Mihail Stoyanov / mbed

Fork of the official mbed C/C++ SDK provides the software platform and libraries to build your applications. The fork has the documentation converted to Doxygen format

Dependents:   NervousPuppySprintOne NervousPuppySprint2602 Robot WarehouseBot1 ... more

Fork of mbed by mbed official

CAN.h@22:9114680c05da, 2010-07-08 (annotated)

Committer:
simon
Date:
Thu Jul 08 14:27:15 2010 +0000
Revision:
22:9114680c05da
Parent:
21:3944f1e2fa4f
Child:
27:7110ebee3484
* CAN updates

 * I2CSlave

 * I2C and Ethernet bugfixes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rolf.meyer@arm.com 11:1c1ebd0324fa 1 /* mbed Microcontroller Library - can
rolf.meyer@arm.com 11:1c1ebd0324fa 2 * Copyright (c) 2009 ARM Limited. All rights reserved.
rolf.meyer@arm.com 11:1c1ebd0324fa 3 * rmeyer
rolf.meyer@arm.com 11:1c1ebd0324fa 4 */
rolf.meyer@arm.com 11:1c1ebd0324fa 5
rolf.meyer@arm.com 11:1c1ebd0324fa 6 #ifndef MBED_CAN_H
rolf.meyer@arm.com 11:1c1ebd0324fa 7 #define MBED_CAN_H
rolf.meyer@arm.com 11:1c1ebd0324fa 8
rolf.meyer@arm.com 11:1c1ebd0324fa 9 #include "Base.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 10 #include "platform.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 11 #include "PinNames.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 12 #include "PeripheralNames.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 13
rolf.meyer@arm.com 11:1c1ebd0324fa 14 #include "can_helper.h"
simon 22:9114680c05da 15 #include "FunctionPointer.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 16
rolf.meyer@arm.com 11:1c1ebd0324fa 17 #include <string.h>
rolf.meyer@arm.com 11:1c1ebd0324fa 18
rolf.meyer@arm.com 11:1c1ebd0324fa 19 namespace mbed {
rolf.meyer@arm.com 11:1c1ebd0324fa 20
rolf.meyer@arm.com 11:1c1ebd0324fa 21 /* Class: CANMessage
rolf.meyer@arm.com 11:1c1ebd0324fa 22 *
rolf.meyer@arm.com 11:1c1ebd0324fa 23 */
rolf.meyer@arm.com 11:1c1ebd0324fa 24 class CANMessage : public CAN_Message {
rolf.meyer@arm.com 11:1c1ebd0324fa 25
rolf.meyer@arm.com 11:1c1ebd0324fa 26 public:
rolf.meyer@arm.com 11:1c1ebd0324fa 27
rolf.meyer@arm.com 11:1c1ebd0324fa 28 /* Constructor: CANMessage
rolf.meyer@arm.com 11:1c1ebd0324fa 29 * Creates empty CAN message.
rolf.meyer@arm.com 11:1c1ebd0324fa 30 */
rolf.meyer@arm.com 11:1c1ebd0324fa 31 CANMessage() {
rolf.meyer@arm.com 11:1c1ebd0324fa 32 len = 8;
rolf.meyer@arm.com 11:1c1ebd0324fa 33 type = CANData;
rolf.meyer@arm.com 11:1c1ebd0324fa 34 format = CANStandard;
rolf.meyer@arm.com 11:1c1ebd0324fa 35 id = 0;
rolf.meyer@arm.com 11:1c1ebd0324fa 36 memset(data, 0, 8);
rolf.meyer@arm.com 11:1c1ebd0324fa 37 }
rolf.meyer@arm.com 11:1c1ebd0324fa 38
rolf.meyer@arm.com 11:1c1ebd0324fa 39 /* Constructor: CANMessage
rolf.meyer@arm.com 11:1c1ebd0324fa 40 * Creates CAN message with specific content.
rolf.meyer@arm.com 11:1c1ebd0324fa 41 */
rolf.meyer@arm.com 11:1c1ebd0324fa 42 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
rolf.meyer@arm.com 11:1c1ebd0324fa 43 len = _len & 0xF;
rolf.meyer@arm.com 11:1c1ebd0324fa 44 type = _type;
rolf.meyer@arm.com 11:1c1ebd0324fa 45 format = _format;
rolf.meyer@arm.com 11:1c1ebd0324fa 46 id = _id;
rolf.meyer@arm.com 11:1c1ebd0324fa 47 memcpy(data, _data, _len);
rolf.meyer@arm.com 11:1c1ebd0324fa 48 }
rolf.meyer@arm.com 11:1c1ebd0324fa 49
rolf.meyer@arm.com 11:1c1ebd0324fa 50 /* Constructor: CANMessage
rolf.meyer@arm.com 11:1c1ebd0324fa 51 * Creates CAN remote message.
rolf.meyer@arm.com 11:1c1ebd0324fa 52 */
rolf.meyer@arm.com 11:1c1ebd0324fa 53 CANMessage(int _id, CANFormat _format = CANStandard) {
rolf.meyer@arm.com 11:1c1ebd0324fa 54 len = 0;
rolf.meyer@arm.com 11:1c1ebd0324fa 55 type = CANRemote;
rolf.meyer@arm.com 11:1c1ebd0324fa 56 format = _format;
rolf.meyer@arm.com 11:1c1ebd0324fa 57 id = _id;
rolf.meyer@arm.com 11:1c1ebd0324fa 58 memset(data, 0, 8);
rolf.meyer@arm.com 11:1c1ebd0324fa 59 }
rolf.meyer@arm.com 11:1c1ebd0324fa 60 #if 0 // Inhereted from CAN_Message, for documentation only
rolf.meyer@arm.com 11:1c1ebd0324fa 61
rolf.meyer@arm.com 11:1c1ebd0324fa 62 /* Variable: id
rolf.meyer@arm.com 11:1c1ebd0324fa 63 * The message id.
rolf.meyer@arm.com 11:1c1ebd0324fa 64 *
rolf.meyer@arm.com 11:1c1ebd0324fa 65 * If format is CANStandard it must be an 11 bit long id
rolf.meyer@arm.com 11:1c1ebd0324fa 66 * If format is CANExtended it must be an 29 bit long id
rolf.meyer@arm.com 11:1c1ebd0324fa 67 */
rolf.meyer@arm.com 11:1c1ebd0324fa 68 unsigned int id;
rolf.meyer@arm.com 11:1c1ebd0324fa 69
rolf.meyer@arm.com 11:1c1ebd0324fa 70 /* Variable: data
rolf.meyer@arm.com 11:1c1ebd0324fa 71 * Space for 8 byte payload.
rolf.meyer@arm.com 11:1c1ebd0324fa 72 *
rolf.meyer@arm.com 11:1c1ebd0324fa 73 * If type is CANData data can store up to 8 byte data.
rolf.meyer@arm.com 11:1c1ebd0324fa 74 */
rolf.meyer@arm.com 11:1c1ebd0324fa 75 unsigned char data[8];
rolf.meyer@arm.com 11:1c1ebd0324fa 76
rolf.meyer@arm.com 11:1c1ebd0324fa 77 /* Variable: len
rolf.meyer@arm.com 11:1c1ebd0324fa 78 * Length of data in bytes.
rolf.meyer@arm.com 11:1c1ebd0324fa 79 *
rolf.meyer@arm.com 11:1c1ebd0324fa 80 * If type is CANData data can store up to 8 byte data.
rolf.meyer@arm.com 11:1c1ebd0324fa 81 */
rolf.meyer@arm.com 11:1c1ebd0324fa 82 unsigned char len;
rolf.meyer@arm.com 11:1c1ebd0324fa 83
rolf.meyer@arm.com 11:1c1ebd0324fa 84 /* Variable: format
rolf.meyer@arm.com 11:1c1ebd0324fa 85 * Defines if the message has standard or extended format.
rolf.meyer@arm.com 11:1c1ebd0324fa 86 *
rolf.meyer@arm.com 11:1c1ebd0324fa 87 * Defines the type of message id:
rolf.meyer@arm.com 11:1c1ebd0324fa 88 * Default is CANStandard which implies 11 bit id.
rolf.meyer@arm.com 11:1c1ebd0324fa 89 * CANExtended means 29 bit message id.
rolf.meyer@arm.com 11:1c1ebd0324fa 90 */
rolf.meyer@arm.com 11:1c1ebd0324fa 91 CANFormat format;
rolf.meyer@arm.com 11:1c1ebd0324fa 92
rolf.meyer@arm.com 11:1c1ebd0324fa 93 /* Variable: type
rolf.meyer@arm.com 11:1c1ebd0324fa 94 * Defines the type of a message.
rolf.meyer@arm.com 11:1c1ebd0324fa 95 *
rolf.meyer@arm.com 11:1c1ebd0324fa 96 * The message type can rather be CANData for a message with data (default).
rolf.meyer@arm.com 11:1c1ebd0324fa 97 * Or CANRemote for a request of a specific CAN message.
rolf.meyer@arm.com 11:1c1ebd0324fa 98 */
rolf.meyer@arm.com 11:1c1ebd0324fa 99 CANType type; // 0 - DATA FRAME, 1 - REMOTE FRAME
rolf.meyer@arm.com 11:1c1ebd0324fa 100 #endif
rolf.meyer@arm.com 11:1c1ebd0324fa 101 };
rolf.meyer@arm.com 11:1c1ebd0324fa 102
rolf.meyer@arm.com 11:1c1ebd0324fa 103 /* Class: CAN
rolf.meyer@arm.com 11:1c1ebd0324fa 104 * A can bus client, used for communicating with can devices
rolf.meyer@arm.com 11:1c1ebd0324fa 105 */
rolf.meyer@arm.com 11:1c1ebd0324fa 106 class CAN : public Base {
rolf.meyer@arm.com 11:1c1ebd0324fa 107
rolf.meyer@arm.com 11:1c1ebd0324fa 108 public:
rolf.meyer@arm.com 11:1c1ebd0324fa 109
rolf.meyer@arm.com 11:1c1ebd0324fa 110 /* Constructor: CAN
rolf.meyer@arm.com 11:1c1ebd0324fa 111 * Creates an CAN interface connected to specific pins.
rolf.meyer@arm.com 11:1c1ebd0324fa 112 *
rolf.meyer@arm.com 11:1c1ebd0324fa 113 * Example:
rolf.meyer@arm.com 11:1c1ebd0324fa 114 * > #include "mbed.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 115 * >
rolf.meyer@arm.com 11:1c1ebd0324fa 116 * > Ticker ticker;
rolf.meyer@arm.com 11:1c1ebd0324fa 117 * > DigitalOut led1(LED1);
rolf.meyer@arm.com 11:1c1ebd0324fa 118 * > DigitalOut led2(LED2);
rolf.meyer@arm.com 11:1c1ebd0324fa 119 * > CAN can1(p9, p10);
rolf.meyer@arm.com 11:1c1ebd0324fa 120 * > CAN can2(p30, p29);
rolf.meyer@arm.com 11:1c1ebd0324fa 121 * >
rolf.meyer@arm.com 11:1c1ebd0324fa 122 * > char counter = 0;
rolf.meyer@arm.com 11:1c1ebd0324fa 123 * >
rolf.meyer@arm.com 11:1c1ebd0324fa 124 * > void send() {
rolf.meyer@arm.com 11:1c1ebd0324fa 125 * > if(can1.write(CANMessage(1337, &counter, 1))) {
rolf.meyer@arm.com 11:1c1ebd0324fa 126 * > printf("Message sent: %d\n", counter);
rolf.meyer@arm.com 11:1c1ebd0324fa 127 * > counter++;
rolf.meyer@arm.com 11:1c1ebd0324fa 128 * > }
rolf.meyer@arm.com 11:1c1ebd0324fa 129 * > led1 = !led1;
rolf.meyer@arm.com 11:1c1ebd0324fa 130 * > }
rolf.meyer@arm.com 11:1c1ebd0324fa 131 * >
rolf.meyer@arm.com 11:1c1ebd0324fa 132 * > int main() {
rolf.meyer@arm.com 11:1c1ebd0324fa 133 * > ticker.attach(&send, 1);
rolf.meyer@arm.com 11:1c1ebd0324fa 134 * > CANMessage msg;
rolf.meyer@arm.com 11:1c1ebd0324fa 135 * > while(1) {
rolf.meyer@arm.com 11:1c1ebd0324fa 136 * > if(can2.read(msg)) {
rolf.meyer@arm.com 11:1c1ebd0324fa 137 * > printf("Message received: %d\n\n", msg.data[0]);
rolf.meyer@arm.com 11:1c1ebd0324fa 138 * > led2 = !led2;
rolf.meyer@arm.com 11:1c1ebd0324fa 139 * > }
rolf.meyer@arm.com 11:1c1ebd0324fa 140 * > wait(0.2);
rolf.meyer@arm.com 11:1c1ebd0324fa 141 * > }
rolf.meyer@arm.com 11:1c1ebd0324fa 142 * > }
rolf.meyer@arm.com 11:1c1ebd0324fa 143 *
rolf.meyer@arm.com 11:1c1ebd0324fa 144 * Variables:
rolf.meyer@arm.com 11:1c1ebd0324fa 145 * rd - read from transmitter
rolf.meyer@arm.com 11:1c1ebd0324fa 146 * td - transmit to transmitter
rolf.meyer@arm.com 11:1c1ebd0324fa 147 */
rolf.meyer@arm.com 11:1c1ebd0324fa 148 CAN(PinName rd, PinName td);
rolf.meyer@arm.com 11:1c1ebd0324fa 149 virtual ~CAN();
rolf.meyer@arm.com 11:1c1ebd0324fa 150
rolf.meyer@arm.com 11:1c1ebd0324fa 151 /* Function: frequency
rolf.meyer@arm.com 11:1c1ebd0324fa 152 * Set the frequency of the CAN interface
rolf.meyer@arm.com 11:1c1ebd0324fa 153 *
rolf.meyer@arm.com 11:1c1ebd0324fa 154 * Variables:
rolf.meyer@arm.com 11:1c1ebd0324fa 155 * hz - The bus frequency in hertz
simon 21:3944f1e2fa4f 156 * returns - 1 if successful, 0 otherwise
rolf.meyer@arm.com 11:1c1ebd0324fa 157 */
simon 21:3944f1e2fa4f 158 int frequency(int hz);
rolf.meyer@arm.com 11:1c1ebd0324fa 159
rolf.meyer@arm.com 11:1c1ebd0324fa 160 /* Function: write
rolf.meyer@arm.com 11:1c1ebd0324fa 161 * Write a CANMessage to the bus.
rolf.meyer@arm.com 11:1c1ebd0324fa 162 *
rolf.meyer@arm.com 11:1c1ebd0324fa 163 * Variables:
rolf.meyer@arm.com 11:1c1ebd0324fa 164 * msg - The CANMessage to write.
rolf.meyer@arm.com 11:1c1ebd0324fa 165 *
rolf.meyer@arm.com 11:1c1ebd0324fa 166 * Returns:
rolf.meyer@arm.com 11:1c1ebd0324fa 167 * 0 - If write failed.
rolf.meyer@arm.com 11:1c1ebd0324fa 168 * 1 - If write was successful.
rolf.meyer@arm.com 11:1c1ebd0324fa 169 */
rolf.meyer@arm.com 11:1c1ebd0324fa 170 int write(CANMessage msg);
rolf.meyer@arm.com 11:1c1ebd0324fa 171
rolf.meyer@arm.com 11:1c1ebd0324fa 172 /* Function: read
rolf.meyer@arm.com 11:1c1ebd0324fa 173 * Read a CANMessage from the bus.
rolf.meyer@arm.com 11:1c1ebd0324fa 174 *
rolf.meyer@arm.com 11:1c1ebd0324fa 175 * Variables:
rolf.meyer@arm.com 11:1c1ebd0324fa 176 * msg - A CANMessage to read to.
rolf.meyer@arm.com 11:1c1ebd0324fa 177 *
rolf.meyer@arm.com 11:1c1ebd0324fa 178 * Returns:
rolf.meyer@arm.com 11:1c1ebd0324fa 179 * 0 - If no message arrived.
rolf.meyer@arm.com 11:1c1ebd0324fa 180 * 1 - If message arrived.
rolf.meyer@arm.com 11:1c1ebd0324fa 181 */
rolf.meyer@arm.com 11:1c1ebd0324fa 182 int read(CANMessage &msg);
rolf.meyer@arm.com 11:1c1ebd0324fa 183
rolf.meyer@arm.com 11:1c1ebd0324fa 184 /* Function: reset
rolf.meyer@arm.com 11:1c1ebd0324fa 185 * Reset CAN interface.
rolf.meyer@arm.com 11:1c1ebd0324fa 186 *
rolf.meyer@arm.com 11:1c1ebd0324fa 187 * To use after error overflow.
rolf.meyer@arm.com 11:1c1ebd0324fa 188 */
rolf.meyer@arm.com 11:1c1ebd0324fa 189 void reset();
simon 22:9114680c05da 190
simon 22:9114680c05da 191 /* Function: monitor
simon 22:9114680c05da 192 * Puts or removes the CAN interface into silent monitoring mode
simon 22:9114680c05da 193 *
simon 22:9114680c05da 194 * Variables:
simon 22:9114680c05da 195 * silent - boolean indicating whether to go into silent mode or not
simon 22:9114680c05da 196 */
simon 22:9114680c05da 197 void monitor(bool silent);
rolf.meyer@arm.com 11:1c1ebd0324fa 198
rolf.meyer@arm.com 11:1c1ebd0324fa 199 /* Function: rderror
rolf.meyer@arm.com 11:1c1ebd0324fa 200 * Returns number of read errors to detect read overflow errors.
rolf.meyer@arm.com 11:1c1ebd0324fa 201 */
rolf.meyer@arm.com 11:1c1ebd0324fa 202 unsigned char rderror();
rolf.meyer@arm.com 11:1c1ebd0324fa 203
rolf.meyer@arm.com 11:1c1ebd0324fa 204 /* Function: tderror
rolf.meyer@arm.com 11:1c1ebd0324fa 205 * Returns number of write errors to detect write overflow errors.
rolf.meyer@arm.com 11:1c1ebd0324fa 206 */
rolf.meyer@arm.com 11:1c1ebd0324fa 207 unsigned char tderror();
simon 22:9114680c05da 208
simon 22:9114680c05da 209 /* Function: attach
simon 22:9114680c05da 210 * Attach a function to call whenever a CAN frame received interrupt is
simon 22:9114680c05da 211 * generated.
simon 22:9114680c05da 212 *
simon 22:9114680c05da 213 * Variables:
simon 22:9114680c05da 214 * fptr - A pointer to a void function, or 0 to set as none
simon 22:9114680c05da 215 */
simon 22:9114680c05da 216 void attach(void (*fptr)(void));
simon 22:9114680c05da 217
simon 22:9114680c05da 218 /* Function attach
simon 22:9114680c05da 219 * Attach a member function to call whenever a CAN frame received interrupt
simon 22:9114680c05da 220 * is generated.
simon 22:9114680c05da 221 *
simon 22:9114680c05da 222 * Variables:
simon 22:9114680c05da 223 * tptr - pointer to the object to call the member function on
simon 22:9114680c05da 224 * mptr - pointer to the member function to be called
simon 22:9114680c05da 225 */
simon 22:9114680c05da 226 template<typename T>
simon 22:9114680c05da 227 void attach(T* tptr, void (T::*mptr)(void));
rolf.meyer@arm.com 11:1c1ebd0324fa 228
rolf.meyer@arm.com 11:1c1ebd0324fa 229 private:
rolf.meyer@arm.com 11:1c1ebd0324fa 230
rolf.meyer@arm.com 11:1c1ebd0324fa 231 CANName _id;
simon 22:9114680c05da 232 FunctionPointer _rxirq;
simon 22:9114680c05da 233
simon 22:9114680c05da 234 void setup_interrupt(void);
simon 22:9114680c05da 235 void remove_interrupt(void);
rolf.meyer@arm.com 11:1c1ebd0324fa 236 };
rolf.meyer@arm.com 11:1c1ebd0324fa 237
rolf.meyer@arm.com 11:1c1ebd0324fa 238 } // namespace mbed
rolf.meyer@arm.com 11:1c1ebd0324fa 239
rolf.meyer@arm.com 11:1c1ebd0324fa 240 #endif // MBED_CAN_H