Sameera Nawarathne
eeprom adding
Fork of
SEEED_CAN
by 
Sophie Dexter
Diff: seeed_can.h
- Revision:
- 1:ad71faa09868
- Parent:
- 0:f5d099885d3d
- Child:
- 2:fd026fcfde94
--- a/seeed_can.h Tue Nov 05 22:37:35 2013 +0000
+++ b/seeed_can.h Wed Nov 06 20:16:11 2013 +0000
@@ -63,25 +63,32 @@
*/
class SEEED_CAN
{
- /** can operator functions
- */
public:
- /** Create a SEEED_CAN interface, connected to the specified pins
+ /** Seeed Studios CAN-BUS Shield Constructor - Create a SEEED_CAN interface connected to the specified pins.
*
- * The Seeed Studio CAN-BUS shield is an Arduino compatible shield and connects to the FRDM-KL25Z SPI0 interface using pins PTD2 (mosi) PTD3 (miso) PTD1 (clk). The Active low chip select normally connects to the FRDM-KL25Z's PTD0 pin, but there is an option on the Seeed Studio CAN-BUS shield to connect to the PTD5 pin. The CAN-BUS shield uses the FRDM-KL25Z's PTD4 pin for its (active low) interrupt capability.
+ * The Seeed Studio CAN-BUS shield is an Arduino compatible shield and connects to the FRDM-KL25Z SPI0 interface using pins PTD2 (mosi) PTD3 (miso) PTD1 (clk). The Active low chip select normally connects to the FRDM-KL25Z's PTD0 pin, but there is an option on the Seeed Studio CAN-BUS shield to connect to the PTD5 pin. The CAN-BUS shield uses the FRDM-KL25Z's PTD4 pin for its (active low) interrupt capability. The defaults allow you to plug the Seeed Studios' CAN-BUS Shield into a FRDM-KL25Z mbed and it to work without specifying any parameters.
*
- * @param ncs Active low chip select (This function accepts mbed (PTD0/5) and Seeed Studios' (CS/IO9) pin names. The default value would be PTD0 or CS but if you change the link on the Seeed Studios CAN-BUS shield you should use a volue of PTD5 or IO9 instead).
+ * @param ncs Active low chip select (default SEEED_CAN_CS is FRDM-KL25Z PTD0 pin but if you change the link on the Seeed Studios CAN-BUS shield you should use a value of SEEED_CAN_IO9 or PTD5 instead).
* @param irq Active low interrupt pin (default SEEED_CAN_IRQ is FRDM-KL25Z PTD4 pin).
* @param mosi SPI Master Out, Slave In pin (default SEEED_CAN_MOSI is FRDM-KL25Z PTD2 pin).
* @param miso SPI Master In, Slave Out pin (default SEEED_CAN_MISO is FRDM-KL25Z PTD3 pin).
* @param clk SPI Clock pin (default SEEED_CAN_MISO is FRDM-KL25Z PTD1 pin).
* @param spiBitrate SPI Clock frequency (default: 1 MHz).
- * @param canBitrate CAN Bus Clock frequency (default: 100 kHz).
*/
- SEEED_CAN(PinName ncs, PinName irq=SEEED_CAN_IRQ, PinName mosi=SEEED_CAN_MOSI, PinName miso=SEEED_CAN_MISO, PinName clk=SEEED_CAN_CLK, int spiBitrate=1000000, int canBitrate=100000);
+ SEEED_CAN(PinName ncs=SEEED_CAN_CS, PinName irq=SEEED_CAN_IRQ, PinName mosi=SEEED_CAN_MOSI, PinName miso=SEEED_CAN_MISO, PinName clk=SEEED_CAN_CLK, int spiBitrate=1000000);
// virtual ~SEEED_CAN(); // !!! Need a de-constructor for the interrrupt pin !!!
- /** Set the frequency of the CAN interface
+ /** Open initialises the Seeed Studios CAN-BUS Shield.
+ *
+ * @param canBitrate CAN Bus Clock frequency (default: 100 kHz).
+ *
+ * @returns
+ * 1 if successful,
+ * 0 otherwise
+ */
+ int open(int canBitrate=100000);
+
+ /** Set the CAN bus frequency (Bit Rate)
*
* @param hz The bus frequency in Hertz
*
@@ -89,28 +96,28 @@
* 1 if successful,
* 0 otherwise
*/
- int frequency(int setBitRate);
+ int frequency(int canBitRate);
- /** Write a CANMessage to the bus.
+ /** Read a CAN bus message from the MCP2515 (if one has been received)
+ *
+ * @param msg A CANMessage to read to.
+ *
+ * @returns
+ * 1 if any messages have arrived
+ * 0 if no message arrived,
+ */
+ int read(SEEED_CANMessage &msg);
+
+ /** Write a CAN bus message to the MCP2515 (if there is a free message buffer)
*
* @param msg The CANMessage to write.
*
* @returns
+ * 1 if write was successful
* 0 if write failed,
- * 1 if write was successful
*/
int write(SEEED_CANMessage msg);
- /** Read a CANMessage from the bus.
- *
- * @param msg A CANMessage to read to.
- *
- * @returns
- * 0 if no message arrived,
- * 1 if message arrived
- */
- int read(SEEED_CANMessage &msg);
-
/** Configure one of the Accpetance Masks (0 or 1)
*
* @param maskNum The number of the Acceptance Mask to configure (Acceptance Mask 0 is associated with Filters 0 and 1, Acceptance Mask 1 is associated with Filters 2 through 5).
@@ -118,10 +125,10 @@
* @param format Describes if the Acceptance Mask is for a standard (CANStandard) or extended (CANExtended) CAN message frame format (default: CANStandard).
*
* @returns
+ * 1 if Acceptance Mask was set
* 0 if the Acceptance Mask could not be set
- * 1 if Acceptance Mask was set
*/
- int Mask(int maskNum, int canId, CANFormat format = CANStandard);
+ int mask(int maskNum, int canId, CANFormat format = CANStandard);
/** Configure one of the Acceptance Filters (0 through 5)
*
@@ -130,24 +137,30 @@
* @param format Describes if the Acceptance Filter is for a standard (CANStandard) or extended (CANExtended) CAN message frame format (default: CANStandard).
*
* @returns
+ * 1 if Acceptance Filter was set
* 0 if the Acceptance Filter could not be set
- * 1 if Acceptance Filter was set
*/
- int Filter(int filterNum, int canId, CANFormat format = CANStandard);
+ int filter(int filterNum, int canId, CANFormat format = CANStandard);
/** Returns number of message reception (read) errors to detect read overflow errors.
+ *
+ * @returns
+ * Number of reception errors
*/
unsigned char rderror(void);
/** Returns number of message transmission (write) errors to detect write overflow errors.
+ *
+ * @returns
+ * Number of transmission errors
*/
unsigned char tderror(void);
- /** Check if any type of error
+ /** Check if any type of error has been detected on the CAN bus
*
* @returns
+ * 1 if any type of error has been detected
* 0 if no errors
- * 1 if any type of error has been detected
*/
int errors(void);
@@ -166,13 +179,13 @@
Reset
};
- /** Change CAN operation to the specified mode
+ /** Change the Seeed Studios CAN-BUS shield CAN operation mode
*
* @param mode The new operation mode (SEED_CAN::Normal, SEED_CAN::Sleep, SEED_CAN::Loopback, SEED_CAN::Monitor, SEEED_CAN::Reset)
*
* @returns
+ * 1 if mode change was successful
* 0 if mode change failed or unsupported,
- * 1 if mode change was successful
*/
int mode(Mode mode);
@@ -188,16 +201,14 @@
IdIrq
};
- /** Attach a function to call whenever a CAN frame received interrupt is
- * generated.
+ /** 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.
+ /** 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
@@ -205,18 +216,23 @@
*/
template<typename T>
void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
- _can.irq.fall(tptr, mptr);
-/* 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);
- }*/
+ _callback_irq.attach(tptr, mptr);
+ mcpWrite(obj, MCP_CANINTE, MCP_RX0IF | MCP_RX1IF); // RX buffers can generate a interrupt
+// _can.irq.fall(tptr, mptr);
+ /* 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);
+ }*/
}
+ void call_irq(void) { _callback_irq.call(); }
+
protected:
- SPI _spi;
- can_t _can;
+ SPI _spi;
+ can_t _can;
+ FunctionPointer _callback_irq;
};