Ricardo Benitez / mbed

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CAN.h@59:0883845fe643, 2013-02-18 (annotated)

Committer:
emilmont
Date:
Mon Feb 18 11:12:58 2013 +0000
Revision:
59:0883845fe643
Parent:
55:d722ed6a4237
Child:
65:5798e58a58b1
Add pinmap NC terminators for LPC1768 CAN.

Update the license from MIT to Apache v2.

Make the semihost code target independent using opportune defines for the UID and MAC.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 44:24d45a770a51 1 /* mbed Microcontroller Library
emilmont 54:71b101360fb9 2 * Copyright (c) 2006-2013 ARM Limited
emilmont 44:24d45a770a51 3 *
emilmont 59:0883845fe643 4 * Licensed under the Apache License, Version 2.0 (the "License");
emilmont 59:0883845fe643 5 * you may not use this file except in compliance with the License.
emilmont 59:0883845fe643 6 * You may obtain a copy of the License at
emilmont 59:0883845fe643 7 *
emilmont 59:0883845fe643 8 * http://www.apache.org/licenses/LICENSE-2.0
emilmont 44:24d45a770a51 9 *
emilmont 59:0883845fe643 10 * Unless required by applicable law or agreed to in writing, software
emilmont 59:0883845fe643 11 * distributed under the License is distributed on an "AS IS" BASIS,
emilmont 59:0883845fe643 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
emilmont 59:0883845fe643 13 * See the License for the specific language governing permissions and
emilmont 59:0883845fe643 14 * limitations under the License.
emilmont 44:24d45a770a51 15 */
rolf.meyer@arm.com 11:1c1ebd0324fa 16 #ifndef MBED_CAN_H
rolf.meyer@arm.com 11:1c1ebd0324fa 17 #define MBED_CAN_H
rolf.meyer@arm.com 11:1c1ebd0324fa 18
emilmont 44:24d45a770a51 19 #include "platform.h"
emilmont 27:7110ebee3484 20
emilmont 27:7110ebee3484 21 #if DEVICE_CAN
emilmont 27:7110ebee3484 22
emilmont 44:24d45a770a51 23 #include "can_api.h"
emilmont 55:d722ed6a4237 24 #include "can_helper.h"
simon 22:9114680c05da 25 #include "FunctionPointer.h"
rolf.meyer@arm.com 11:1c1ebd0324fa 26
rolf.meyer@arm.com 11:1c1ebd0324fa 27 namespace mbed {
rolf.meyer@arm.com 11:1c1ebd0324fa 28
emilmont 43:e2ed12d17f06 29 /** CANMessage class
rolf.meyer@arm.com 11:1c1ebd0324fa 30 */
rolf.meyer@arm.com 11:1c1ebd0324fa 31 class CANMessage : public CAN_Message {
rolf.meyer@arm.com 11:1c1ebd0324fa 32
rolf.meyer@arm.com 11:1c1ebd0324fa 33 public:
emilmont 43:e2ed12d17f06 34 /** Creates empty CAN message.
rolf.meyer@arm.com 11:1c1ebd0324fa 35 */
rolf.meyer@arm.com 11:1c1ebd0324fa 36 CANMessage() {
emilmont 44:24d45a770a51 37 len = 8;
emilmont 44:24d45a770a51 38 type = CANData;
emilmont 44:24d45a770a51 39 format = CANStandard;
emilmont 44:24d45a770a51 40 id = 0;
emilmont 44:24d45a770a51 41 memset(data, 0, 8);
rolf.meyer@arm.com 11:1c1ebd0324fa 42 }
emilmont 55:d722ed6a4237 43
emilmont 43:e2ed12d17f06 44 /** Creates CAN message with specific content.
rolf.meyer@arm.com 11:1c1ebd0324fa 45 */
rolf.meyer@arm.com 11:1c1ebd0324fa 46 CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
rolf.meyer@arm.com 11:1c1ebd0324fa 47 len = _len & 0xF;
rolf.meyer@arm.com 11:1c1ebd0324fa 48 type = _type;
rolf.meyer@arm.com 11:1c1ebd0324fa 49 format = _format;
rolf.meyer@arm.com 11:1c1ebd0324fa 50 id = _id;
rolf.meyer@arm.com 11:1c1ebd0324fa 51 memcpy(data, _data, _len);
rolf.meyer@arm.com 11:1c1ebd0324fa 52 }
rolf.meyer@arm.com 11:1c1ebd0324fa 53
emilmont 43:e2ed12d17f06 54 /** Creates CAN remote message.
rolf.meyer@arm.com 11:1c1ebd0324fa 55 */
rolf.meyer@arm.com 11:1c1ebd0324fa 56 CANMessage(int _id, CANFormat _format = CANStandard) {
rolf.meyer@arm.com 11:1c1ebd0324fa 57 len = 0;
rolf.meyer@arm.com 11:1c1ebd0324fa 58 type = CANRemote;
rolf.meyer@arm.com 11:1c1ebd0324fa 59 format = _format;
rolf.meyer@arm.com 11:1c1ebd0324fa 60 id = _id;
rolf.meyer@arm.com 11:1c1ebd0324fa 61 memset(data, 0, 8);
rolf.meyer@arm.com 11:1c1ebd0324fa 62 }
rolf.meyer@arm.com 11:1c1ebd0324fa 63 };
rolf.meyer@arm.com 11:1c1ebd0324fa 64
emilmont 43:e2ed12d17f06 65 /** A can bus client, used for communicating with can devices
rolf.meyer@arm.com 11:1c1ebd0324fa 66 */
emilmont 44:24d45a770a51 67 class CAN {
rolf.meyer@arm.com 11:1c1ebd0324fa 68
rolf.meyer@arm.com 11:1c1ebd0324fa 69 public:
emilmont 43:e2ed12d17f06 70 /** Creates an CAN interface connected to specific pins.
emilmont 43:e2ed12d17f06 71 *
emilmont 43:e2ed12d17f06 72 * @param rd read from transmitter
emilmont 43:e2ed12d17f06 73 * @param td transmit to transmitter
rolf.meyer@arm.com 11:1c1ebd0324fa 74 *
rolf.meyer@arm.com 11:1c1ebd0324fa 75 * Example:
emilmont 43:e2ed12d17f06 76 * @code
emilmont 43:e2ed12d17f06 77 * #include "mbed.h"
emilmont 55:d722ed6a4237 78 *
emilmont 43:e2ed12d17f06 79 * Ticker ticker;
emilmont 43:e2ed12d17f06 80 * DigitalOut led1(LED1);
emilmont 43:e2ed12d17f06 81 * DigitalOut led2(LED2);
emilmont 43:e2ed12d17f06 82 * CAN can1(p9, p10);
emilmont 43:e2ed12d17f06 83 * CAN can2(p30, p29);
emilmont 55:d722ed6a4237 84 *
emilmont 43:e2ed12d17f06 85 * char counter = 0;
emilmont 55:d722ed6a4237 86 *
emilmont 43:e2ed12d17f06 87 * void send() {
emilmont 43:e2ed12d17f06 88 * if(can1.write(CANMessage(1337, &counter, 1))) {
emilmont 43:e2ed12d17f06 89 * printf("Message sent: %d\n", counter);
emilmont 43:e2ed12d17f06 90 * counter++;
emilmont 55:d722ed6a4237 91 * }
emilmont 43:e2ed12d17f06 92 * led1 = !led1;
emilmont 43:e2ed12d17f06 93 * }
emilmont 55:d722ed6a4237 94 *
emilmont 43:e2ed12d17f06 95 * int main() {
emilmont 43:e2ed12d17f06 96 * ticker.attach(&send, 1);
emilmont 43:e2ed12d17f06 97 * CANMessage msg;
emilmont 43:e2ed12d17f06 98 * while(1) {
emilmont 43:e2ed12d17f06 99 * if(can2.read(msg)) {
emilmont 43:e2ed12d17f06 100 * printf("Message received: %d\n\n", msg.data[0]);
emilmont 43:e2ed12d17f06 101 * led2 = !led2;
emilmont 55:d722ed6a4237 102 * }
emilmont 43:e2ed12d17f06 103 * wait(0.2);
emilmont 43:e2ed12d17f06 104 * }
emilmont 55:d722ed6a4237 105 * }
emilmont 43:e2ed12d17f06 106 * @endcode
rolf.meyer@arm.com 11:1c1ebd0324fa 107 */
rolf.meyer@arm.com 11:1c1ebd0324fa 108 CAN(PinName rd, PinName td);
rolf.meyer@arm.com 11:1c1ebd0324fa 109 virtual ~CAN();
emilmont 55:d722ed6a4237 110
emilmont 43:e2ed12d17f06 111 /** Set the frequency of the CAN interface
emilmont 43:e2ed12d17f06 112 *
emilmont 43:e2ed12d17f06 113 * @param hz The bus frequency in hertz
rolf.meyer@arm.com 11:1c1ebd0324fa 114 *
emilmont 43:e2ed12d17f06 115 * @returns
emilmont 43:e2ed12d17f06 116 * 1 if successful,
emilmont 43:e2ed12d17f06 117 * 0 otherwise
rolf.meyer@arm.com 11:1c1ebd0324fa 118 */
simon 21:3944f1e2fa4f 119 int frequency(int hz);
emilmont 55:d722ed6a4237 120
emilmont 43:e2ed12d17f06 121 /** Write a CANMessage to the bus.
emilmont 43:e2ed12d17f06 122 *
emilmont 43:e2ed12d17f06 123 * @param msg The CANMessage to write.
rolf.meyer@arm.com 11:1c1ebd0324fa 124 *
emilmont 43:e2ed12d17f06 125 * @returns
emilmont 43:e2ed12d17f06 126 * 0 if write failed,
emilmont 43:e2ed12d17f06 127 * 1 if write was successful
rolf.meyer@arm.com 11:1c1ebd0324fa 128 */
rolf.meyer@arm.com 11:1c1ebd0324fa 129 int write(CANMessage msg);
emilmont 55:d722ed6a4237 130
emilmont 43:e2ed12d17f06 131 /** Read a CANMessage from the bus.
emilmont 55:d722ed6a4237 132 *
emilmont 43:e2ed12d17f06 133 * @param msg A CANMessage to read to.
rolf.meyer@arm.com 11:1c1ebd0324fa 134 *
emilmont 43:e2ed12d17f06 135 * @returns
emilmont 43:e2ed12d17f06 136 * 0 if no message arrived,
emilmont 43:e2ed12d17f06 137 * 1 if message arrived
rolf.meyer@arm.com 11:1c1ebd0324fa 138 */
rolf.meyer@arm.com 11:1c1ebd0324fa 139 int read(CANMessage &msg);
emilmont 55:d722ed6a4237 140
emilmont 43:e2ed12d17f06 141 /** Reset CAN interface.
rolf.meyer@arm.com 11:1c1ebd0324fa 142 *
rolf.meyer@arm.com 11:1c1ebd0324fa 143 * To use after error overflow.
rolf.meyer@arm.com 11:1c1ebd0324fa 144 */
rolf.meyer@arm.com 11:1c1ebd0324fa 145 void reset();
emilmont 55:d722ed6a4237 146
emilmont 43:e2ed12d17f06 147 /** Puts or removes the CAN interface into silent monitoring mode
simon 22:9114680c05da 148 *
emilmont 43:e2ed12d17f06 149 * @param silent boolean indicating whether to go into silent mode or not
simon 22:9114680c05da 150 */
simon 22:9114680c05da 151 void monitor(bool silent);
emilmont 55:d722ed6a4237 152
emilmont 43:e2ed12d17f06 153 /** Returns number of read errors to detect read overflow errors.
rolf.meyer@arm.com 11:1c1ebd0324fa 154 */
rolf.meyer@arm.com 11:1c1ebd0324fa 155 unsigned char rderror();
rolf.meyer@arm.com 11:1c1ebd0324fa 156
emilmont 43:e2ed12d17f06 157 /** Returns number of write errors to detect write overflow errors.
rolf.meyer@arm.com 11:1c1ebd0324fa 158 */
rolf.meyer@arm.com 11:1c1ebd0324fa 159 unsigned char tderror();
simon 22:9114680c05da 160
emilmont 43:e2ed12d17f06 161 /** Attach a function to call whenever a CAN frame received interrupt is
simon 22:9114680c05da 162 * generated.
simon 22:9114680c05da 163 *
emilmont 43:e2ed12d17f06 164 * @param fptr A pointer to a void function, or 0 to set as none
simon 22:9114680c05da 165 */
simon 22:9114680c05da 166 void attach(void (*fptr)(void));
emilmont 55:d722ed6a4237 167
emilmont 43:e2ed12d17f06 168 /** Attach a member function to call whenever a CAN frame received interrupt
simon 22:9114680c05da 169 * is generated.
simon 22:9114680c05da 170 *
emilmont 43:e2ed12d17f06 171 * @param tptr pointer to the object to call the member function on
emilmont 43:e2ed12d17f06 172 * @param mptr pointer to the member function to be called
simon 22:9114680c05da 173 */
simon 22:9114680c05da 174 template<typename T>
emilmont 33:5364839841bd 175 void attach(T* tptr, void (T::*mptr)(void)) {
emilmont 33:5364839841bd 176 if((mptr != NULL) && (tptr != NULL)) {
emilmont 33:5364839841bd 177 _rxirq.attach(tptr, mptr);
emilmont 33:5364839841bd 178 setup_interrupt();
emilmont 33:5364839841bd 179 } else {
emilmont 33:5364839841bd 180 remove_interrupt();
emilmont 33:5364839841bd 181 }
emilmont 33:5364839841bd 182 }
emilmont 55:d722ed6a4237 183
rolf.meyer@arm.com 11:1c1ebd0324fa 184 private:
emilmont 44:24d45a770a51 185 can_t _can;
simon 22:9114680c05da 186 FunctionPointer _rxirq;
emilmont 55:d722ed6a4237 187
simon 22:9114680c05da 188 void setup_interrupt(void);
simon 22:9114680c05da 189 void remove_interrupt(void);
rolf.meyer@arm.com 11:1c1ebd0324fa 190 };
rolf.meyer@arm.com 11:1c1ebd0324fa 191
rolf.meyer@arm.com 11:1c1ebd0324fa 192 } // namespace mbed
rolf.meyer@arm.com 11:1c1ebd0324fa 193
emilmont 44:24d45a770a51 194 #endif
emilmont 27:7110ebee3484 195
emilmont 44:24d45a770a51 196 #endif // MBED_CAN_H