175 * is generated.
mbed_official 0:fd0d7bdfcdc2 176 *
mbed_official 0:fd0d7bdfcdc2 177 * @param tptr pointer to the object to call the member function on
mbed_official 0:fd0d7bdfcdc2 178 * @param mptr pointer to the member function to be called
mbed_official 0:fd0d7bdfcdc2 179 */
mbed_official 0:fd0d7bdfcdc2 180 template<typename T>
mbed_official 0:fd0d7bdfcdc2 181 void attach(T* tptr, void (T::*mptr)(void)) {
mbed_official 0:fd0d7bdfcdc2 182 if((mptr != NULL) && (tptr != NULL)) {
mbed_official 0:fd0d7bdfcdc2 183 _rxirq.attach(tptr, mptr);
mbed_official 0:fd0d7bdfcdc2 184 setup_interrupt();
mbed_official 0:fd0d7bdfcdc2 185 } else {
mbed_official 0:fd0d7bdfcdc2 186 remove_interrupt();
mbed_official 0:fd0d7bdfcdc2 187 }
mbed_official 0:fd0d7bdfcdc2 188 }
mbed_official 0:fd0d7bdfcdc2 189
mbed_official 0:fd0d7bdfcdc2 190 private:
mbed_official 0:fd0d7bdfcdc2 191 can_t _can;
mbed_official 0:fd0d7bdfcdc2 192 FunctionPointer _rxirq;
mbed_official 0:fd0d7bdfcdc2 193
mbed_official 0:fd0d7bdfcdc2 194 void setup_interrupt(void);
mbed_official 0:fd0d7bdfcdc2 195 void remove_interrupt(void);
mbed_official 0:fd0d7bdfcdc2 196 };
mbed_official 0:fd0d7bdfcdc2 197
mbed_official 0:fd0d7bdfcdc2 198 } // namespace mbed
mbed_official 0:fd0d7bdfcdc2 199
mbed_official 0:fd0d7bdfcdc2 200 #endif
mbed_official 0:fd0d7bdfcdc2 201
mbed_official 0:fd0d7bdfcdc2 202 #endif // MBED_CAN_H