philippe s. / mbed-dev

mbed library sources. Supersedes mbed-src. Fixes analogIn and analogOut problems for TARGET_STM32F3. Tested on NUCLEO-F303K8, using 3 analogout and 7 analogin channels simultaneously. Added ability for STM32F334R8 and STM32F303K8 to use all three channels of DAC simultaneously. https://developer.mbed.org/users/StevieWray/code/mbed-dev/ Added ability for TARGET_STM32F3 to use more than one ADC simultaneously. https://developer.mbed.org/questions/67997/NUCLEO-F303K8ADC/

Fork of mbed-dev by mbed official

api/CAN.h@70:b3a5af880266, 2016-02-23 (annotated)

Committer:
neurofun
Date:
Tue Feb 23 21:59:35 2016 +0000
Revision:
70:b3a5af880266
Parent:
0:9b334a45a8ff 
Edited DAC routines to allow for the simultaneous use of three channels from two DACs as seen on the STM32F334R8 and STM32F303K8. Edited ADC routines to allow for the simultaneous use of more than one ADC.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bogdanm 0:9b334a45a8ff 1 /* mbed Microcontroller Library
bogdanm 0:9b334a45a8ff 2 * Copyright (c) 2006-2013 ARM Limited
bogdanm 0:9b334a45a8ff 3 *
bogdanm 0:9b334a45a8ff 4 * Licensed under the Apache License, Version 2.0 (the "License");
bogdanm 0:9b334a45a8ff 5 * you may not use this file except in compliance with the License.
bogdanm 0:9b334a45a8ff 6 * You may obtain a copy of the License at
bogdanm 0:9b334a45a8ff 7 *
bogdanm 0:9b334a45a8ff 8 * http://www.apache.org/licenses/LICENSE-2.0
bogdanm 0:9b334a45a8ff 9 *
bogdanm 0:9b334a45a8ff 10 * Unless required by applicable law or agreed to in writing, software
bogdanm 0:9b334a45a8ff 11 * distributed under the License is distributed on an "AS IS" BASIS,
bogdanm 0:9b334a45a8ff 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
bogdanm 0:9b334a45a8ff 13 * See the License for the specific language governing permissions and
bogdanm 0:9b334a45a8ff 14 * limitations under the License.
bogdanm 0:9b334a45a8ff 15 */
bogdanm 0:9b334a45a8ff 16 #ifndef MBED_CAN_H
bogdanm 0:9b334a45a8ff 17 #define MBED_CAN_H
bogdanm 0:9b334a45a8ff 18
bogdanm 0:9b334a45a8ff 19 #include "platform.h"
bogdanm 0:9b334a45a8ff 20
bogdanm 0:9b334a45a8ff 21 #if DEVICE_CAN
bogdanm 0:9b334a45a8ff 22
bogdanm 0:9b334a45a8ff 23 #include "can_api.h"
bogdanm 0:9b334a45a8ff 24 #include "can_helper.h"
bogdanm 0:9b334a45a8ff 25 #include "FunctionPointer.h"
bogdanm 0:9b334a45a8ff 26
bogdanm 0:9b334a45a8ff 27 namespace mbed {
bogdanm 0:9b334a45a8ff 28
bogdanm 0:9b334a45a8ff 29 /** CANMessage class
bogdanm 0:9b334a45a8ff 30 */
bogdanm 0:9b334a45a8ff 31 class CANMessage : public CAN_Message {
bogdanm 0:9b334a45a8ff 32
bogdanm 0:9b334a45a8ff 33 public:
bogdanm 0:9b334a45a8ff 34 /** Creates empty CAN message.
bogdanm 0:9b334a45a8ff 35 */
bogdanm 0:9b334a45a8ff 36 CANMessage() : CAN_Message() {
bogdanm 0:9b334a45a8ff 37 len = 8;
bogdanm 0:9b334a45a8ff 38 type = CANData;
bogdanm 0:9b334a45a8ff 39 format = CANStandard;
bogdanm 0:9b334a45a8ff 40 id = 0;
bogdanm 0:9b334a45a8ff 41 memset(data, 0, 8);
bogdanm 0:9b334a45a8ff 42 }
bogdanm 0:9b334a45a8ff 43
bogdanm 0:9b334a45a8ff 44 /** Creates CAN message with specific content.
bogdanm 0:9b334a45a8ff 45 */
bogdanm 0:9b334a45a8ff 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
bogdanm 0:9b334a45a8ff 47 len = _len & 0xF;
bogdanm 0:9b334a45a8ff 48 type = _type;
bogdanm 0:9b334a45a8ff 49 format = _format;
bogdanm 0:9b334a45a8ff 50 id = _id;
bogdanm 0:9b334a45a8ff 51 memcpy(data, _data, _len);
bogdanm 0:9b334a45a8ff 52 }
bogdanm 0:9b334a45a8ff 53
bogdanm 0:9b334a45a8ff 54 /** Creates CAN remote message.
bogdanm 0:9b334a45a8ff 55 */
bogdanm 0:9b334a45a8ff 56 CANMessage(int _id, CANFormat _format = CANStandard) {
bogdanm 0:9b334a45a8ff 57 len = 0;
bogdanm 0:9b334a45a8ff 58 type = CANRemote;
bogdanm 0:9b334a45a8ff 59 format = _format;
bogdanm 0:9b334a45a8ff 60 id = _id;
bogdanm 0:9b334a45a8ff 61 memset(data, 0, 8);
bogdanm 0:9b334a45a8ff 62 }
bogdanm 0:9b334a45a8ff 63 };
bogdanm 0:9b334a45a8ff 64
bogdanm 0:9b334a45a8ff 65 /** A can bus client, used for communicating with can devices
bogdanm 0:9b334a45a8ff 66 */
bogdanm 0:9b334a45a8ff 67 class CAN {
bogdanm 0:9b334a45a8ff 68
bogdanm 0:9b334a45a8ff 69 public:
bogdanm 0:9b334a45a8ff 70 /** Creates an CAN interface connected to specific pins.
bogdanm 0:9b334a45a8ff 71 *
bogdanm 0:9b334a45a8ff 72 * @param rd read from transmitter
bogdanm 0:9b334a45a8ff 73 * @param td transmit to transmitter
bogdanm 0:9b334a45a8ff 74 *
bogdanm 0:9b334a45a8ff 75 * Example:
bogdanm 0:9b334a45a8ff 76 * @code
bogdanm 0:9b334a45a8ff 77 * #include "mbed.h"
bogdanm 0:9b334a45a8ff 78 *
bogdanm 0:9b334a45a8ff 79 * Ticker ticker;
bogdanm 0:9b334a45a8ff 80 * DigitalOut led1(LED1);
bogdanm 0:9b334a45a8ff 81 * DigitalOut led2(LED2);
bogdanm 0:9b334a45a8ff 82 * CAN can1(p9, p10);
bogdanm 0:9b334a45a8ff 83 * CAN can2(p30, p29);
bogdanm 0:9b334a45a8ff 84 *
bogdanm 0:9b334a45a8ff 85 * char counter = 0;
bogdanm 0:9b334a45a8ff 86 *
bogdanm 0:9b334a45a8ff 87 * void send() {
bogdanm 0:9b334a45a8ff 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
bogdanm 0:9b334a45a8ff 89 * printf("Message sent: %d\n", counter);
bogdanm 0:9b334a45a8ff 90 * counter++;
bogdanm 0:9b334a45a8ff 91 * }
bogdanm 0:9b334a45a8ff 92 * led1 = !led1;
bogdanm 0:9b334a45a8ff 93 * }
bogdanm 0:9b334a45a8ff 94 *
bogdanm 0:9b334a45a8ff 95 * int main() {
bogdanm 0:9b334a45a8ff 96 * ticker.attach(&send, 1);
bogdanm 0:9b334a45a8ff 97 * CANMessage msg;
bogdanm 0:9b334a45a8ff 98 * while(1) {
bogdanm 0:9b334a45a8ff 99 * if(can2.read(msg)) {
bogdanm 0:9b334a45a8ff 100 * printf("Message received: %d\n\n", msg.data[0]);
bogdanm 0:9b334a45a8ff 101 * led2 = !led2;
bogdanm 0:9b334a45a8ff 102 * }
bogdanm 0:9b334a45a8ff 103 * wait(0.2);
bogdanm 0:9b334a45a8ff 104 * }
bogdanm 0:9b334a45a8ff 105 * }
bogdanm 0:9b334a45a8ff 106 * @endcode
bogdanm 0:9b334a45a8ff 107 */
bogdanm 0:9b334a45a8ff 108 CAN(PinName rd, PinName td);
bogdanm 0:9b334a45a8ff 109 virtual ~CAN();
bogdanm 0:9b334a45a8ff 110
bogdanm 0:9b334a45a8ff 111 /** Set the frequency of the CAN interface
bogdanm 0:9b334a45a8ff 112 *
bogdanm 0:9b334a45a8ff 113 * @param hz The bus frequency in hertz
bogdanm 0:9b334a45a8ff 114 *
bogdanm 0:9b334a45a8ff 115 * @returns
bogdanm 0:9b334a45a8ff 116 * 1 if successful,
bogdanm 0:9b334a45a8ff 117 * 0 otherwise
bogdanm 0:9b334a45a8ff 118 */
bogdanm 0:9b334a45a8ff 119 int frequency(int hz);
bogdanm 0:9b334a45a8ff 120
bogdanm 0:9b334a45a8ff 121 /** Write a CANMessage to the bus.
bogdanm 0:9b334a45a8ff 122 *
bogdanm 0:9b334a45a8ff 123 * @param msg The CANMessage to write.
bogdanm 0:9b334a45a8ff 124 *
bogdanm 0:9b334a45a8ff 125 * @returns
bogdanm 0:9b334a45a8ff 126 * 0 if write failed,
bogdanm 0:9b334a45a8ff 127 * 1 if write was successful
bogdanm 0:9b334a45a8ff 128 */
bogdanm 0:9b334a45a8ff 129 int write(CANMessage msg);
bogdanm 0:9b334a45a8ff 130
bogdanm 0:9b334a45a8ff 131 /** Read a CANMessage from the bus.
bogdanm 0:9b334a45a8ff 132 *
bogdanm 0:9b334a45a8ff 133 * @param msg A CANMessage to read to.
bogdanm 0:9b334a45a8ff 134 * @param handle message filter handle (0 for any message)
bogdanm 0:9b334a45a8ff 135 *
bogdanm 0:9b334a45a8ff 136 * @returns
bogdanm 0:9b334a45a8ff 137 * 0 if no message arrived,
bogdanm 0:9b334a45a8ff 138 * 1 if message arrived
bogdanm 0:9b334a45a8ff 139 */
bogdanm 0:9b334a45a8ff 140 int read(CANMessage &msg, int handle = 0);
bogdanm 0:9b334a45a8ff 141
bogdanm 0:9b334a45a8ff 142 /** Reset CAN interface.
bogdanm 0:9b334a45a8ff 143 *
bogdanm 0:9b334a45a8ff 144 * To use after error overflow.
bogdanm 0:9b334a45a8ff 145 */
bogdanm 0:9b334a45a8ff 146 void reset();
bogdanm 0:9b334a45a8ff 147
bogdanm 0:9b334a45a8ff 148 /** Puts or removes the CAN interface into silent monitoring mode
bogdanm 0:9b334a45a8ff 149 *
bogdanm 0:9b334a45a8ff 150 * @param silent boolean indicating whether to go into silent mode or not
bogdanm 0:9b334a45a8ff 151 */
bogdanm 0:9b334a45a8ff 152 void monitor(bool silent);
bogdanm 0:9b334a45a8ff 153
bogdanm 0:9b334a45a8ff 154 enum Mode {
bogdanm 0:9b334a45a8ff 155 Reset = 0,
bogdanm 0:9b334a45a8ff 156 Normal,
bogdanm 0:9b334a45a8ff 157 Silent,
bogdanm 0:9b334a45a8ff 158 LocalTest,
bogdanm 0:9b334a45a8ff 159 GlobalTest,
bogdanm 0:9b334a45a8ff 160 SilentTest
bogdanm 0:9b334a45a8ff 161 };
bogdanm 0:9b334a45a8ff 162
bogdanm 0:9b334a45a8ff 163 /** Change CAN operation to the specified mode
bogdanm 0:9b334a45a8ff 164 *
bogdanm 0:9b334a45a8ff 165 * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
bogdanm 0:9b334a45a8ff 166 *
bogdanm 0:9b334a45a8ff 167 * @returns
bogdanm 0:9b334a45a8ff 168 * 0 if mode change failed or unsupported,
bogdanm 0:9b334a45a8ff 169 * 1 if mode change was successful
bogdanm 0:9b334a45a8ff 170 */
bogdanm 0:9b334a45a8ff 171 int mode(Mode mode);
bogdanm 0:9b334a45a8ff 172
bogdanm 0:9b334a45a8ff 173 /** Filter out incomming messages
bogdanm 0:9b334a45a8ff 174 *
bogdanm 0:9b334a45a8ff 175 * @param id the id to filter on
bogdanm 0:9b334a45a8ff 176 * @param mask the mask applied to the id
bogdanm 0:9b334a45a8ff 177 * @param format format to filter on (Default CANAny)
bogdanm 0:9b334a45a8ff 178 * @param handle message filter handle (Optional)
bogdanm 0:9b334a45a8ff 179 *
bogdanm 0:9b334a45a8ff 180 * @returns
bogdanm 0:9b334a45a8ff 181 * 0 if filter change failed or unsupported,
bogdanm 0:9b334a45a8ff 182 * new filter handle if successful
bogdanm 0:9b334a45a8ff 183 */
bogdanm 0:9b334a45a8ff 184 int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
bogdanm 0:9b334a45a8ff 185
bogdanm 0:9b334a45a8ff 186 /** Returns number of read errors to detect read overflow errors.
bogdanm 0:9b334a45a8ff 187 */
bogdanm 0:9b334a45a8ff 188 unsigned char rderror();
bogdanm 0:9b334a45a8ff 189
bogdanm 0:9b334a45a8ff 190 /** Returns number of write errors to detect write overflow errors.
bogdanm 0:9b334a45a8ff 191 */
bogdanm 0:9b334a45a8ff 192 unsigned char tderror();
bogdanm 0:9b334a45a8ff 193
bogdanm 0:9b334a45a8ff 194 enum IrqType {
bogdanm 0:9b334a45a8ff 195 RxIrq = 0,
bogdanm 0:9b334a45a8ff 196 TxIrq,
bogdanm 0:9b334a45a8ff 197 EwIrq,
bogdanm 0:9b334a45a8ff 198 DoIrq,
bogdanm 0:9b334a45a8ff 199 WuIrq,
bogdanm 0:9b334a45a8ff 200 EpIrq,
bogdanm 0:9b334a45a8ff 201 AlIrq,
bogdanm 0:9b334a45a8ff 202 BeIrq,
bogdanm 0:9b334a45a8ff 203 IdIrq
bogdanm 0:9b334a45a8ff 204 };
bogdanm 0:9b334a45a8ff 205
bogdanm 0:9b334a45a8ff 206 /** Attach a function to call whenever a CAN frame received interrupt is
bogdanm 0:9b334a45a8ff 207 * generated.
bogdanm 0:9b334a45a8ff 208 *
bogdanm 0:9b334a45a8ff 209 * @param fptr A pointer to a void function, or 0 to set as none
bogdanm 0:9b334a45a8ff 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)
bogdanm 0:9b334a45a8ff 211 */
bogdanm 0:9b334a45a8ff 212 void attach(void (*fptr)(void), IrqType type=RxIrq);
bogdanm 0:9b334a45a8ff 213
bogdanm 0:9b334a45a8ff 214 /** Attach a member function to call whenever a CAN frame received interrupt
bogdanm 0:9b334a45a8ff 215 * is generated.
bogdanm 0:9b334a45a8ff 216 *
bogdanm 0:9b334a45a8ff 217 * @param tptr pointer to the object to call the member function on
bogdanm 0:9b334a45a8ff 218 * @param mptr pointer to the member function to be called
bogdanm 0:9b334a45a8ff 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)
bogdanm 0:9b334a45a8ff 220 */
bogdanm 0:9b334a45a8ff 221 template<typename T>
bogdanm 0:9b334a45a8ff 222 void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
bogdanm 0:9b334a45a8ff 223 if((mptr != NULL) && (tptr != NULL)) {
bogdanm 0:9b334a45a8ff 224 _irq[type].attach(tptr, mptr);
bogdanm 0:9b334a45a8ff 225 can_irq_set(&_can, (CanIrqType)type, 1);
bogdanm 0:9b334a45a8ff 226 }
bogdanm 0:9b334a45a8ff 227 else {
bogdanm 0:9b334a45a8ff 228 can_irq_set(&_can, (CanIrqType)type, 0);
bogdanm 0:9b334a45a8ff 229 }
bogdanm 0:9b334a45a8ff 230 }
bogdanm 0:9b334a45a8ff 231
bogdanm 0:9b334a45a8ff 232 static void _irq_handler(uint32_t id, CanIrqType type);
bogdanm 0:9b334a45a8ff 233
bogdanm 0:9b334a45a8ff 234 protected:
bogdanm 0:9b334a45a8ff 235 can_t _can;
bogdanm 0:9b334a45a8ff 236 FunctionPointer _irq[9];
bogdanm 0:9b334a45a8ff 237 };
bogdanm 0:9b334a45a8ff 238
bogdanm 0:9b334a45a8ff 239 } // namespace mbed
bogdanm 0:9b334a45a8ff 240
bogdanm 0:9b334a45a8ff 241 #endif
bogdanm 0:9b334a45a8ff 242
bogdanm 0:9b334a45a8ff 243 #endif // MBED_CAN_H