CRAC Team / command_AX12_petit_robot_V4tempo

code ax12 petit robot 12/05/2017

Fork of command_AX12_petit_robot_V3 by CRAC Team

mbed/CAN.h@7:ad4a19e26b84, 2017-05-12 (annotated)

Committer:
ClementBreteau
Date:
Fri May 12 14:35:09 2017 +0000
Revision:
7:ad4a19e26b84
Parent:
2:99b1cb0d9f5e 
position ax12

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SquirrelGod 2:99b1cb0d9f5e 1 /* mbed Microcontroller Library - can
SquirrelGod 2:99b1cb0d9f5e 2 * Copyright (c) 2009-2011 ARM Limited. All rights reserved.
SquirrelGod 2:99b1cb0d9f5e 3 */
SquirrelGod 2:99b1cb0d9f5e 4
SquirrelGod 2:99b1cb0d9f5e 5 #ifndef MBED_CAN_H
SquirrelGod 2:99b1cb0d9f5e 6 #define MBED_CAN_H
SquirrelGod 2:99b1cb0d9f5e 7
SquirrelGod 2:99b1cb0d9f5e 8 #include "device.h"
SquirrelGod 2:99b1cb0d9f5e 9
SquirrelGod 2:99b1cb0d9f5e 10 #if DEVICE_CAN
SquirrelGod 2:99b1cb0d9f5e 11
SquirrelGod 2:99b1cb0d9f5e 12 #include "Base.h"
SquirrelGod 2:99b1cb0d9f5e 13 #include "platform.h"
SquirrelGod 2:99b1cb0d9f5e 14 #include "PinNames.h"
SquirrelGod 2:99b1cb0d9f5e 15 #include "PeripheralNames.h"
SquirrelGod 2:99b1cb0d9f5e 16
SquirrelGod 2:99b1cb0d9f5e 17 #include "can_helper.h"
SquirrelGod 2:99b1cb0d9f5e 18 #include "FunctionPointer.h"
SquirrelGod 2:99b1cb0d9f5e 19
SquirrelGod 2:99b1cb0d9f5e 20 #include <string.h>
SquirrelGod 2:99b1cb0d9f5e 21
SquirrelGod 2:99b1cb0d9f5e 22 namespace mbed {
SquirrelGod 2:99b1cb0d9f5e 23
SquirrelGod 2:99b1cb0d9f5e 24 /* Class: CANMessage
SquirrelGod 2:99b1cb0d9f5e 25 *
SquirrelGod 2:99b1cb0d9f5e 26 */
SquirrelGod 2:99b1cb0d9f5e 27 class CANMessage : public CAN_Message {
SquirrelGod 2:99b1cb0d9f5e 28
SquirrelGod 2:99b1cb0d9f5e 29 public:
SquirrelGod 2:99b1cb0d9f5e 30
SquirrelGod 2:99b1cb0d9f5e 31 /* Constructor: CANMessage
SquirrelGod 2:99b1cb0d9f5e 32 * Creates empty CAN message.
SquirrelGod 2:99b1cb0d9f5e 33 */
SquirrelGod 2:99b1cb0d9f5e 34 CANMessage() {
SquirrelGod 2:99b1cb0d9f5e 35 len = 8;
SquirrelGod 2:99b1cb0d9f5e 36 type = CANData;
SquirrelGod 2:99b1cb0d9f5e 37 format = CANStandard;
SquirrelGod 2:99b1cb0d9f5e 38 id = 0;
SquirrelGod 2:99b1cb0d9f5e 39 memset(data, 0, 8);
SquirrelGod 2:99b1cb0d9f5e 40 }
SquirrelGod 2:99b1cb0d9f5e 41
SquirrelGod 2:99b1cb0d9f5e 42 /* Constructor: CANMessage
SquirrelGod 2:99b1cb0d9f5e 43 * Creates CAN message with specific content.
SquirrelGod 2:99b1cb0d9f5e 44 */
SquirrelGod 2:99b1cb0d9f5e 45 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
SquirrelGod 2:99b1cb0d9f5e 46 len = _len & 0xF;
SquirrelGod 2:99b1cb0d9f5e 47 type = _type;
SquirrelGod 2:99b1cb0d9f5e 48 format = _format;
SquirrelGod 2:99b1cb0d9f5e 49 id = _id;
SquirrelGod 2:99b1cb0d9f5e 50 memcpy(data, _data, _len);
SquirrelGod 2:99b1cb0d9f5e 51 }
SquirrelGod 2:99b1cb0d9f5e 52
SquirrelGod 2:99b1cb0d9f5e 53 /* Constructor: CANMessage
SquirrelGod 2:99b1cb0d9f5e 54 * Creates CAN remote message.
SquirrelGod 2:99b1cb0d9f5e 55 */
SquirrelGod 2:99b1cb0d9f5e 56 CANMessage(int _id, CANFormat _format = CANStandard) {
SquirrelGod 2:99b1cb0d9f5e 57 len = 0;
SquirrelGod 2:99b1cb0d9f5e 58 type = CANRemote;
SquirrelGod 2:99b1cb0d9f5e 59 format = _format;
SquirrelGod 2:99b1cb0d9f5e 60 id = _id;
SquirrelGod 2:99b1cb0d9f5e 61 memset(data, 0, 8);
SquirrelGod 2:99b1cb0d9f5e 62 }
SquirrelGod 2:99b1cb0d9f5e 63 #if 0 // Inhereted from CAN_Message, for documentation only
SquirrelGod 2:99b1cb0d9f5e 64
SquirrelGod 2:99b1cb0d9f5e 65 /* Variable: id
SquirrelGod 2:99b1cb0d9f5e 66 * The message id.
SquirrelGod 2:99b1cb0d9f5e 67 *
SquirrelGod 2:99b1cb0d9f5e 68 * If format is CANStandard it must be an 11 bit long id
SquirrelGod 2:99b1cb0d9f5e 69 * If format is CANExtended it must be an 29 bit long id
SquirrelGod 2:99b1cb0d9f5e 70 */
SquirrelGod 2:99b1cb0d9f5e 71 unsigned int id;
SquirrelGod 2:99b1cb0d9f5e 72
SquirrelGod 2:99b1cb0d9f5e 73 /* Variable: data
SquirrelGod 2:99b1cb0d9f5e 74 * Space for 8 byte payload.
SquirrelGod 2:99b1cb0d9f5e 75 *
SquirrelGod 2:99b1cb0d9f5e 76 * If type is CANData data can store up to 8 byte data.
SquirrelGod 2:99b1cb0d9f5e 77 */
SquirrelGod 2:99b1cb0d9f5e 78 unsigned char data[8];
SquirrelGod 2:99b1cb0d9f5e 79
SquirrelGod 2:99b1cb0d9f5e 80 /* Variable: len
SquirrelGod 2:99b1cb0d9f5e 81 * Length of data in bytes.
SquirrelGod 2:99b1cb0d9f5e 82 *
SquirrelGod 2:99b1cb0d9f5e 83 * If type is CANData data can store up to 8 byte data.
SquirrelGod 2:99b1cb0d9f5e 84 */
SquirrelGod 2:99b1cb0d9f5e 85 unsigned char len;
SquirrelGod 2:99b1cb0d9f5e 86
SquirrelGod 2:99b1cb0d9f5e 87 /* Variable: format
SquirrelGod 2:99b1cb0d9f5e 88 * Defines if the message has standard or extended format.
SquirrelGod 2:99b1cb0d9f5e 89 *
SquirrelGod 2:99b1cb0d9f5e 90 * Defines the type of message id:
SquirrelGod 2:99b1cb0d9f5e 91 * Default is CANStandard which implies 11 bit id.
SquirrelGod 2:99b1cb0d9f5e 92 * CANExtended means 29 bit message id.
SquirrelGod 2:99b1cb0d9f5e 93 */
SquirrelGod 2:99b1cb0d9f5e 94 CANFormat format;
SquirrelGod 2:99b1cb0d9f5e 95
SquirrelGod 2:99b1cb0d9f5e 96 /* Variable: type
SquirrelGod 2:99b1cb0d9f5e 97 * Defines the type of a message.
SquirrelGod 2:99b1cb0d9f5e 98 *
SquirrelGod 2:99b1cb0d9f5e 99 * The message type can rather be CANData for a message with data (default).
SquirrelGod 2:99b1cb0d9f5e 100 * Or CANRemote for a request of a specific CAN message.
SquirrelGod 2:99b1cb0d9f5e 101 */
SquirrelGod 2:99b1cb0d9f5e 102 CANType type; // 0 - DATA FRAME, 1 - REMOTE FRAME
SquirrelGod 2:99b1cb0d9f5e 103 #endif
SquirrelGod 2:99b1cb0d9f5e 104 };
SquirrelGod 2:99b1cb0d9f5e 105
SquirrelGod 2:99b1cb0d9f5e 106 /* Class: CAN
SquirrelGod 2:99b1cb0d9f5e 107 * A can bus client, used for communicating with can devices
SquirrelGod 2:99b1cb0d9f5e 108 */
SquirrelGod 2:99b1cb0d9f5e 109 class CAN : public Base {
SquirrelGod 2:99b1cb0d9f5e 110
SquirrelGod 2:99b1cb0d9f5e 111 public:
SquirrelGod 2:99b1cb0d9f5e 112
SquirrelGod 2:99b1cb0d9f5e 113 /* Constructor: CAN
SquirrelGod 2:99b1cb0d9f5e 114 * Creates an CAN interface connected to specific pins.
SquirrelGod 2:99b1cb0d9f5e 115 *
SquirrelGod 2:99b1cb0d9f5e 116 * Example:
SquirrelGod 2:99b1cb0d9f5e 117 * > #include "mbed.h"
SquirrelGod 2:99b1cb0d9f5e 118 * >
SquirrelGod 2:99b1cb0d9f5e 119 * > Ticker ticker;
SquirrelGod 2:99b1cb0d9f5e 120 * > DigitalOut led1(LED1);
SquirrelGod 2:99b1cb0d9f5e 121 * > DigitalOut led2(LED2);
SquirrelGod 2:99b1cb0d9f5e 122 * > CAN can1(p9, p10);
SquirrelGod 2:99b1cb0d9f5e 123 * > CAN can2(p30, p29);
SquirrelGod 2:99b1cb0d9f5e 124 * >
SquirrelGod 2:99b1cb0d9f5e 125 * > char counter = 0;
SquirrelGod 2:99b1cb0d9f5e 126 * >
SquirrelGod 2:99b1cb0d9f5e 127 * > void send() {
SquirrelGod 2:99b1cb0d9f5e 128 * > if(can1.write(CANMessage(1337, &counter, 1))) {
SquirrelGod 2:99b1cb0d9f5e 129 * > printf("Message sent: %d\n", counter);
SquirrelGod 2:99b1cb0d9f5e 130 * > counter++;
SquirrelGod 2:99b1cb0d9f5e 131 * > }
SquirrelGod 2:99b1cb0d9f5e 132 * > led1 = !led1;
SquirrelGod 2:99b1cb0d9f5e 133 * > }
SquirrelGod 2:99b1cb0d9f5e 134 * >
SquirrelGod 2:99b1cb0d9f5e 135 * > int main() {
SquirrelGod 2:99b1cb0d9f5e 136 * > ticker.attach(&send, 1);
SquirrelGod 2:99b1cb0d9f5e 137 * > CANMessage msg;
SquirrelGod 2:99b1cb0d9f5e 138 * > while(1) {
SquirrelGod 2:99b1cb0d9f5e 139 * > if(can2.read(msg)) {
SquirrelGod 2:99b1cb0d9f5e 140 * > printf("Message received: %d\n\n", msg.data[0]);
SquirrelGod 2:99b1cb0d9f5e 141 * > led2 = !led2;
SquirrelGod 2:99b1cb0d9f5e 142 * > }
SquirrelGod 2:99b1cb0d9f5e 143 * > wait(0.2);
SquirrelGod 2:99b1cb0d9f5e 144 * > }
SquirrelGod 2:99b1cb0d9f5e 145 * > }
SquirrelGod 2:99b1cb0d9f5e 146 *
SquirrelGod 2:99b1cb0d9f5e 147 * Variables:
SquirrelGod 2:99b1cb0d9f5e 148 * rd - read from transmitter
SquirrelGod 2:99b1cb0d9f5e 149 * td - transmit to transmitter
SquirrelGod 2:99b1cb0d9f5e 150 */
SquirrelGod 2:99b1cb0d9f5e 151 CAN(PinName rd, PinName td);
SquirrelGod 2:99b1cb0d9f5e 152 virtual ~CAN();
SquirrelGod 2:99b1cb0d9f5e 153
SquirrelGod 2:99b1cb0d9f5e 154 /* Function: frequency
SquirrelGod 2:99b1cb0d9f5e 155 * Set the frequency of the CAN interface
SquirrelGod 2:99b1cb0d9f5e 156 *
SquirrelGod 2:99b1cb0d9f5e 157 * Variables:
SquirrelGod 2:99b1cb0d9f5e 158 * hz - The bus frequency in hertz
SquirrelGod 2:99b1cb0d9f5e 159 * returns - 1 if successful, 0 otherwise
SquirrelGod 2:99b1cb0d9f5e 160 */
SquirrelGod 2:99b1cb0d9f5e 161 int frequency(int hz);
SquirrelGod 2:99b1cb0d9f5e 162
SquirrelGod 2:99b1cb0d9f5e 163 /* Function: write
SquirrelGod 2:99b1cb0d9f5e 164 * Write a CANMessage to the bus.
SquirrelGod 2:99b1cb0d9f5e 165 *
SquirrelGod 2:99b1cb0d9f5e 166 * Variables:
SquirrelGod 2:99b1cb0d9f5e 167 * msg - The CANMessage to write.
SquirrelGod 2:99b1cb0d9f5e 168 *
SquirrelGod 2:99b1cb0d9f5e 169 * Returns:
SquirrelGod 2:99b1cb0d9f5e 170 * 0 - If write failed.
SquirrelGod 2:99b1cb0d9f5e 171 * 1 - If write was successful.
SquirrelGod 2:99b1cb0d9f5e 172 */
SquirrelGod 2:99b1cb0d9f5e 173 int write(CANMessage msg);
SquirrelGod 2:99b1cb0d9f5e 174
SquirrelGod 2:99b1cb0d9f5e 175 /* Function: read
SquirrelGod 2:99b1cb0d9f5e 176 * Read a CANMessage from the bus.
SquirrelGod 2:99b1cb0d9f5e 177 *
SquirrelGod 2:99b1cb0d9f5e 178 * Variables:
SquirrelGod 2:99b1cb0d9f5e 179 * msg - A CANMessage to read to.
SquirrelGod 2:99b1cb0d9f5e 180 *
SquirrelGod 2:99b1cb0d9f5e 181 * Returns:
SquirrelGod 2:99b1cb0d9f5e 182 * 0 - If no message arrived.
SquirrelGod 2:99b1cb0d9f5e 183 * 1 - If message arrived.
SquirrelGod 2:99b1cb0d9f5e 184 */
SquirrelGod 2:99b1cb0d9f5e 185 int read(CANMessage &msg);
SquirrelGod 2:99b1cb0d9f5e 186
SquirrelGod 2:99b1cb0d9f5e 187 /* Function: reset
SquirrelGod 2:99b1cb0d9f5e 188 * Reset CAN interface.
SquirrelGod 2:99b1cb0d9f5e 189 *
SquirrelGod 2:99b1cb0d9f5e 190 * To use after error overflow.
SquirrelGod 2:99b1cb0d9f5e 191 */
SquirrelGod 2:99b1cb0d9f5e 192 void reset();
SquirrelGod 2:99b1cb0d9f5e 193
SquirrelGod 2:99b1cb0d9f5e 194 /* Function: monitor
SquirrelGod 2:99b1cb0d9f5e 195 * Puts or removes the CAN interface into silent monitoring mode
SquirrelGod 2:99b1cb0d9f5e 196 *
SquirrelGod 2:99b1cb0d9f5e 197 * Variables:
SquirrelGod 2:99b1cb0d9f5e 198 * silent - boolean indicating whether to go into silent mode or not
SquirrelGod 2:99b1cb0d9f5e 199 */
SquirrelGod 2:99b1cb0d9f5e 200 void monitor(bool silent);
SquirrelGod 2:99b1cb0d9f5e 201
SquirrelGod 2:99b1cb0d9f5e 202 /* Function: rderror
SquirrelGod 2:99b1cb0d9f5e 203 * Returns number of read errors to detect read overflow errors.
SquirrelGod 2:99b1cb0d9f5e 204 */
SquirrelGod 2:99b1cb0d9f5e 205 unsigned char rderror();
SquirrelGod 2:99b1cb0d9f5e 206
SquirrelGod 2:99b1cb0d9f5e 207 /* Function: tderror
SquirrelGod 2:99b1cb0d9f5e 208 * Returns number of write errors to detect write overflow errors.
SquirrelGod 2:99b1cb0d9f5e 209 */
SquirrelGod 2:99b1cb0d9f5e 210 unsigned char tderror();
SquirrelGod 2:99b1cb0d9f5e 211
SquirrelGod 2:99b1cb0d9f5e 212 /* Function: attach
SquirrelGod 2:99b1cb0d9f5e 213 * Attach a function to call whenever a CAN frame received interrupt is
SquirrelGod 2:99b1cb0d9f5e 214 * generated.
SquirrelGod 2:99b1cb0d9f5e 215 *
SquirrelGod 2:99b1cb0d9f5e 216 * Variables:
SquirrelGod 2:99b1cb0d9f5e 217 * fptr - A pointer to a void function, or 0 to set as none
SquirrelGod 2:99b1cb0d9f5e 218 */
SquirrelGod 2:99b1cb0d9f5e 219 void attach(void (*fptr)(void));
SquirrelGod 2:99b1cb0d9f5e 220
SquirrelGod 2:99b1cb0d9f5e 221 /* Function attach
SquirrelGod 2:99b1cb0d9f5e 222 * Attach a member function to call whenever a CAN frame received interrupt
SquirrelGod 2:99b1cb0d9f5e 223 * is generated.
SquirrelGod 2:99b1cb0d9f5e 224 *
SquirrelGod 2:99b1cb0d9f5e 225 * Variables:
SquirrelGod 2:99b1cb0d9f5e 226 * tptr - pointer to the object to call the member function on
SquirrelGod 2:99b1cb0d9f5e 227 * mptr - pointer to the member function to be called
SquirrelGod 2:99b1cb0d9f5e 228 */
SquirrelGod 2:99b1cb0d9f5e 229 template<typename T>
SquirrelGod 2:99b1cb0d9f5e 230 void attach(T* tptr, void (T::*mptr)(void)) {
SquirrelGod 2:99b1cb0d9f5e 231 if((mptr != NULL) && (tptr != NULL)) {
SquirrelGod 2:99b1cb0d9f5e 232 _rxirq.attach(tptr, mptr);
SquirrelGod 2:99b1cb0d9f5e 233 setup_interrupt();
SquirrelGod 2:99b1cb0d9f5e 234 } else {
SquirrelGod 2:99b1cb0d9f5e 235 remove_interrupt();
SquirrelGod 2:99b1cb0d9f5e 236 }
SquirrelGod 2:99b1cb0d9f5e 237 }
SquirrelGod 2:99b1cb0d9f5e 238
SquirrelGod 2:99b1cb0d9f5e 239 private:
SquirrelGod 2:99b1cb0d9f5e 240
SquirrelGod 2:99b1cb0d9f5e 241 CANName _id;
SquirrelGod 2:99b1cb0d9f5e 242 FunctionPointer _rxirq;
SquirrelGod 2:99b1cb0d9f5e 243
SquirrelGod 2:99b1cb0d9f5e 244 void setup_interrupt(void);
SquirrelGod 2:99b1cb0d9f5e 245 void remove_interrupt(void);
SquirrelGod 2:99b1cb0d9f5e 246 };
SquirrelGod 2:99b1cb0d9f5e 247
SquirrelGod 2:99b1cb0d9f5e 248 } // namespace mbed
SquirrelGod 2:99b1cb0d9f5e 249
SquirrelGod 2:99b1cb0d9f5e 250 #endif // MBED_CAN_H
SquirrelGod 2:99b1cb0d9f5e 251
SquirrelGod 2:99b1cb0d9f5e 252 #endif