File content as of revision 2:fd026fcfde94:

/* seeed_can.h
 * Copyright (c) 2013 Sophie Dexter
 *
 * 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.
 */
#ifndef _SEEED_CAN_H_
#define _SEEED_CAN_H_

#include "seeed_can_api.h"

// if print debug information
#define DEBUG

/** CANMessage class
 */
class SEEED_CANMessage : public CAN_Message
{

public:
    /** Creates empty CAN message.
     */
    SEEED_CANMessage() {
        id     = 0;
        memset(data, 0, 8);
        len    = 8;
        type   = CANData;
        format = CANStandard;
    }

    /** Creates CAN message with specific content.
     */
    SEEED_CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
        id     = _id;
        memcpy(data, _data, _len);
        len    = _len & 0xF;
        type   = _type;
        format = _format;
    }

    /** Creates CAN remote message.
     */
    SEEED_CANMessage(int _id, CANFormat _format = CANStandard) {
        id     = _id;
        memset(data, 0, 8);
        len    = 0;
        type   = CANRemote;
        format = _format;
    }
};


/** A can bus client, used for communicating with Seeed Studios' CAN-BUS Arduino Shield.
 */
class SEEED_CAN
{
public:
    /** 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 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, @b default: @p SEEED_CAN_CS is FRDM-KL25Z PTD0 pin (p9 on LPC1768).
     *  @n 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, @b default: @p SEEED_CAN_IRQ is FRDM-KL25Z PTD4 pin (p10 on LPC1768).
     *  @param mosi SPI Master Out, Slave In pin, @b default: @p SEEED_CAN_MOSI is FRDM-KL25Z PTD2 pin (p11 on LPC1768).
     *  @param miso SPI Master In, Slave Out pin, @b default: :p SEEED_CAN_MISO is FRDM-KL25Z PTD3 pin (p12 on LPC1768).
     *  @param clk SPI Clock pin, @b default: @p SEEED_CAN_MISO is FRDM-KL25Z PTD1 pin (p13 on LPC1768).
     *  @param spiBitrate SPI Clock frequency, @b default: @p 1000000 (1 MHz).
     */
#if defined MKL25Z4_H_                                                  // defined in MKL25Z4.h
    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);
#elif defined __LPC17xx_H__                                             // defined in LPC17xx.h
    SEEED_CAN(PinName ncs=p9, PinName irq=p10, PinName mosi=p11, PinName miso=p12, PinName clk=p13, int spiBitrate=1000000);
#else                                                                   // No default constructor for other...
    SEEED_CAN(PinName ncs, PinName irq, PinName mosi, PinName miso, PinName clk, int spiBitrate=1000000);
#endif
//    virtual ~SEEED_CAN(); // !!! Need a de-constructor for the interrrupt pin !!!

    enum Mode {
        Normal = 0,
        Sleep,
        Loopback,
        Monitor,
        Config,
        Reset
    };

    /** Open initialises the Seeed Studios CAN-BUS Shield.
     *
     *  @param canBitrate CAN Bus Clock frequency, @b default: @p 100000 (100 kHz).
     *  @param mode The initial operation mode, @b default: @p Normal.
     *  @n @p SEEED_CAN::Normal - Normal mode is the standard operating mode,
     *  @n @p SEEED_CAN::Monitor - This mode can be used for bus monitor applications.
     *  @n @p SEEED_CAN::Sleep - This mode can be used to minimize the current consumption,
     *  @n @p SEEED_CAN::Loopback - This mode can be used in system development and testing.
     *  @n @p SEEED_CAN::Config - Open with this mode to prevent unwanted messages being received while you configure Filters.
     *
     *  @returns
     *     1 if successful,
     *  @n 0 otherwise
     */
    int open(int canBitrate=100000, Mode mode = Normal);

    /** Puts or removes the Seeed Studios CAN-BUS shield into or from silent monitoring mode.
     *
     *  @param silent boolean indicating whether to go into silent mode or not.
     */
    void monitor(bool silent);

    /** Change the Seeed Studios CAN-BUS shield CAN operation mode.
     *
     *  @param mode The new operation mode
     *  @n @p SEEED_CAN::Normal - Normal mode is the standard operating mode,
     *  @n @p SEEED_CAN::Monitor - This mode can be used for bus monitor applications.
     *  @n @p SEEED_CAN::Sleep - This mode can be used to minimize the current consumption,
     *  @n @p SEEED_CAN::Loopback - This mode can be used in system development and testing.
     *  @n @p SEEED_CAN::Reset - Reset the MCP2515 device and stay in Configuration mode.
     *
     *  @returns
     *     1 if mode change was successful
     *  @n 0 if mode change failed or unsupported,
     */
    int mode(Mode mode);

    /** Set the CAN bus frequency (Bit Rate)
     *
     *  @param hz The bus frequency in Hertz
     *
     *  @returns
     *     1 if successful,
     *  @n 0 otherwise
     */
    int frequency(int canBitRate);

    /** 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
     *  @n 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
     *  @n 0 if write failed,
     */
    int write(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).
     *  @param canId CAN Id Mask bits (Acceptance Filters are only compared against bits that are set to '1' in an Acceptance Mask (e.g. mask 0x07F0 and filter 0x03F0 would allow through messages with CAN Id's 0x03F0 through 0x03FF because the 4 LSBs of the CAN Id are not filtered).
     *  @param format Describes if the Acceptance Mask is for a standard (CANStandard) or extended (CANExtended) CAN message frame format, @b default: @p CANStandard.
     *
     *  @returns
     *     1 if Acceptance Mask was set
     *  @n 0 if the Acceptance Mask could not be set
     */
    int mask(int maskNum, int canId, CANFormat format = CANStandard);

    /** Configure one of the Acceptance Filters (0 through 5)
     *
     *  @param filterNum The number of the Acceptance Filter to configure (Acceptance Filters 0 and 1 are associated with Mask 0, Acceptance Filters 2 through 5 are associated with Mask 1).
     *  @param canId CAN Id Filter bits (Acceptance Filters are only compared against bits that are set to '1' in an Acceptance Mask (e.g. mask 0x07F0 and filter 0x03F0 would allow through messages with CAN Id's 0x03F0 through 0x03FF because the 4 LSBs of the CAN Id are not filtered).
     *  @param format Describes if the Acceptance Filter is for a standard (CANStandard) or extended (CANExtended) CAN message frame format, @b default: @p CANStandard.
     *
     *  @returns
     *     1 if Acceptance Filter was set
     *  @n 0 if the Acceptance Filter could not be set
     */
    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);

    enum ErrorType {
        AnyError = 0,
        Errors,
        Warnings,
        Rx1Ovr,
        Rx0Ovr,
        TxBOff,
        TxPasv,
        RxPasv,
        TxWarn,
        RxWarn,
        EWarn
    };

    /** Check if any type of error has been detected on the CAN bus
     *
     *  @param error Specify which type of error to report on, @b default: @p AnyError.
     *  @n @p SEEED_CAN::AnyError - Any one or more of the following errors and warnings:
     *  @n @p SEEED_CAN::Errors - Any one or more of the 5 errors:
     *  @n @p SEEED_CAN::Rx1Ovr - Receive Buffer 1 Overflow Flag bit,
     *  @n @p SEEED_CAN::Rx0Ovr - Receive Buffer 0 Overflow Flag bit,
     *  @n @p SEEED_CAN::TxBOff - Bus-Off Error Flag bit,
     *  @n @p SEEED_CAN::TxPasv - Transmit Error-Passive Flag bit,
     *  @n @p SEEED_CAN::RxPasv - Receive Error-Passive Flag bit,
     *  @n @p SEEED_CAN::Warnings - Any one or more of the 3 warnings:
     *  @n @p SEEED_CAN::TxWarn - Transmit Error Warning Flag bit,
     *  @n @p SEEED_CAN::RxWarn - Receive Error Warning Flag bit,
     *  @n @p SEEED_CAN::EWarn - Error Warning Flag bit.
     *
     *  @returns
     *     1 if specified type of error has been detected
     *  @n 0 if no errors
     */
    int errors(ErrorType type = AnyError);

    /** Returns the contents of the MCP2515's Error Flag register
     *
     *  @returns
     *     @b Bit_7 - RX1OVR: Receive Buffer 1 Overflow Flag bit - Set when a valid message is received for RXB1 and CANINTF.RX1IF = 1 - Must be reset by MCU,
     *  @n @b Bit_6 - RX0OVR: Receive Buffer 1 Overflow Flag bit - Set when a valid message is received for RXB0 and CANINTF.RX0IF = 1 - Must be reset by MCU,
     *  @n @b Bit_5 - TXBO: Bus-Off Error Flag bit - Bit set when TEC reaches 255 - Reset after a successful bus recovery sequence,
     *  @n @b Bit_4 - TXEP: Transmit Error-Passive Flag bit - Set when TEC is >= 128 - Reset when TEC is less than 128,
     *  @n @b Bit_3 - RXEP: Receive Error-Passive Flag bit - Set when REC is >= 128 - Reset when REC is less than 128,
     *  @n @b Bit_2 - TXWAR: Transmit Error Warning Flag bit - Set when TEC is >= 96 - Reset when TEC is less than 96,
     *  @n @b Bit_1 - RXWAR: Receive Error Warning Flag bit - Set when REC is >= 96 - Reset when REC is less than 96,
     *  @n @b Bit_0 - EWARN: Error Warning Flag bit - Set when TEC or REC is >= 96 (TXWAR or RXWAR = 1) - Reset when both REC and TEC are < 96.
     */
    unsigned char errorFlags(void);

    enum IrqType {
        None = 0,
        AnyIrq,
        RxAny,
        TxAny,
        Rx0Fill,
        Rx1Full,
        Tx0Free,
        Tx1Free,
        Tx2Free,
        Error,
        Wake,
        MsgError,
    };

    /** 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, @b default: @p RxAny
     *  @n @p SEEED_CAN::None - Disable all interrupt sources,
     *  @n @p SEEED_CAN::AnyIrq - Enable all interrupt sources,
     *  @n @p SEEED_CAN::RxAny - Any full RX buffer can generate an interrupt,
     *  @n @p SEEED_CAN::TxAny - Any empty TX buffer can generate an interrupt,
     *  @n @p SEEED_CAN::Rx0Full - Receive buffer 1 full,
     *  @n @p SEEED_CAN::Rx1Full - Receive buffer 1 full,
     *  @n @p SEEED_CAN::Tx0Free - Transmit buffer 2 empty,
     *  @n @p SEEED_CAN::Tx1Free - Transmit buffer 2 empty,
     *  @n @p SEEED_CAN::Tx2Free - Transmit buffer 2 empty,
     *  @n @p SEEED_CAN::Error - Error (multiple sources in EFLG register),
     *  @n @p SEEED_CAN::Wake - Wakeup,
     *  @n @p SEEED_CAN::MsgError - Message Error,
     */
    void attach(void (*fptr)(void), IrqType event=RxAny);

    /** 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, @b default: @p RxAny
     *  @n @p SEEED_CAN::None - Disable all interrupt sources,
     *  @n @p SEEED_CAN::AnyIrq - Enable all interrupt sources,
     *  @n @p SEEED_CAN::RxAny - Any full RX buffer can generate an interrupt,
     *  @n @p SEEED_CAN::TxAny - Any empty TX buffer can generate an interrupt,
     *  @n @p SEEED_CAN::Rx0Full - Receive buffer 1 full,
     *  @n @p SEEED_CAN::Rx1Full - Receive buffer 1 full,
     *  @n @p SEEED_CAN::Tx0Free - Transmit buffer 2 empty,
     *  @n @p SEEED_CAN::Tx1Free - Transmit buffer 2 empty,
     *  @n @p SEEED_CAN::Tx2Free - Transmit buffer 2 empty,
     *  @n @p SEEED_CAN::Error - Error (multiple sources in EFLG register),
     *  @n @p SEEED_CAN::Wake - Wakeup,
     *  @n @p SEEED_CAN::MsgError - Message Error,
     */
    template<typename T>
    void attach(T* tptr, void (T::*mptr)(void), IrqType event=RxAny) {
        _callback_irq.attach(tptr, mptr);
        mcpSetInterrupts(&_can, (CANIrqs)event);
        if((mptr != NULL) && (tptr != NULL)) {
            _callback_irq.attach(tptr, mptr);
            mcpSetInterrupts(&_can, (CANIrqs)event);
//            _irq[type].attach(tptr, mptr);
//            can_irq_set(&_can, (CanIrqType)type, 1);
        } else {
            mcpSetInterrupts(&_can, (CANIrqs)SEEED_CAN::None);
//            can_irq_set(&_can, (CanIrqType)type, 0);
        }
    }

    void call_irq(void);
    
    /** Check if the specified interrupt event has occurred
     *
     *  @param event Which CAN interrupt to attach the member function to
     *  @n @p SEEED_CAN::RxAny - At least 1 RX buffer is full,
     *  @n @p SEEED_CAN::TxAny - At least 1 TX buffer is empty,
     *  @n @p SEEED_CAN::Rx0Full - Receive buffer 1 full,
     *  @n @p SEEED_CAN::Rx1Full - Receive buffer 1 full,
     *  @n @p SEEED_CAN::Tx0Free - Transmit buffer 2 empty,
     *  @n @p SEEED_CAN::Tx1Free - Transmit buffer 2 empty,
     *  @n @p SEEED_CAN::Tx2Free - Transmit buffer 2 empty,
     *  @n @p SEEED_CAN::Error - Error (multiple sources in EFLG register),
     *  @n @p SEEED_CAN::Wake - Wakeup,
     *  @n @p SEEED_CAN::MsgError - Message Error,
     *
     *  @returns
     *     1 if specified interrupt event has occurred
     *  @n 0 if no errors
     */
    int interrupts(IrqType type);

    /** Returns the contents of the MCP2515's Interrupt Flag register
     *
     *  @returns
     *     @b Bit_7 - MERRF: Message Error Interrupt Flag,
     *  @n @b Bit_6 - WAKIF: Wake-up Interrupt Flag,
     *  @n @b Bit_5 - ERRIF: Error Interrupt Flag (multiple sources in EFLG register, see errorFlags)
     *  @n @b Bit_4 - TX2IF: Transmit Buffer 2 Empty Interrupt Flag
     *  @n @b Bit_3 - TX1IF: Transmit Buffer 1 Empty Interrupt Flag
     *  @n @b Bit_2 - TX0IF: Transmit Buffer 0 Empty Interrupt Flag
     *  @n @b Bit_1 - RX1IF: Receive Buffer 1 Full Interrupt Flag
     *  @n @b Bit_0 - RX0IF: Receive Buffer 0 Full Interrupt Flag
     *  @n Bits are set (1) when interrupt pending, clear (0) when no interrupt pending.
     *  @n Bits must be cleared by MCU to reset interrupt condition.
     */
    unsigned char interruptFlags(void);

protected:
    SPI             _spi;
    mcp_can_t       _can;
    InterruptIn     _irqpin;
    FunctionPointer _callback_irq;

};

#endif      // SEEED_CAN_H