Yihui Xiong / BLE_NODE_TEST

Test code for Grove Node BLE

Dependencies:   BLE_API nRF51822

Fork of BLE_LoopbackUART by Bluetooth Low Energy

mbed-src/api/CAN.h@10:22480ac31879, 2014-11-27 (annotated)

Committer:
yihui
Date:
Thu Nov 27 09:30:36 2014 +0000
Revision:
10:22480ac31879
Parent:
9:05f0b5a3a70a 
change to new revision hardware

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yihui 9:05f0b5a3a70a 1 /* mbed Microcontroller Library
yihui 9:05f0b5a3a70a 2 * Copyright (c) 2006-2013 ARM Limited
yihui 9:05f0b5a3a70a 3 *
yihui 9:05f0b5a3a70a 4 * Licensed under the Apache License, Version 2.0 (the "License");
yihui 9:05f0b5a3a70a 5 * you may not use this file except in compliance with the License.
yihui 9:05f0b5a3a70a 6 * You may obtain a copy of the License at
yihui 9:05f0b5a3a70a 7 *
yihui 9:05f0b5a3a70a 8 * http://www.apache.org/licenses/LICENSE-2.0
yihui 9:05f0b5a3a70a 9 *
yihui 9:05f0b5a3a70a 10 * Unless required by applicable law or agreed to in writing, software
yihui 9:05f0b5a3a70a 11 * distributed under the License is distributed on an "AS IS" BASIS,
yihui 9:05f0b5a3a70a 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
yihui 9:05f0b5a3a70a 13 * See the License for the specific language governing permissions and
yihui 9:05f0b5a3a70a 14 * limitations under the License.
yihui 9:05f0b5a3a70a 15 */
yihui 9:05f0b5a3a70a 16 #ifndef MBED_CAN_H
yihui 9:05f0b5a3a70a 17 #define MBED_CAN_H
yihui 9:05f0b5a3a70a 18
yihui 9:05f0b5a3a70a 19 #include "platform.h"
yihui 9:05f0b5a3a70a 20
yihui 9:05f0b5a3a70a 21 #if DEVICE_CAN
yihui 9:05f0b5a3a70a 22
yihui 9:05f0b5a3a70a 23 #include "can_api.h"
yihui 9:05f0b5a3a70a 24 #include "can_helper.h"
yihui 9:05f0b5a3a70a 25 #include "FunctionPointer.h"
yihui 9:05f0b5a3a70a 26
yihui 9:05f0b5a3a70a 27 namespace mbed {
yihui 9:05f0b5a3a70a 28
yihui 9:05f0b5a3a70a 29 /** CANMessage class
yihui 9:05f0b5a3a70a 30 */
yihui 9:05f0b5a3a70a 31 class CANMessage : public CAN_Message {
yihui 9:05f0b5a3a70a 32
yihui 9:05f0b5a3a70a 33 public:
yihui 9:05f0b5a3a70a 34 /** Creates empty CAN message.
yihui 9:05f0b5a3a70a 35 */
yihui 9:05f0b5a3a70a 36 CANMessage() : CAN_Message() {
yihui 9:05f0b5a3a70a 37 len = 8;
yihui 9:05f0b5a3a70a 38 type = CANData;
yihui 9:05f0b5a3a70a 39 format = CANStandard;
yihui 9:05f0b5a3a70a 40 id = 0;
yihui 9:05f0b5a3a70a 41 memset(data, 0, 8);
yihui 9:05f0b5a3a70a 42 }
yihui 9:05f0b5a3a70a 43
yihui 9:05f0b5a3a70a 44 /** Creates CAN message with specific content.
yihui 9:05f0b5a3a70a 45 */
yihui 9:05f0b5a3a70a 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
yihui 9:05f0b5a3a70a 47 len = _len & 0xF;
yihui 9:05f0b5a3a70a 48 type = _type;
yihui 9:05f0b5a3a70a 49 format = _format;
yihui 9:05f0b5a3a70a 50 id = _id;
yihui 9:05f0b5a3a70a 51 memcpy(data, _data, _len);
yihui 9:05f0b5a3a70a 52 }
yihui 9:05f0b5a3a70a 53
yihui 9:05f0b5a3a70a 54 /** Creates CAN remote message.
yihui 9:05f0b5a3a70a 55 */
yihui 9:05f0b5a3a70a 56 CANMessage(int _id, CANFormat _format = CANStandard) {
yihui 9:05f0b5a3a70a 57 len = 0;
yihui 9:05f0b5a3a70a 58 type = CANRemote;
yihui 9:05f0b5a3a70a 59 format = _format;
yihui 9:05f0b5a3a70a 60 id = _id;
yihui 9:05f0b5a3a70a 61 memset(data, 0, 8);
yihui 9:05f0b5a3a70a 62 }
yihui 9:05f0b5a3a70a 63 };
yihui 9:05f0b5a3a70a 64
yihui 9:05f0b5a3a70a 65 /** A can bus client, used for communicating with can devices
yihui 9:05f0b5a3a70a 66 */
yihui 9:05f0b5a3a70a 67 class CAN {
yihui 9:05f0b5a3a70a 68
yihui 9:05f0b5a3a70a 69 public:
yihui 9:05f0b5a3a70a 70 /** Creates an CAN interface connected to specific pins.
yihui 9:05f0b5a3a70a 71 *
yihui 9:05f0b5a3a70a 72 * @param rd read from transmitter
yihui 9:05f0b5a3a70a 73 * @param td transmit to transmitter
yihui 9:05f0b5a3a70a 74 *
yihui 9:05f0b5a3a70a 75 * Example:
yihui 9:05f0b5a3a70a 76 * @code
yihui 9:05f0b5a3a70a 77 * #include "mbed.h"
yihui 9:05f0b5a3a70a 78 *
yihui 9:05f0b5a3a70a 79 * Ticker ticker;
yihui 9:05f0b5a3a70a 80 * DigitalOut led1(LED1);
yihui 9:05f0b5a3a70a 81 * DigitalOut led2(LED2);
yihui 9:05f0b5a3a70a 82 * CAN can1(p9, p10);
yihui 9:05f0b5a3a70a 83 * CAN can2(p30, p29);
yihui 9:05f0b5a3a70a 84 *
yihui 9:05f0b5a3a70a 85 * char counter = 0;
yihui 9:05f0b5a3a70a 86 *
yihui 9:05f0b5a3a70a 87 * void send() {
yihui 9:05f0b5a3a70a 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
yihui 9:05f0b5a3a70a 89 * printf("Message sent: %d\n", counter);
yihui 9:05f0b5a3a70a 90 * counter++;
yihui 9:05f0b5a3a70a 91 * }
yihui 9:05f0b5a3a70a 92 * led1 = !led1;
yihui 9:05f0b5a3a70a 93 * }
yihui 9:05f0b5a3a70a 94 *
yihui 9:05f0b5a3a70a 95 * int main() {
yihui 9:05f0b5a3a70a 96 * ticker.attach(&send, 1);
yihui 9:05f0b5a3a70a 97 * CANMessage msg;
yihui 9:05f0b5a3a70a 98 * while(1) {
yihui 9:05f0b5a3a70a 99 * if(can2.read(msg)) {
yihui 9:05f0b5a3a70a 100 * printf("Message received: %d\n\n", msg.data[0]);
yihui 9:05f0b5a3a70a 101 * led2 = !led2;
yihui 9:05f0b5a3a70a 102 * }
yihui 9:05f0b5a3a70a 103 * wait(0.2);
yihui 9:05f0b5a3a70a 104 * }
yihui 9:05f0b5a3a70a 105 * }
yihui 9:05f0b5a3a70a 106 * @endcode
yihui 9:05f0b5a3a70a 107 */
yihui 9:05f0b5a3a70a 108 CAN(PinName rd, PinName td);
yihui 9:05f0b5a3a70a 109 virtual ~CAN();
yihui 9:05f0b5a3a70a 110
yihui 9:05f0b5a3a70a 111 /** Set the frequency of the CAN interface
yihui 9:05f0b5a3a70a 112 *
yihui 9:05f0b5a3a70a 113 * @param hz The bus frequency in hertz
yihui 9:05f0b5a3a70a 114 *
yihui 9:05f0b5a3a70a 115 * @returns
yihui 9:05f0b5a3a70a 116 * 1 if successful,
yihui 9:05f0b5a3a70a 117 * 0 otherwise
yihui 9:05f0b5a3a70a 118 */
yihui 9:05f0b5a3a70a 119 int frequency(int hz);
yihui 9:05f0b5a3a70a 120
yihui 9:05f0b5a3a70a 121 /** Write a CANMessage to the bus.
yihui 9:05f0b5a3a70a 122 *
yihui 9:05f0b5a3a70a 123 * @param msg The CANMessage to write.
yihui 9:05f0b5a3a70a 124 *
yihui 9:05f0b5a3a70a 125 * @returns
yihui 9:05f0b5a3a70a 126 * 0 if write failed,
yihui 9:05f0b5a3a70a 127 * 1 if write was successful
yihui 9:05f0b5a3a70a 128 */
yihui 9:05f0b5a3a70a 129 int write(CANMessage msg);
yihui 9:05f0b5a3a70a 130
yihui 9:05f0b5a3a70a 131 /** Read a CANMessage from the bus.
yihui 9:05f0b5a3a70a 132 *
yihui 9:05f0b5a3a70a 133 * @param msg A CANMessage to read to.
yihui 9:05f0b5a3a70a 134 * @param handle message filter handle (0 for any message)
yihui 9:05f0b5a3a70a 135 *
yihui 9:05f0b5a3a70a 136 * @returns
yihui 9:05f0b5a3a70a 137 * 0 if no message arrived,
yihui 9:05f0b5a3a70a 138 * 1 if message arrived
yihui 9:05f0b5a3a70a 139 */
yihui 9:05f0b5a3a70a 140 int read(CANMessage &msg, int handle = 0);
yihui 9:05f0b5a3a70a 141
yihui 9:05f0b5a3a70a 142 /** Reset CAN interface.
yihui 9:05f0b5a3a70a 143 *
yihui 9:05f0b5a3a70a 144 * To use after error overflow.
yihui 9:05f0b5a3a70a 145 */
yihui 9:05f0b5a3a70a 146 void reset();
yihui 9:05f0b5a3a70a 147
yihui 9:05f0b5a3a70a 148 /** Puts or removes the CAN interface into silent monitoring mode
yihui 9:05f0b5a3a70a 149 *
yihui 9:05f0b5a3a70a 150 * @param silent boolean indicating whether to go into silent mode or not
yihui 9:05f0b5a3a70a 151 */
yihui 9:05f0b5a3a70a 152 void monitor(bool silent);
yihui 9:05f0b5a3a70a 153
yihui 9:05f0b5a3a70a 154 enum Mode {
yihui 9:05f0b5a3a70a 155 Reset = 0,
yihui 9:05f0b5a3a70a 156 Normal,
yihui 9:05f0b5a3a70a 157 Silent,
yihui 9:05f0b5a3a70a 158 LocalTest,
yihui 9:05f0b5a3a70a 159 GlobalTest,
yihui 9:05f0b5a3a70a 160 SilentTest
yihui 9:05f0b5a3a70a 161 };
yihui 9:05f0b5a3a70a 162
yihui 9:05f0b5a3a70a 163 /** Change CAN operation to the specified mode
yihui 9:05f0b5a3a70a 164 *
yihui 9:05f0b5a3a70a 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
yihui 9:05f0b5a3a70a 166 *
yihui 9:05f0b5a3a70a 167 * @returns
yihui 9:05f0b5a3a70a 168 * 0 if mode change failed or unsupported,
yihui 9:05f0b5a3a70a 169 * 1 if mode change was successful
yihui 9:05f0b5a3a70a 170 */
yihui 9:05f0b5a3a70a 171 int mode(Mode mode);
yihui 9:05f0b5a3a70a 172
yihui 9:05f0b5a3a70a 173 /** Filter out incomming messages
yihui 9:05f0b5a3a70a 174 *
yihui 9:05f0b5a3a70a 175 * @param id the id to filter on
yihui 9:05f0b5a3a70a 176 * @param mask the mask applied to the id
yihui 9:05f0b5a3a70a 177 * @param format format to filter on (Default CANAny)
yihui 9:05f0b5a3a70a 178 * @param handle message filter handle (Optional)
yihui 9:05f0b5a3a70a 179 *
yihui 9:05f0b5a3a70a 180 * @returns
yihui 9:05f0b5a3a70a 181 * 0 if filter change failed or unsupported,
yihui 9:05f0b5a3a70a 182 * new filter handle if successful
yihui 9:05f0b5a3a70a 183 */
yihui 9:05f0b5a3a70a 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
yihui 9:05f0b5a3a70a 185
yihui 9:05f0b5a3a70a 186 /** Returns number of read errors to detect read overflow errors.
yihui 9:05f0b5a3a70a 187 */
yihui 9:05f0b5a3a70a 188 unsigned char rderror();
yihui 9:05f0b5a3a70a 189
yihui 9:05f0b5a3a70a 190 /** Returns number of write errors to detect write overflow errors.
yihui 9:05f0b5a3a70a 191 */
yihui 9:05f0b5a3a70a 192 unsigned char tderror();
yihui 9:05f0b5a3a70a 193
yihui 9:05f0b5a3a70a 194 enum IrqType {
yihui 9:05f0b5a3a70a 195 RxIrq = 0,
yihui 9:05f0b5a3a70a 196 TxIrq,
yihui 9:05f0b5a3a70a 197 EwIrq,
yihui 9:05f0b5a3a70a 198 DoIrq,
yihui 9:05f0b5a3a70a 199 WuIrq,
yihui 9:05f0b5a3a70a 200 EpIrq,
yihui 9:05f0b5a3a70a 201 AlIrq,
yihui 9:05f0b5a3a70a 202 BeIrq,
yihui 9:05f0b5a3a70a 203 IdIrq
yihui 9:05f0b5a3a70a 204 };
yihui 9:05f0b5a3a70a 205
yihui 9:05f0b5a3a70a 206 /** Attach a function to call whenever a CAN frame received interrupt is
yihui 9:05f0b5a3a70a 207 * generated.
yihui 9:05f0b5a3a70a 208 *
yihui 9:05f0b5a3a70a 209 * @param fptr A pointer to a void function, or 0 to set as none
yihui 9:05f0b5a3a70a 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)
yihui 9:05f0b5a3a70a 211 */
yihui 9:05f0b5a3a70a 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
yihui 9:05f0b5a3a70a 213
yihui 9:05f0b5a3a70a 214 /** Attach a member function to call whenever a CAN frame received interrupt
yihui 9:05f0b5a3a70a 215 * is generated.
yihui 9:05f0b5a3a70a 216 *
yihui 9:05f0b5a3a70a 217 * @param tptr pointer to the object to call the member function on
yihui 9:05f0b5a3a70a 218 * @param mptr pointer to the member function to be called
yihui 9:05f0b5a3a70a 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)
yihui 9:05f0b5a3a70a 220 */
yihui 9:05f0b5a3a70a 221 template<typename T>
yihui 9:05f0b5a3a70a 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
yihui 9:05f0b5a3a70a 223 if((mptr != NULL) && (tptr != NULL)) {
yihui 9:05f0b5a3a70a 224 _irq[type].attach(tptr, mptr);
yihui 9:05f0b5a3a70a 225 can_irq_set(&_can, (CanIrqType)type, 1);
yihui 9:05f0b5a3a70a 226 }
yihui 9:05f0b5a3a70a 227 else {
yihui 9:05f0b5a3a70a 228 can_irq_set(&_can, (CanIrqType)type, 0);
yihui 9:05f0b5a3a70a 229 }
yihui 9:05f0b5a3a70a 230 }
yihui 9:05f0b5a3a70a 231
yihui 9:05f0b5a3a70a 232 static void _irq_handler(uint32_t id, CanIrqType type);
yihui 9:05f0b5a3a70a 233
yihui 9:05f0b5a3a70a 234 protected:
yihui 9:05f0b5a3a70a 235 can_t _can;
yihui 9:05f0b5a3a70a 236 FunctionPointer _irq[9];
yihui 9:05f0b5a3a70a 237 };
yihui 9:05f0b5a3a70a 238
yihui 9:05f0b5a3a70a 239 } // namespace mbed
yihui 9:05f0b5a3a70a 240
yihui 9:05f0b5a3a70a 241 #endif
yihui 9:05f0b5a3a70a 242
yihui 9:05f0b5a3a70a 243 #endif // MBED_CAN_H