Jasper Lee / mbed_helloworld

change some io settings for TWR-K22F-120M

Dependents:   twr_helloworld

CAN.h@0:b16d94660a33, 2014-12-23 (annotated)

Committer:
Jasper_lee
Date:
Tue Dec 23 03:35:08 2014 +0000
Revision:
0:b16d94660a33
change some io setting used in TWR-K22F120M

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jasper_lee 0:b16d94660a33 1 /* mbed Microcontroller Library
Jasper_lee 0:b16d94660a33 2 * Copyright (c) 2006-2013 ARM Limited
Jasper_lee 0:b16d94660a33 3 *
Jasper_lee 0:b16d94660a33 4 * Licensed under the Apache License, Version 2.0 (the "License");
Jasper_lee 0:b16d94660a33 5 * you may not use this file except in compliance with the License.
Jasper_lee 0:b16d94660a33 6 * You may obtain a copy of the License at
Jasper_lee 0:b16d94660a33 7 *
Jasper_lee 0:b16d94660a33 8 * http://www.apache.org/licenses/LICENSE-2.0
Jasper_lee 0:b16d94660a33 9 *
Jasper_lee 0:b16d94660a33 10 * Unless required by applicable law or agreed to in writing, software
Jasper_lee 0:b16d94660a33 11 * distributed under the License is distributed on an "AS IS" BASIS,
Jasper_lee 0:b16d94660a33 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
Jasper_lee 0:b16d94660a33 13 * See the License for the specific language governing permissions and
Jasper_lee 0:b16d94660a33 14 * limitations under the License.
Jasper_lee 0:b16d94660a33 15 */
Jasper_lee 0:b16d94660a33 16 #ifndef MBED_CAN_H
Jasper_lee 0:b16d94660a33 17 #define MBED_CAN_H
Jasper_lee 0:b16d94660a33 18
Jasper_lee 0:b16d94660a33 19 #include "platform.h"
Jasper_lee 0:b16d94660a33 20
Jasper_lee 0:b16d94660a33 21 #if DEVICE_CAN
Jasper_lee 0:b16d94660a33 22
Jasper_lee 0:b16d94660a33 23 #include "can_api.h"
Jasper_lee 0:b16d94660a33 24 #include "can_helper.h"
Jasper_lee 0:b16d94660a33 25 #include "FunctionPointer.h"
Jasper_lee 0:b16d94660a33 26
Jasper_lee 0:b16d94660a33 27 namespace mbed {
Jasper_lee 0:b16d94660a33 28
Jasper_lee 0:b16d94660a33 29 /** CANMessage class
Jasper_lee 0:b16d94660a33 30 */
Jasper_lee 0:b16d94660a33 31 class CANMessage : public CAN_Message {
Jasper_lee 0:b16d94660a33 32
Jasper_lee 0:b16d94660a33 33 public:
Jasper_lee 0:b16d94660a33 34 /** Creates empty CAN message.
Jasper_lee 0:b16d94660a33 35 */
Jasper_lee 0:b16d94660a33 36 CANMessage() : CAN_Message() {
Jasper_lee 0:b16d94660a33 37 len = 8;
Jasper_lee 0:b16d94660a33 38 type = CANData;
Jasper_lee 0:b16d94660a33 39 format = CANStandard;
Jasper_lee 0:b16d94660a33 40 id = 0;
Jasper_lee 0:b16d94660a33 41 memset(data, 0, 8);
Jasper_lee 0:b16d94660a33 42 }
Jasper_lee 0:b16d94660a33 43
Jasper_lee 0:b16d94660a33 44 /** Creates CAN message with specific content.
Jasper_lee 0:b16d94660a33 45 */
Jasper_lee 0:b16d94660a33 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
Jasper_lee 0:b16d94660a33 47 len = _len & 0xF;
Jasper_lee 0:b16d94660a33 48 type = _type;
Jasper_lee 0:b16d94660a33 49 format = _format;
Jasper_lee 0:b16d94660a33 50 id = _id;
Jasper_lee 0:b16d94660a33 51 memcpy(data, _data, _len);
Jasper_lee 0:b16d94660a33 52 }
Jasper_lee 0:b16d94660a33 53
Jasper_lee 0:b16d94660a33 54 /** Creates CAN remote message.
Jasper_lee 0:b16d94660a33 55 */
Jasper_lee 0:b16d94660a33 56 CANMessage(int _id, CANFormat _format = CANStandard) {
Jasper_lee 0:b16d94660a33 57 len = 0;
Jasper_lee 0:b16d94660a33 58 type = CANRemote;
Jasper_lee 0:b16d94660a33 59 format = _format;
Jasper_lee 0:b16d94660a33 60 id = _id;
Jasper_lee 0:b16d94660a33 61 memset(data, 0, 8);
Jasper_lee 0:b16d94660a33 62 }
Jasper_lee 0:b16d94660a33 63 };
Jasper_lee 0:b16d94660a33 64
Jasper_lee 0:b16d94660a33 65 /** A can bus client, used for communicating with can devices
Jasper_lee 0:b16d94660a33 66 */
Jasper_lee 0:b16d94660a33 67 class CAN {
Jasper_lee 0:b16d94660a33 68
Jasper_lee 0:b16d94660a33 69 public:
Jasper_lee 0:b16d94660a33 70 /** Creates an CAN interface connected to specific pins.
Jasper_lee 0:b16d94660a33 71 *
Jasper_lee 0:b16d94660a33 72 * @param rd read from transmitter
Jasper_lee 0:b16d94660a33 73 * @param td transmit to transmitter
Jasper_lee 0:b16d94660a33 74 *
Jasper_lee 0:b16d94660a33 75 * Example:
Jasper_lee 0:b16d94660a33 76 * @code
Jasper_lee 0:b16d94660a33 77 * #include "mbed.h"
Jasper_lee 0:b16d94660a33 78 *
Jasper_lee 0:b16d94660a33 79 * Ticker ticker;
Jasper_lee 0:b16d94660a33 80 * DigitalOut led1(LED1);
Jasper_lee 0:b16d94660a33 81 * DigitalOut led2(LED2);
Jasper_lee 0:b16d94660a33 82 * CAN can1(p9, p10);
Jasper_lee 0:b16d94660a33 83 * CAN can2(p30, p29);
Jasper_lee 0:b16d94660a33 84 *
Jasper_lee 0:b16d94660a33 85 * char counter = 0;
Jasper_lee 0:b16d94660a33 86 *
Jasper_lee 0:b16d94660a33 87 * void send() {
Jasper_lee 0:b16d94660a33 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
Jasper_lee 0:b16d94660a33 89 * printf("Message sent: %d\n", counter);
Jasper_lee 0:b16d94660a33 90 * counter++;
Jasper_lee 0:b16d94660a33 91 * }
Jasper_lee 0:b16d94660a33 92 * led1 = !led1;
Jasper_lee 0:b16d94660a33 93 * }
Jasper_lee 0:b16d94660a33 94 *
Jasper_lee 0:b16d94660a33 95 * int main() {
Jasper_lee 0:b16d94660a33 96 * ticker.attach(&send, 1);
Jasper_lee 0:b16d94660a33 97 * CANMessage msg;
Jasper_lee 0:b16d94660a33 98 * while(1) {
Jasper_lee 0:b16d94660a33 99 * if(can2.read(msg)) {
Jasper_lee 0:b16d94660a33 100 * printf("Message received: %d\n\n", msg.data[0]);
Jasper_lee 0:b16d94660a33 101 * led2 = !led2;
Jasper_lee 0:b16d94660a33 102 * }
Jasper_lee 0:b16d94660a33 103 * wait(0.2);
Jasper_lee 0:b16d94660a33 104 * }
Jasper_lee 0:b16d94660a33 105 * }
Jasper_lee 0:b16d94660a33 106 * @endcode
Jasper_lee 0:b16d94660a33 107 */
Jasper_lee 0:b16d94660a33 108 CAN(PinName rd, PinName td);
Jasper_lee 0:b16d94660a33 109 virtual ~CAN();
Jasper_lee 0:b16d94660a33 110
Jasper_lee 0:b16d94660a33 111 /** Set the frequency of the CAN interface
Jasper_lee 0:b16d94660a33 112 *
Jasper_lee 0:b16d94660a33 113 * @param hz The bus frequency in hertz
Jasper_lee 0:b16d94660a33 114 *
Jasper_lee 0:b16d94660a33 115 * @returns
Jasper_lee 0:b16d94660a33 116 * 1 if successful,
Jasper_lee 0:b16d94660a33 117 * 0 otherwise
Jasper_lee 0:b16d94660a33 118 */
Jasper_lee 0:b16d94660a33 119 int frequency(int hz);
Jasper_lee 0:b16d94660a33 120
Jasper_lee 0:b16d94660a33 121 /** Write a CANMessage to the bus.
Jasper_lee 0:b16d94660a33 122 *
Jasper_lee 0:b16d94660a33 123 * @param msg The CANMessage to write.
Jasper_lee 0:b16d94660a33 124 *
Jasper_lee 0:b16d94660a33 125 * @returns
Jasper_lee 0:b16d94660a33 126 * 0 if write failed,
Jasper_lee 0:b16d94660a33 127 * 1 if write was successful
Jasper_lee 0:b16d94660a33 128 */
Jasper_lee 0:b16d94660a33 129 int write(CANMessage msg);
Jasper_lee 0:b16d94660a33 130
Jasper_lee 0:b16d94660a33 131 /** Read a CANMessage from the bus.
Jasper_lee 0:b16d94660a33 132 *
Jasper_lee 0:b16d94660a33 133 * @param msg A CANMessage to read to.
Jasper_lee 0:b16d94660a33 134 * @param handle message filter handle (0 for any message)
Jasper_lee 0:b16d94660a33 135 *
Jasper_lee 0:b16d94660a33 136 * @returns
Jasper_lee 0:b16d94660a33 137 * 0 if no message arrived,
Jasper_lee 0:b16d94660a33 138 * 1 if message arrived
Jasper_lee 0:b16d94660a33 139 */
Jasper_lee 0:b16d94660a33 140 int read(CANMessage &msg, int handle = 0);
Jasper_lee 0:b16d94660a33 141
Jasper_lee 0:b16d94660a33 142 /** Reset CAN interface.
Jasper_lee 0:b16d94660a33 143 *
Jasper_lee 0:b16d94660a33 144 * To use after error overflow.
Jasper_lee 0:b16d94660a33 145 */
Jasper_lee 0:b16d94660a33 146 void reset();
Jasper_lee 0:b16d94660a33 147
Jasper_lee 0:b16d94660a33 148 /** Puts or removes the CAN interface into silent monitoring mode
Jasper_lee 0:b16d94660a33 149 *
Jasper_lee 0:b16d94660a33 150 * @param silent boolean indicating whether to go into silent mode or not
Jasper_lee 0:b16d94660a33 151 */
Jasper_lee 0:b16d94660a33 152 void monitor(bool silent);
Jasper_lee 0:b16d94660a33 153
Jasper_lee 0:b16d94660a33 154 enum Mode {
Jasper_lee 0:b16d94660a33 155 Reset = 0,
Jasper_lee 0:b16d94660a33 156 Normal,
Jasper_lee 0:b16d94660a33 157 Silent,
Jasper_lee 0:b16d94660a33 158 LocalTest,
Jasper_lee 0:b16d94660a33 159 GlobalTest,
Jasper_lee 0:b16d94660a33 160 SilentTest
Jasper_lee 0:b16d94660a33 161 };
Jasper_lee 0:b16d94660a33 162
Jasper_lee 0:b16d94660a33 163 /** Change CAN operation to the specified mode
Jasper_lee 0:b16d94660a33 164 *
Jasper_lee 0:b16d94660a33 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
Jasper_lee 0:b16d94660a33 166 *
Jasper_lee 0:b16d94660a33 167 * @returns
Jasper_lee 0:b16d94660a33 168 * 0 if mode change failed or unsupported,
Jasper_lee 0:b16d94660a33 169 * 1 if mode change was successful
Jasper_lee 0:b16d94660a33 170 */
Jasper_lee 0:b16d94660a33 171 int mode(Mode mode);
Jasper_lee 0:b16d94660a33 172
Jasper_lee 0:b16d94660a33 173 /** Filter out incomming messages
Jasper_lee 0:b16d94660a33 174 *
Jasper_lee 0:b16d94660a33 175 * @param id the id to filter on
Jasper_lee 0:b16d94660a33 176 * @param mask the mask applied to the id
Jasper_lee 0:b16d94660a33 177 * @param format format to filter on (Default CANAny)
Jasper_lee 0:b16d94660a33 178 * @param handle message filter handle (Optional)
Jasper_lee 0:b16d94660a33 179 *
Jasper_lee 0:b16d94660a33 180 * @returns
Jasper_lee 0:b16d94660a33 181 * 0 if filter change failed or unsupported,
Jasper_lee 0:b16d94660a33 182 * new filter handle if successful
Jasper_lee 0:b16d94660a33 183 */
Jasper_lee 0:b16d94660a33 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
Jasper_lee 0:b16d94660a33 185
Jasper_lee 0:b16d94660a33 186 /** Returns number of read errors to detect read overflow errors.
Jasper_lee 0:b16d94660a33 187 */
Jasper_lee 0:b16d94660a33 188 unsigned char rderror();
Jasper_lee 0:b16d94660a33 189
Jasper_lee 0:b16d94660a33 190 /** Returns number of write errors to detect write overflow errors.
Jasper_lee 0:b16d94660a33 191 */
Jasper_lee 0:b16d94660a33 192 unsigned char tderror();
Jasper_lee 0:b16d94660a33 193
Jasper_lee 0:b16d94660a33 194 enum IrqType {
Jasper_lee 0:b16d94660a33 195 RxIrq = 0,
Jasper_lee 0:b16d94660a33 196 TxIrq,
Jasper_lee 0:b16d94660a33 197 EwIrq,
Jasper_lee 0:b16d94660a33 198 DoIrq,
Jasper_lee 0:b16d94660a33 199 WuIrq,
Jasper_lee 0:b16d94660a33 200 EpIrq,
Jasper_lee 0:b16d94660a33 201 AlIrq,
Jasper_lee 0:b16d94660a33 202 BeIrq,
Jasper_lee 0:b16d94660a33 203 IdIrq
Jasper_lee 0:b16d94660a33 204 };
Jasper_lee 0:b16d94660a33 205
Jasper_lee 0:b16d94660a33 206 /** Attach a function to call whenever a CAN frame received interrupt is
Jasper_lee 0:b16d94660a33 207 * generated.
Jasper_lee 0:b16d94660a33 208 *
Jasper_lee 0:b16d94660a33 209 * @param fptr A pointer to a void function, or 0 to set as none
Jasper_lee 0:b16d94660a33 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)
Jasper_lee 0:b16d94660a33 211 */
Jasper_lee 0:b16d94660a33 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
Jasper_lee 0:b16d94660a33 213
Jasper_lee 0:b16d94660a33 214 /** Attach a member function to call whenever a CAN frame received interrupt
Jasper_lee 0:b16d94660a33 215 * is generated.
Jasper_lee 0:b16d94660a33 216 *
Jasper_lee 0:b16d94660a33 217 * @param tptr pointer to the object to call the member function on
Jasper_lee 0:b16d94660a33 218 * @param mptr pointer to the member function to be called
Jasper_lee 0:b16d94660a33 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)
Jasper_lee 0:b16d94660a33 220 */
Jasper_lee 0:b16d94660a33 221 template<typename T>
Jasper_lee 0:b16d94660a33 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
Jasper_lee 0:b16d94660a33 223 if((mptr != NULL) && (tptr != NULL)) {
Jasper_lee 0:b16d94660a33 224 _irq[type].attach(tptr, mptr);
Jasper_lee 0:b16d94660a33 225 can_irq_set(&_can, (CanIrqType)type, 1);
Jasper_lee 0:b16d94660a33 226 }
Jasper_lee 0:b16d94660a33 227 else {
Jasper_lee 0:b16d94660a33 228 can_irq_set(&_can, (CanIrqType)type, 0);
Jasper_lee 0:b16d94660a33 229 }
Jasper_lee 0:b16d94660a33 230 }
Jasper_lee 0:b16d94660a33 231
Jasper_lee 0:b16d94660a33 232 static void _irq_handler(uint32_t id, CanIrqType type);
Jasper_lee 0:b16d94660a33 233
Jasper_lee 0:b16d94660a33 234 protected:
Jasper_lee 0:b16d94660a33 235 can_t _can;
Jasper_lee 0:b16d94660a33 236 FunctionPointer _irq[9];
Jasper_lee 0:b16d94660a33 237 };
Jasper_lee 0:b16d94660a33 238
Jasper_lee 0:b16d94660a33 239 } // namespace mbed
Jasper_lee 0:b16d94660a33 240
Jasper_lee 0:b16d94660a33 241 #endif
Jasper_lee 0:b16d94660a33 242
Jasper_lee 0:b16d94660a33 243 #endif // MBED_CAN_H