Johannes Stratmann / mbed-dev

added prescaler for 16 bit pwm in LPC1347 target

Fork of mbed-dev by mbed official

api/CAN.h@147:ba84b7dc41a7, 2016-09-10 (annotated)

Committer:
JojoS
Date:
Sat Sep 10 15:32:04 2016 +0000
Revision:
147:ba84b7dc41a7
Parent:
144:ef7eb2e8f9f7 
added prescaler for 16 bit timers (solution as in LPC11xx), default prescaler 31 for max 28 ms period time

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 144:ef7eb2e8f9f7 1 /* mbed Microcontroller Library
<> 144:ef7eb2e8f9f7 2 * Copyright (c) 2006-2013 ARM Limited
<> 144:ef7eb2e8f9f7 3 *
<> 144:ef7eb2e8f9f7 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 144:ef7eb2e8f9f7 5 * you may not use this file except in compliance with the License.
<> 144:ef7eb2e8f9f7 6 * You may obtain a copy of the License at
<> 144:ef7eb2e8f9f7 7 *
<> 144:ef7eb2e8f9f7 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 144:ef7eb2e8f9f7 9 *
<> 144:ef7eb2e8f9f7 10 * Unless required by applicable law or agreed to in writing, software
<> 144:ef7eb2e8f9f7 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 144:ef7eb2e8f9f7 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 144:ef7eb2e8f9f7 13 * See the License for the specific language governing permissions and
<> 144:ef7eb2e8f9f7 14 * limitations under the License.
<> 144:ef7eb2e8f9f7 15 */
<> 144:ef7eb2e8f9f7 16 #ifndef MBED_CAN_H
<> 144:ef7eb2e8f9f7 17 #define MBED_CAN_H
<> 144:ef7eb2e8f9f7 18
<> 144:ef7eb2e8f9f7 19 #include "platform.h"
<> 144:ef7eb2e8f9f7 20
<> 144:ef7eb2e8f9f7 21 #if DEVICE_CAN
<> 144:ef7eb2e8f9f7 22
<> 144:ef7eb2e8f9f7 23 #include "can_api.h"
<> 144:ef7eb2e8f9f7 24 #include "can_helper.h"
<> 144:ef7eb2e8f9f7 25 #include "Callback.h"
<> 144:ef7eb2e8f9f7 26 #include "PlatformMutex.h"
<> 144:ef7eb2e8f9f7 27
<> 144:ef7eb2e8f9f7 28 namespace mbed {
<> 144:ef7eb2e8f9f7 29
<> 144:ef7eb2e8f9f7 30 /** CANMessage class
<> 144:ef7eb2e8f9f7 31 *
<> 144:ef7eb2e8f9f7 32 * @Note Synchronization level: Thread safe
<> 144:ef7eb2e8f9f7 33 */
<> 144:ef7eb2e8f9f7 34 class CANMessage : public CAN_Message {
<> 144:ef7eb2e8f9f7 35
<> 144:ef7eb2e8f9f7 36 public:
<> 144:ef7eb2e8f9f7 37 /** Creates empty CAN message.
<> 144:ef7eb2e8f9f7 38 */
<> 144:ef7eb2e8f9f7 39 CANMessage() : CAN_Message() {
<> 144:ef7eb2e8f9f7 40 len = 8;
<> 144:ef7eb2e8f9f7 41 type = CANData;
<> 144:ef7eb2e8f9f7 42 format = CANStandard;
<> 144:ef7eb2e8f9f7 43 id = 0;
<> 144:ef7eb2e8f9f7 44 memset(data, 0, 8);
<> 144:ef7eb2e8f9f7 45 }
<> 144:ef7eb2e8f9f7 46
<> 144:ef7eb2e8f9f7 47 /** Creates CAN message with specific content.
<> 144:ef7eb2e8f9f7 48 */
<> 144:ef7eb2e8f9f7 49 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
<> 144:ef7eb2e8f9f7 50 len = _len & 0xF;
<> 144:ef7eb2e8f9f7 51 type = _type;
<> 144:ef7eb2e8f9f7 52 format = _format;
<> 144:ef7eb2e8f9f7 53 id = _id;
<> 144:ef7eb2e8f9f7 54 memcpy(data, _data, _len);
<> 144:ef7eb2e8f9f7 55 }
<> 144:ef7eb2e8f9f7 56
<> 144:ef7eb2e8f9f7 57 /** Creates CAN remote message.
<> 144:ef7eb2e8f9f7 58 */
<> 144:ef7eb2e8f9f7 59 CANMessage(int _id, CANFormat _format = CANStandard) {
<> 144:ef7eb2e8f9f7 60 len = 0;
<> 144:ef7eb2e8f9f7 61 type = CANRemote;
<> 144:ef7eb2e8f9f7 62 format = _format;
<> 144:ef7eb2e8f9f7 63 id = _id;
<> 144:ef7eb2e8f9f7 64 memset(data, 0, 8);
<> 144:ef7eb2e8f9f7 65 }
<> 144:ef7eb2e8f9f7 66 };
<> 144:ef7eb2e8f9f7 67
<> 144:ef7eb2e8f9f7 68 /** A can bus client, used for communicating with can devices
<> 144:ef7eb2e8f9f7 69 */
<> 144:ef7eb2e8f9f7 70 class CAN {
<> 144:ef7eb2e8f9f7 71
<> 144:ef7eb2e8f9f7 72 public:
<> 144:ef7eb2e8f9f7 73 /** Creates an CAN interface connected to specific pins.
<> 144:ef7eb2e8f9f7 74 *
<> 144:ef7eb2e8f9f7 75 * @param rd read from transmitter
<> 144:ef7eb2e8f9f7 76 * @param td transmit to transmitter
<> 144:ef7eb2e8f9f7 77 *
<> 144:ef7eb2e8f9f7 78 * Example:
<> 144:ef7eb2e8f9f7 79 * @code
<> 144:ef7eb2e8f9f7 80 * #include "mbed.h"
<> 144:ef7eb2e8f9f7 81 *
<> 144:ef7eb2e8f9f7 82 * Ticker ticker;
<> 144:ef7eb2e8f9f7 83 * DigitalOut led1(LED1);
<> 144:ef7eb2e8f9f7 84 * DigitalOut led2(LED2);
<> 144:ef7eb2e8f9f7 85 * CAN can1(p9, p10);
<> 144:ef7eb2e8f9f7 86 * CAN can2(p30, p29);
<> 144:ef7eb2e8f9f7 87 *
<> 144:ef7eb2e8f9f7 88 * char counter = 0;
<> 144:ef7eb2e8f9f7 89 *
<> 144:ef7eb2e8f9f7 90 * void send() {
<> 144:ef7eb2e8f9f7 91 * if(can1.write(CANMessage(1337, &counter, 1))) {
<> 144:ef7eb2e8f9f7 92 * printf("Message sent: %d\n", counter);
<> 144:ef7eb2e8f9f7 93 * counter++;
<> 144:ef7eb2e8f9f7 94 * }
<> 144:ef7eb2e8f9f7 95 * led1 = !led1;
<> 144:ef7eb2e8f9f7 96 * }
<> 144:ef7eb2e8f9f7 97 *
<> 144:ef7eb2e8f9f7 98 * int main() {
<> 144:ef7eb2e8f9f7 99 * ticker.attach(&send, 1);
<> 144:ef7eb2e8f9f7 100 * CANMessage msg;
<> 144:ef7eb2e8f9f7 101 * while(1) {
<> 144:ef7eb2e8f9f7 102 * if(can2.read(msg)) {
<> 144:ef7eb2e8f9f7 103 * printf("Message received: %d\n\n", msg.data[0]);
<> 144:ef7eb2e8f9f7 104 * led2 = !led2;
<> 144:ef7eb2e8f9f7 105 * }
<> 144:ef7eb2e8f9f7 106 * wait(0.2);
<> 144:ef7eb2e8f9f7 107 * }
<> 144:ef7eb2e8f9f7 108 * }
<> 144:ef7eb2e8f9f7 109 * @endcode
<> 144:ef7eb2e8f9f7 110 */
<> 144:ef7eb2e8f9f7 111 CAN(PinName rd, PinName td);
<> 144:ef7eb2e8f9f7 112 virtual ~CAN();
<> 144:ef7eb2e8f9f7 113
<> 144:ef7eb2e8f9f7 114 /** Set the frequency of the CAN interface
<> 144:ef7eb2e8f9f7 115 *
<> 144:ef7eb2e8f9f7 116 * @param hz The bus frequency in hertz
<> 144:ef7eb2e8f9f7 117 *
<> 144:ef7eb2e8f9f7 118 * @returns
<> 144:ef7eb2e8f9f7 119 * 1 if successful,
<> 144:ef7eb2e8f9f7 120 * 0 otherwise
<> 144:ef7eb2e8f9f7 121 */
<> 144:ef7eb2e8f9f7 122 int frequency(int hz);
<> 144:ef7eb2e8f9f7 123
<> 144:ef7eb2e8f9f7 124 /** Write a CANMessage to the bus.
<> 144:ef7eb2e8f9f7 125 *
<> 144:ef7eb2e8f9f7 126 * @param msg The CANMessage to write.
<> 144:ef7eb2e8f9f7 127 *
<> 144:ef7eb2e8f9f7 128 * @returns
<> 144:ef7eb2e8f9f7 129 * 0 if write failed,
<> 144:ef7eb2e8f9f7 130 * 1 if write was successful
<> 144:ef7eb2e8f9f7 131 */
<> 144:ef7eb2e8f9f7 132 int write(CANMessage msg);
<> 144:ef7eb2e8f9f7 133
<> 144:ef7eb2e8f9f7 134 /** Read a CANMessage from the bus.
<> 144:ef7eb2e8f9f7 135 *
<> 144:ef7eb2e8f9f7 136 * @param msg A CANMessage to read to.
<> 144:ef7eb2e8f9f7 137 * @param handle message filter handle (0 for any message)
<> 144:ef7eb2e8f9f7 138 *
<> 144:ef7eb2e8f9f7 139 * @returns
<> 144:ef7eb2e8f9f7 140 * 0 if no message arrived,
<> 144:ef7eb2e8f9f7 141 * 1 if message arrived
<> 144:ef7eb2e8f9f7 142 */
<> 144:ef7eb2e8f9f7 143 int read(CANMessage &msg, int handle = 0);
<> 144:ef7eb2e8f9f7 144
<> 144:ef7eb2e8f9f7 145 /** Reset CAN interface.
<> 144:ef7eb2e8f9f7 146 *
<> 144:ef7eb2e8f9f7 147 * To use after error overflow.
<> 144:ef7eb2e8f9f7 148 */
<> 144:ef7eb2e8f9f7 149 void reset();
<> 144:ef7eb2e8f9f7 150
<> 144:ef7eb2e8f9f7 151 /** Puts or removes the CAN interface into silent monitoring mode
<> 144:ef7eb2e8f9f7 152 *
<> 144:ef7eb2e8f9f7 153 * @param silent boolean indicating whether to go into silent mode or not
<> 144:ef7eb2e8f9f7 154 */
<> 144:ef7eb2e8f9f7 155 void monitor(bool silent);
<> 144:ef7eb2e8f9f7 156
<> 144:ef7eb2e8f9f7 157 enum Mode {
<> 144:ef7eb2e8f9f7 158 Reset = 0,
<> 144:ef7eb2e8f9f7 159 Normal,
<> 144:ef7eb2e8f9f7 160 Silent,
<> 144:ef7eb2e8f9f7 161 LocalTest,
<> 144:ef7eb2e8f9f7 162 GlobalTest,
<> 144:ef7eb2e8f9f7 163 SilentTest
<> 144:ef7eb2e8f9f7 164 };
<> 144:ef7eb2e8f9f7 165
<> 144:ef7eb2e8f9f7 166 /** Change CAN operation to the specified mode
<> 144:ef7eb2e8f9f7 167 *
<> 144:ef7eb2e8f9f7 168 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
<> 144:ef7eb2e8f9f7 169 *
<> 144:ef7eb2e8f9f7 170 * @returns
<> 144:ef7eb2e8f9f7 171 * 0 if mode change failed or unsupported,
<> 144:ef7eb2e8f9f7 172 * 1 if mode change was successful
<> 144:ef7eb2e8f9f7 173 */
<> 144:ef7eb2e8f9f7 174 int mode(Mode mode);
<> 144:ef7eb2e8f9f7 175
<> 144:ef7eb2e8f9f7 176 /** Filter out incomming messages
<> 144:ef7eb2e8f9f7 177 *
<> 144:ef7eb2e8f9f7 178 * @param id the id to filter on
<> 144:ef7eb2e8f9f7 179 * @param mask the mask applied to the id
<> 144:ef7eb2e8f9f7 180 * @param format format to filter on (Default CANAny)
<> 144:ef7eb2e8f9f7 181 * @param handle message filter handle (Optional)
<> 144:ef7eb2e8f9f7 182 *
<> 144:ef7eb2e8f9f7 183 * @returns
<> 144:ef7eb2e8f9f7 184 * 0 if filter change failed or unsupported,
<> 144:ef7eb2e8f9f7 185 * new filter handle if successful
<> 144:ef7eb2e8f9f7 186 */
<> 144:ef7eb2e8f9f7 187 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
<> 144:ef7eb2e8f9f7 188
<> 144:ef7eb2e8f9f7 189 /** Returns number of read errors to detect read overflow errors.
<> 144:ef7eb2e8f9f7 190 */
<> 144:ef7eb2e8f9f7 191 unsigned char rderror();
<> 144:ef7eb2e8f9f7 192
<> 144:ef7eb2e8f9f7 193 /** Returns number of write errors to detect write overflow errors.
<> 144:ef7eb2e8f9f7 194 */
<> 144:ef7eb2e8f9f7 195 unsigned char tderror();
<> 144:ef7eb2e8f9f7 196
<> 144:ef7eb2e8f9f7 197 enum IrqType {
<> 144:ef7eb2e8f9f7 198 RxIrq = 0,
<> 144:ef7eb2e8f9f7 199 TxIrq,
<> 144:ef7eb2e8f9f7 200 EwIrq,
<> 144:ef7eb2e8f9f7 201 DoIrq,
<> 144:ef7eb2e8f9f7 202 WuIrq,
<> 144:ef7eb2e8f9f7 203 EpIrq,
<> 144:ef7eb2e8f9f7 204 AlIrq,
<> 144:ef7eb2e8f9f7 205 BeIrq,
<> 144:ef7eb2e8f9f7 206 IdIrq
<> 144:ef7eb2e8f9f7 207 };
<> 144:ef7eb2e8f9f7 208
<> 144:ef7eb2e8f9f7 209 /** Attach a function to call whenever a CAN frame received interrupt is
<> 144:ef7eb2e8f9f7 210 * generated.
<> 144:ef7eb2e8f9f7 211 *
<> 144:ef7eb2e8f9f7 212 * @param func A pointer to a void function, or 0 to set as none
<> 144:ef7eb2e8f9f7 213 * @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)
<> 144:ef7eb2e8f9f7 214 */
<> 144:ef7eb2e8f9f7 215 void attach(Callback<void()> func, IrqType type=RxIrq);
<> 144:ef7eb2e8f9f7 216
<> 144:ef7eb2e8f9f7 217 /** Attach a member function to call whenever a CAN frame received interrupt
<> 144:ef7eb2e8f9f7 218 * is generated.
<> 144:ef7eb2e8f9f7 219 *
<> 144:ef7eb2e8f9f7 220 * @param obj pointer to the object to call the member function on
<> 144:ef7eb2e8f9f7 221 * @param method pointer to the member function to be called
<> 144:ef7eb2e8f9f7 222 * @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)
<> 144:ef7eb2e8f9f7 223 */
<> 144:ef7eb2e8f9f7 224 template<typename T>
<> 144:ef7eb2e8f9f7 225 void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
<> 144:ef7eb2e8f9f7 226 // Underlying call thread safe
<> 144:ef7eb2e8f9f7 227 attach(Callback<void()>(obj, method), type);
<> 144:ef7eb2e8f9f7 228 }
<> 144:ef7eb2e8f9f7 229
<> 144:ef7eb2e8f9f7 230 /** Attach a member function to call whenever a CAN frame received interrupt
<> 144:ef7eb2e8f9f7 231 * is generated.
<> 144:ef7eb2e8f9f7 232 *
<> 144:ef7eb2e8f9f7 233 * @param obj pointer to the object to call the member function on
<> 144:ef7eb2e8f9f7 234 * @param method pointer to the member function to be called
<> 144:ef7eb2e8f9f7 235 * @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)
<> 144:ef7eb2e8f9f7 236 */
<> 144:ef7eb2e8f9f7 237 template<typename T>
<> 144:ef7eb2e8f9f7 238 void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
<> 144:ef7eb2e8f9f7 239 // Underlying call thread safe
<> 144:ef7eb2e8f9f7 240 attach(Callback<void()>(obj, method), type);
<> 144:ef7eb2e8f9f7 241 }
<> 144:ef7eb2e8f9f7 242
<> 144:ef7eb2e8f9f7 243 static void _irq_handler(uint32_t id, CanIrqType type);
<> 144:ef7eb2e8f9f7 244
<> 144:ef7eb2e8f9f7 245 protected:
<> 144:ef7eb2e8f9f7 246 virtual void lock();
<> 144:ef7eb2e8f9f7 247 virtual void unlock();
<> 144:ef7eb2e8f9f7 248 can_t _can;
<> 144:ef7eb2e8f9f7 249 Callback<void()> _irq[9];
<> 144:ef7eb2e8f9f7 250 PlatformMutex _mutex;
<> 144:ef7eb2e8f9f7 251 };
<> 144:ef7eb2e8f9f7 252
<> 144:ef7eb2e8f9f7 253 } // namespace mbed
<> 144:ef7eb2e8f9f7 254
<> 144:ef7eb2e8f9f7 255 #endif
<> 144:ef7eb2e8f9f7 256
<> 144:ef7eb2e8f9f7 257 #endif // MBED_CAN_H