Yihui Xiong / mbed-src-nrf51822

customized mbed library sources for nrf51822

Dependents:   Grove_Node Potentiometer BLE_Beacon I2C_Scanner

api/CAN.h@0:700cadd8b708, 2014-11-04 (annotated)

Committer:
yihui
Date:
Tue Nov 04 07:38:53 2014 +0000
Revision:
0:700cadd8b708
customized mbed-src library for nrf51822

Who changed what in which revision?

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yihui 0:700cadd8b708 1 /* mbed Microcontroller Library
yihui 0:700cadd8b708 2 * Copyright (c) 2006-2013 ARM Limited
yihui 0:700cadd8b708 3 *
yihui 0:700cadd8b708 4 * Licensed under the Apache License, Version 2.0 (the "License");
yihui 0:700cadd8b708 5 * you may not use this file except in compliance with the License.
yihui 0:700cadd8b708 6 * You may obtain a copy of the License at
yihui 0:700cadd8b708 7 *
yihui 0:700cadd8b708 8 * http://www.apache.org/licenses/LICENSE-2.0
yihui 0:700cadd8b708 9 *
yihui 0:700cadd8b708 10 * Unless required by applicable law or agreed to in writing, software
yihui 0:700cadd8b708 11 * distributed under the License is distributed on an "AS IS" BASIS,
yihui 0:700cadd8b708 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
yihui 0:700cadd8b708 13 * See the License for the specific language governing permissions and
yihui 0:700cadd8b708 14 * limitations under the License.
yihui 0:700cadd8b708 15 */
yihui 0:700cadd8b708 16 #ifndef MBED_CAN_H
yihui 0:700cadd8b708 17 #define MBED_CAN_H
yihui 0:700cadd8b708 18
yihui 0:700cadd8b708 19 #include "platform.h"
yihui 0:700cadd8b708 20
yihui 0:700cadd8b708 21 #if DEVICE_CAN
yihui 0:700cadd8b708 22
yihui 0:700cadd8b708 23 #include "can_api.h"
yihui 0:700cadd8b708 24 #include "can_helper.h"
yihui 0:700cadd8b708 25 #include "FunctionPointer.h"
yihui 0:700cadd8b708 26
yihui 0:700cadd8b708 27 namespace mbed {
yihui 0:700cadd8b708 28
yihui 0:700cadd8b708 29 /** CANMessage class
yihui 0:700cadd8b708 30 */
yihui 0:700cadd8b708 31 class CANMessage : public CAN_Message {
yihui 0:700cadd8b708 32
yihui 0:700cadd8b708 33 public:
yihui 0:700cadd8b708 34 /** Creates empty CAN message.
yihui 0:700cadd8b708 35 */
yihui 0:700cadd8b708 36 CANMessage() : CAN_Message() {
yihui 0:700cadd8b708 37 len = 8;
yihui 0:700cadd8b708 38 type = CANData;
yihui 0:700cadd8b708 39 format = CANStandard;
yihui 0:700cadd8b708 40 id = 0;
yihui 0:700cadd8b708 41 memset(data, 0, 8);
yihui 0:700cadd8b708 42 }
yihui 0:700cadd8b708 43
yihui 0:700cadd8b708 44 /** Creates CAN message with specific content.
yihui 0:700cadd8b708 45 */
yihui 0:700cadd8b708 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
yihui 0:700cadd8b708 47 len = _len & 0xF;
yihui 0:700cadd8b708 48 type = _type;
yihui 0:700cadd8b708 49 format = _format;
yihui 0:700cadd8b708 50 id = _id;
yihui 0:700cadd8b708 51 memcpy(data, _data, _len);
yihui 0:700cadd8b708 52 }
yihui 0:700cadd8b708 53
yihui 0:700cadd8b708 54 /** Creates CAN remote message.
yihui 0:700cadd8b708 55 */
yihui 0:700cadd8b708 56 CANMessage(int _id, CANFormat _format = CANStandard) {
yihui 0:700cadd8b708 57 len = 0;
yihui 0:700cadd8b708 58 type = CANRemote;
yihui 0:700cadd8b708 59 format = _format;
yihui 0:700cadd8b708 60 id = _id;
yihui 0:700cadd8b708 61 memset(data, 0, 8);
yihui 0:700cadd8b708 62 }
yihui 0:700cadd8b708 63 };
yihui 0:700cadd8b708 64
yihui 0:700cadd8b708 65 /** A can bus client, used for communicating with can devices
yihui 0:700cadd8b708 66 */
yihui 0:700cadd8b708 67 class CAN {
yihui 0:700cadd8b708 68
yihui 0:700cadd8b708 69 public:
yihui 0:700cadd8b708 70 /** Creates an CAN interface connected to specific pins.
yihui 0:700cadd8b708 71 *
yihui 0:700cadd8b708 72 * @param rd read from transmitter
yihui 0:700cadd8b708 73 * @param td transmit to transmitter
yihui 0:700cadd8b708 74 *
yihui 0:700cadd8b708 75 * Example:
yihui 0:700cadd8b708 76 * @code
yihui 0:700cadd8b708 77 * #include "mbed.h"
yihui 0:700cadd8b708 78 *
yihui 0:700cadd8b708 79 * Ticker ticker;
yihui 0:700cadd8b708 80 * DigitalOut led1(LED1);
yihui 0:700cadd8b708 81 * DigitalOut led2(LED2);
yihui 0:700cadd8b708 82 * CAN can1(p9, p10);
yihui 0:700cadd8b708 83 * CAN can2(p30, p29);
yihui 0:700cadd8b708 84 *
yihui 0:700cadd8b708 85 * char counter = 0;
yihui 0:700cadd8b708 86 *
yihui 0:700cadd8b708 87 * void send() {
yihui 0:700cadd8b708 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
yihui 0:700cadd8b708 89 * printf("Message sent: %d\n", counter);
yihui 0:700cadd8b708 90 * counter++;
yihui 0:700cadd8b708 91 * }
yihui 0:700cadd8b708 92 * led1 = !led1;
yihui 0:700cadd8b708 93 * }
yihui 0:700cadd8b708 94 *
yihui 0:700cadd8b708 95 * int main() {
yihui 0:700cadd8b708 96 * ticker.attach(&send, 1);
yihui 0:700cadd8b708 97 * CANMessage msg;
yihui 0:700cadd8b708 98 * while(1) {
yihui 0:700cadd8b708 99 * if(can2.read(msg)) {
yihui 0:700cadd8b708 100 * printf("Message received: %d\n\n", msg.data[0]);
yihui 0:700cadd8b708 101 * led2 = !led2;
yihui 0:700cadd8b708 102 * }
yihui 0:700cadd8b708 103 * wait(0.2);
yihui 0:700cadd8b708 104 * }
yihui 0:700cadd8b708 105 * }
yihui 0:700cadd8b708 106 * @endcode
yihui 0:700cadd8b708 107 */
yihui 0:700cadd8b708 108 CAN(PinName rd, PinName td);
yihui 0:700cadd8b708 109 virtual ~CAN();
yihui 0:700cadd8b708 110
yihui 0:700cadd8b708 111 /** Set the frequency of the CAN interface
yihui 0:700cadd8b708 112 *
yihui 0:700cadd8b708 113 * @param hz The bus frequency in hertz
yihui 0:700cadd8b708 114 *
yihui 0:700cadd8b708 115 * @returns
yihui 0:700cadd8b708 116 * 1 if successful,
yihui 0:700cadd8b708 117 * 0 otherwise
yihui 0:700cadd8b708 118 */
yihui 0:700cadd8b708 119 int frequency(int hz);
yihui 0:700cadd8b708 120
yihui 0:700cadd8b708 121 /** Write a CANMessage to the bus.
yihui 0:700cadd8b708 122 *
yihui 0:700cadd8b708 123 * @param msg The CANMessage to write.
yihui 0:700cadd8b708 124 *
yihui 0:700cadd8b708 125 * @returns
yihui 0:700cadd8b708 126 * 0 if write failed,
yihui 0:700cadd8b708 127 * 1 if write was successful
yihui 0:700cadd8b708 128 */
yihui 0:700cadd8b708 129 int write(CANMessage msg);
yihui 0:700cadd8b708 130
yihui 0:700cadd8b708 131 /** Read a CANMessage from the bus.
yihui 0:700cadd8b708 132 *
yihui 0:700cadd8b708 133 * @param msg A CANMessage to read to.
yihui 0:700cadd8b708 134 * @param handle message filter handle (0 for any message)
yihui 0:700cadd8b708 135 *
yihui 0:700cadd8b708 136 * @returns
yihui 0:700cadd8b708 137 * 0 if no message arrived,
yihui 0:700cadd8b708 138 * 1 if message arrived
yihui 0:700cadd8b708 139 */
yihui 0:700cadd8b708 140 int read(CANMessage &msg, int handle = 0);
yihui 0:700cadd8b708 141
yihui 0:700cadd8b708 142 /** Reset CAN interface.
yihui 0:700cadd8b708 143 *
yihui 0:700cadd8b708 144 * To use after error overflow.
yihui 0:700cadd8b708 145 */
yihui 0:700cadd8b708 146 void reset();
yihui 0:700cadd8b708 147
yihui 0:700cadd8b708 148 /** Puts or removes the CAN interface into silent monitoring mode
yihui 0:700cadd8b708 149 *
yihui 0:700cadd8b708 150 * @param silent boolean indicating whether to go into silent mode or not
yihui 0:700cadd8b708 151 */
yihui 0:700cadd8b708 152 void monitor(bool silent);
yihui 0:700cadd8b708 153
yihui 0:700cadd8b708 154 enum Mode {
yihui 0:700cadd8b708 155 Reset = 0,
yihui 0:700cadd8b708 156 Normal,
yihui 0:700cadd8b708 157 Silent,
yihui 0:700cadd8b708 158 LocalTest,
yihui 0:700cadd8b708 159 GlobalTest,
yihui 0:700cadd8b708 160 SilentTest
yihui 0:700cadd8b708 161 };
yihui 0:700cadd8b708 162
yihui 0:700cadd8b708 163 /** Change CAN operation to the specified mode
yihui 0:700cadd8b708 164 *
yihui 0:700cadd8b708 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
yihui 0:700cadd8b708 166 *
yihui 0:700cadd8b708 167 * @returns
yihui 0:700cadd8b708 168 * 0 if mode change failed or unsupported,
yihui 0:700cadd8b708 169 * 1 if mode change was successful
yihui 0:700cadd8b708 170 */
yihui 0:700cadd8b708 171 int mode(Mode mode);
yihui 0:700cadd8b708 172
yihui 0:700cadd8b708 173 /** Filter out incomming messages
yihui 0:700cadd8b708 174 *
yihui 0:700cadd8b708 175 * @param id the id to filter on
yihui 0:700cadd8b708 176 * @param mask the mask applied to the id
yihui 0:700cadd8b708 177 * @param format format to filter on (Default CANAny)
yihui 0:700cadd8b708 178 * @param handle message filter handle (Optional)
yihui 0:700cadd8b708 179 *
yihui 0:700cadd8b708 180 * @returns
yihui 0:700cadd8b708 181 * 0 if filter change failed or unsupported,
yihui 0:700cadd8b708 182 * new filter handle if successful
yihui 0:700cadd8b708 183 */
yihui 0:700cadd8b708 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
yihui 0:700cadd8b708 185
yihui 0:700cadd8b708 186 /** Returns number of read errors to detect read overflow errors.
yihui 0:700cadd8b708 187 */
yihui 0:700cadd8b708 188 unsigned char rderror();
yihui 0:700cadd8b708 189
yihui 0:700cadd8b708 190 /** Returns number of write errors to detect write overflow errors.
yihui 0:700cadd8b708 191 */
yihui 0:700cadd8b708 192 unsigned char tderror();
yihui 0:700cadd8b708 193
yihui 0:700cadd8b708 194 enum IrqType {
yihui 0:700cadd8b708 195 RxIrq = 0,
yihui 0:700cadd8b708 196 TxIrq,
yihui 0:700cadd8b708 197 EwIrq,
yihui 0:700cadd8b708 198 DoIrq,
yihui 0:700cadd8b708 199 WuIrq,
yihui 0:700cadd8b708 200 EpIrq,
yihui 0:700cadd8b708 201 AlIrq,
yihui 0:700cadd8b708 202 BeIrq,
yihui 0:700cadd8b708 203 IdIrq
yihui 0:700cadd8b708 204 };
yihui 0:700cadd8b708 205
yihui 0:700cadd8b708 206 /** Attach a function to call whenever a CAN frame received interrupt is
yihui 0:700cadd8b708 207 * generated.
yihui 0:700cadd8b708 208 *
yihui 0:700cadd8b708 209 * @param fptr A pointer to a void function, or 0 to set as none
yihui 0:700cadd8b708 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 0:700cadd8b708 211 */
yihui 0:700cadd8b708 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
yihui 0:700cadd8b708 213
yihui 0:700cadd8b708 214 /** Attach a member function to call whenever a CAN frame received interrupt
yihui 0:700cadd8b708 215 * is generated.
yihui 0:700cadd8b708 216 *
yihui 0:700cadd8b708 217 * @param tptr pointer to the object to call the member function on
yihui 0:700cadd8b708 218 * @param mptr pointer to the member function to be called
yihui 0:700cadd8b708 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 0:700cadd8b708 220 */
yihui 0:700cadd8b708 221 template<typename T>
yihui 0:700cadd8b708 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
yihui 0:700cadd8b708 223 if((mptr != NULL) && (tptr != NULL)) {
yihui 0:700cadd8b708 224 _irq[type].attach(tptr, mptr);
yihui 0:700cadd8b708 225 can_irq_set(&_can, (CanIrqType)type, 1);
yihui 0:700cadd8b708 226 }
yihui 0:700cadd8b708 227 else {
yihui 0:700cadd8b708 228 can_irq_set(&_can, (CanIrqType)type, 0);
yihui 0:700cadd8b708 229 }
yihui 0:700cadd8b708 230 }
yihui 0:700cadd8b708 231
yihui 0:700cadd8b708 232 static void _irq_handler(uint32_t id, CanIrqType type);
yihui 0:700cadd8b708 233
yihui 0:700cadd8b708 234 protected:
yihui 0:700cadd8b708 235 can_t _can;
yihui 0:700cadd8b708 236 FunctionPointer _irq[9];
yihui 0:700cadd8b708 237 };
yihui 0:700cadd8b708 238
yihui 0:700cadd8b708 239 } // namespace mbed
yihui 0:700cadd8b708 240
yihui 0:700cadd8b708 241 #endif
yihui 0:700cadd8b708 242
yihui 0:700cadd8b708 243 #endif // MBED_CAN_H