Yihui Xiong / nrf51822_fix_i2c_spi_conflict

fix nrf51822 i2c & spi conflict

Dependencies:   BLE_API eMPL_MPU6050 nRF51822

Fork of Seeed_Tiny_BLE_Flash by Darren Huang

mbed-src/api/CAN.h@5:b8c02645e6af, 2015-11-17 (annotated)

Committer:
yihui
Date:
Tue Nov 17 07:48:56 2015 +0000
Revision:
5:b8c02645e6af
fix i2c & spi conflict

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yihui 5:b8c02645e6af 1 /* mbed Microcontroller Library
yihui 5:b8c02645e6af 2 * Copyright (c) 2006-2013 ARM Limited
yihui 5:b8c02645e6af 3 *
yihui 5:b8c02645e6af 4 * Licensed under the Apache License, Version 2.0 (the "License");
yihui 5:b8c02645e6af 5 * you may not use this file except in compliance with the License.
yihui 5:b8c02645e6af 6 * You may obtain a copy of the License at
yihui 5:b8c02645e6af 7 *
yihui 5:b8c02645e6af 8 * http://www.apache.org/licenses/LICENSE-2.0
yihui 5:b8c02645e6af 9 *
yihui 5:b8c02645e6af 10 * Unless required by applicable law or agreed to in writing, software
yihui 5:b8c02645e6af 11 * distributed under the License is distributed on an "AS IS" BASIS,
yihui 5:b8c02645e6af 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
yihui 5:b8c02645e6af 13 * See the License for the specific language governing permissions and
yihui 5:b8c02645e6af 14 * limitations under the License.
yihui 5:b8c02645e6af 15 */
yihui 5:b8c02645e6af 16 #ifndef MBED_CAN_H
yihui 5:b8c02645e6af 17 #define MBED_CAN_H
yihui 5:b8c02645e6af 18
yihui 5:b8c02645e6af 19 #include "platform.h"
yihui 5:b8c02645e6af 20
yihui 5:b8c02645e6af 21 #if DEVICE_CAN
yihui 5:b8c02645e6af 22
yihui 5:b8c02645e6af 23 #include "can_api.h"
yihui 5:b8c02645e6af 24 #include "can_helper.h"
yihui 5:b8c02645e6af 25 #include "FunctionPointer.h"
yihui 5:b8c02645e6af 26
yihui 5:b8c02645e6af 27 namespace mbed {
yihui 5:b8c02645e6af 28
yihui 5:b8c02645e6af 29 /** CANMessage class
yihui 5:b8c02645e6af 30 */
yihui 5:b8c02645e6af 31 class CANMessage : public CAN_Message {
yihui 5:b8c02645e6af 32
yihui 5:b8c02645e6af 33 public:
yihui 5:b8c02645e6af 34 /** Creates empty CAN message.
yihui 5:b8c02645e6af 35 */
yihui 5:b8c02645e6af 36 CANMessage() : CAN_Message() {
yihui 5:b8c02645e6af 37 len = 8;
yihui 5:b8c02645e6af 38 type = CANData;
yihui 5:b8c02645e6af 39 format = CANStandard;
yihui 5:b8c02645e6af 40 id = 0;
yihui 5:b8c02645e6af 41 memset(data, 0, 8);
yihui 5:b8c02645e6af 42 }
yihui 5:b8c02645e6af 43
yihui 5:b8c02645e6af 44 /** Creates CAN message with specific content.
yihui 5:b8c02645e6af 45 */
yihui 5:b8c02645e6af 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
yihui 5:b8c02645e6af 47 len = _len & 0xF;
yihui 5:b8c02645e6af 48 type = _type;
yihui 5:b8c02645e6af 49 format = _format;
yihui 5:b8c02645e6af 50 id = _id;
yihui 5:b8c02645e6af 51 memcpy(data, _data, _len);
yihui 5:b8c02645e6af 52 }
yihui 5:b8c02645e6af 53
yihui 5:b8c02645e6af 54 /** Creates CAN remote message.
yihui 5:b8c02645e6af 55 */
yihui 5:b8c02645e6af 56 CANMessage(int _id, CANFormat _format = CANStandard) {
yihui 5:b8c02645e6af 57 len = 0;
yihui 5:b8c02645e6af 58 type = CANRemote;
yihui 5:b8c02645e6af 59 format = _format;
yihui 5:b8c02645e6af 60 id = _id;
yihui 5:b8c02645e6af 61 memset(data, 0, 8);
yihui 5:b8c02645e6af 62 }
yihui 5:b8c02645e6af 63 };
yihui 5:b8c02645e6af 64
yihui 5:b8c02645e6af 65 /** A can bus client, used for communicating with can devices
yihui 5:b8c02645e6af 66 */
yihui 5:b8c02645e6af 67 class CAN {
yihui 5:b8c02645e6af 68
yihui 5:b8c02645e6af 69 public:
yihui 5:b8c02645e6af 70 /** Creates an CAN interface connected to specific pins.
yihui 5:b8c02645e6af 71 *
yihui 5:b8c02645e6af 72 * @param rd read from transmitter
yihui 5:b8c02645e6af 73 * @param td transmit to transmitter
yihui 5:b8c02645e6af 74 *
yihui 5:b8c02645e6af 75 * Example:
yihui 5:b8c02645e6af 76 * @code
yihui 5:b8c02645e6af 77 * #include "mbed.h"
yihui 5:b8c02645e6af 78 *
yihui 5:b8c02645e6af 79 * Ticker ticker;
yihui 5:b8c02645e6af 80 * DigitalOut led1(LED1);
yihui 5:b8c02645e6af 81 * DigitalOut led2(LED2);
yihui 5:b8c02645e6af 82 * CAN can1(p9, p10);
yihui 5:b8c02645e6af 83 * CAN can2(p30, p29);
yihui 5:b8c02645e6af 84 *
yihui 5:b8c02645e6af 85 * char counter = 0;
yihui 5:b8c02645e6af 86 *
yihui 5:b8c02645e6af 87 * void send() {
yihui 5:b8c02645e6af 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
yihui 5:b8c02645e6af 89 * printf("Message sent: %d\n", counter);
yihui 5:b8c02645e6af 90 * counter++;
yihui 5:b8c02645e6af 91 * }
yihui 5:b8c02645e6af 92 * led1 = !led1;
yihui 5:b8c02645e6af 93 * }
yihui 5:b8c02645e6af 94 *
yihui 5:b8c02645e6af 95 * int main() {
yihui 5:b8c02645e6af 96 * ticker.attach(&send, 1);
yihui 5:b8c02645e6af 97 * CANMessage msg;
yihui 5:b8c02645e6af 98 * while(1) {
yihui 5:b8c02645e6af 99 * if(can2.read(msg)) {
yihui 5:b8c02645e6af 100 * printf("Message received: %d\n\n", msg.data[0]);
yihui 5:b8c02645e6af 101 * led2 = !led2;
yihui 5:b8c02645e6af 102 * }
yihui 5:b8c02645e6af 103 * wait(0.2);
yihui 5:b8c02645e6af 104 * }
yihui 5:b8c02645e6af 105 * }
yihui 5:b8c02645e6af 106 * @endcode
yihui 5:b8c02645e6af 107 */
yihui 5:b8c02645e6af 108 CAN(PinName rd, PinName td);
yihui 5:b8c02645e6af 109 virtual ~CAN();
yihui 5:b8c02645e6af 110
yihui 5:b8c02645e6af 111 /** Set the frequency of the CAN interface
yihui 5:b8c02645e6af 112 *
yihui 5:b8c02645e6af 113 * @param hz The bus frequency in hertz
yihui 5:b8c02645e6af 114 *
yihui 5:b8c02645e6af 115 * @returns
yihui 5:b8c02645e6af 116 * 1 if successful,
yihui 5:b8c02645e6af 117 * 0 otherwise
yihui 5:b8c02645e6af 118 */
yihui 5:b8c02645e6af 119 int frequency(int hz);
yihui 5:b8c02645e6af 120
yihui 5:b8c02645e6af 121 /** Write a CANMessage to the bus.
yihui 5:b8c02645e6af 122 *
yihui 5:b8c02645e6af 123 * @param msg The CANMessage to write.
yihui 5:b8c02645e6af 124 *
yihui 5:b8c02645e6af 125 * @returns
yihui 5:b8c02645e6af 126 * 0 if write failed,
yihui 5:b8c02645e6af 127 * 1 if write was successful
yihui 5:b8c02645e6af 128 */
yihui 5:b8c02645e6af 129 int write(CANMessage msg);
yihui 5:b8c02645e6af 130
yihui 5:b8c02645e6af 131 /** Read a CANMessage from the bus.
yihui 5:b8c02645e6af 132 *
yihui 5:b8c02645e6af 133 * @param msg A CANMessage to read to.
yihui 5:b8c02645e6af 134 * @param handle message filter handle (0 for any message)
yihui 5:b8c02645e6af 135 *
yihui 5:b8c02645e6af 136 * @returns
yihui 5:b8c02645e6af 137 * 0 if no message arrived,
yihui 5:b8c02645e6af 138 * 1 if message arrived
yihui 5:b8c02645e6af 139 */
yihui 5:b8c02645e6af 140 int read(CANMessage &msg, int handle = 0);
yihui 5:b8c02645e6af 141
yihui 5:b8c02645e6af 142 /** Reset CAN interface.
yihui 5:b8c02645e6af 143 *
yihui 5:b8c02645e6af 144 * To use after error overflow.
yihui 5:b8c02645e6af 145 */
yihui 5:b8c02645e6af 146 void reset();
yihui 5:b8c02645e6af 147
yihui 5:b8c02645e6af 148 /** Puts or removes the CAN interface into silent monitoring mode
yihui 5:b8c02645e6af 149 *
yihui 5:b8c02645e6af 150 * @param silent boolean indicating whether to go into silent mode or not
yihui 5:b8c02645e6af 151 */
yihui 5:b8c02645e6af 152 void monitor(bool silent);
yihui 5:b8c02645e6af 153
yihui 5:b8c02645e6af 154 enum Mode {
yihui 5:b8c02645e6af 155 Reset = 0,
yihui 5:b8c02645e6af 156 Normal,
yihui 5:b8c02645e6af 157 Silent,
yihui 5:b8c02645e6af 158 LocalTest,
yihui 5:b8c02645e6af 159 GlobalTest,
yihui 5:b8c02645e6af 160 SilentTest
yihui 5:b8c02645e6af 161 };
yihui 5:b8c02645e6af 162
yihui 5:b8c02645e6af 163 /** Change CAN operation to the specified mode
yihui 5:b8c02645e6af 164 *
yihui 5:b8c02645e6af 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
yihui 5:b8c02645e6af 166 *
yihui 5:b8c02645e6af 167 * @returns
yihui 5:b8c02645e6af 168 * 0 if mode change failed or unsupported,
yihui 5:b8c02645e6af 169 * 1 if mode change was successful
yihui 5:b8c02645e6af 170 */
yihui 5:b8c02645e6af 171 int mode(Mode mode);
yihui 5:b8c02645e6af 172
yihui 5:b8c02645e6af 173 /** Filter out incomming messages
yihui 5:b8c02645e6af 174 *
yihui 5:b8c02645e6af 175 * @param id the id to filter on
yihui 5:b8c02645e6af 176 * @param mask the mask applied to the id
yihui 5:b8c02645e6af 177 * @param format format to filter on (Default CANAny)
yihui 5:b8c02645e6af 178 * @param handle message filter handle (Optional)
yihui 5:b8c02645e6af 179 *
yihui 5:b8c02645e6af 180 * @returns
yihui 5:b8c02645e6af 181 * 0 if filter change failed or unsupported,
yihui 5:b8c02645e6af 182 * new filter handle if successful
yihui 5:b8c02645e6af 183 */
yihui 5:b8c02645e6af 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
yihui 5:b8c02645e6af 185
yihui 5:b8c02645e6af 186 /** Returns number of read errors to detect read overflow errors.
yihui 5:b8c02645e6af 187 */
yihui 5:b8c02645e6af 188 unsigned char rderror();
yihui 5:b8c02645e6af 189
yihui 5:b8c02645e6af 190 /** Returns number of write errors to detect write overflow errors.
yihui 5:b8c02645e6af 191 */
yihui 5:b8c02645e6af 192 unsigned char tderror();
yihui 5:b8c02645e6af 193
yihui 5:b8c02645e6af 194 enum IrqType {
yihui 5:b8c02645e6af 195 RxIrq = 0,
yihui 5:b8c02645e6af 196 TxIrq,
yihui 5:b8c02645e6af 197 EwIrq,
yihui 5:b8c02645e6af 198 DoIrq,
yihui 5:b8c02645e6af 199 WuIrq,
yihui 5:b8c02645e6af 200 EpIrq,
yihui 5:b8c02645e6af 201 AlIrq,
yihui 5:b8c02645e6af 202 BeIrq,
yihui 5:b8c02645e6af 203 IdIrq
yihui 5:b8c02645e6af 204 };
yihui 5:b8c02645e6af 205
yihui 5:b8c02645e6af 206 /** Attach a function to call whenever a CAN frame received interrupt is
yihui 5:b8c02645e6af 207 * generated.
yihui 5:b8c02645e6af 208 *
yihui 5:b8c02645e6af 209 * @param fptr A pointer to a void function, or 0 to set as none
yihui 5:b8c02645e6af 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 5:b8c02645e6af 211 */
yihui 5:b8c02645e6af 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
yihui 5:b8c02645e6af 213
yihui 5:b8c02645e6af 214 /** Attach a member function to call whenever a CAN frame received interrupt
yihui 5:b8c02645e6af 215 * is generated.
yihui 5:b8c02645e6af 216 *
yihui 5:b8c02645e6af 217 * @param tptr pointer to the object to call the member function on
yihui 5:b8c02645e6af 218 * @param mptr pointer to the member function to be called
yihui 5:b8c02645e6af 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 5:b8c02645e6af 220 */
yihui 5:b8c02645e6af 221 template<typename T>
yihui 5:b8c02645e6af 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
yihui 5:b8c02645e6af 223 if((mptr != NULL) && (tptr != NULL)) {
yihui 5:b8c02645e6af 224 _irq[type].attach(tptr, mptr);
yihui 5:b8c02645e6af 225 can_irq_set(&_can, (CanIrqType)type, 1);
yihui 5:b8c02645e6af 226 }
yihui 5:b8c02645e6af 227 else {
yihui 5:b8c02645e6af 228 can_irq_set(&_can, (CanIrqType)type, 0);
yihui 5:b8c02645e6af 229 }
yihui 5:b8c02645e6af 230 }
yihui 5:b8c02645e6af 231
yihui 5:b8c02645e6af 232 static void _irq_handler(uint32_t id, CanIrqType type);
yihui 5:b8c02645e6af 233
yihui 5:b8c02645e6af 234 protected:
yihui 5:b8c02645e6af 235 can_t _can;
yihui 5:b8c02645e6af 236 FunctionPointer _irq[9];
yihui 5:b8c02645e6af 237 };
yihui 5:b8c02645e6af 238
yihui 5:b8c02645e6af 239 } // namespace mbed
yihui 5:b8c02645e6af 240
yihui 5:b8c02645e6af 241 #endif
yihui 5:b8c02645e6af 242
yihui 5:b8c02645e6af 243 #endif // MBED_CAN_H