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Public Member Functions
CAN Class Reference

A can bus client, used for communicating with can devices. More...

#include <CAN.h>

Inheritance diagram for CAN:
NonCopyable< CAN >

Public Member Functions

 CAN (PinName rd, PinName td)
 Creates a CAN interface connected to specific pins. More...
 
 CAN (PinName rd, PinName td, int hz)
 Initialize CAN interface and set the frequency. More...
 
int frequency (int hz)
 Set the frequency of the CAN interface. More...
 
int write (CANMessage msg)
 Write a CANMessage to the bus. More...
 
int read (CANMessage &msg, int handle=0)
 Read a CANMessage from the bus. More...
 
void reset ()
 Reset CAN interface. More...
 
void monitor (bool silent)
 Puts or removes the CAN interface into silent monitoring mode. More...
 
int mode (Mode mode)
 Change CAN operation to the specified mode. More...
 
int filter (unsigned int id, unsigned int mask, CANFormat format=CANAny, int handle=0)
 Filter out incoming messages. More...
 
unsigned char rderror ()
 Detects read errors - Used to detect read overflow errors. More...
 
unsigned char tderror ()
 Detects write errors - Used to detect write overflow errors. More...
 
void attach (Callback< void()> func, IrqType type=RxIrq)
 Attach a function to call whenever a CAN frame received interrupt is generated. More...
 
template<typename T >
void attach (T *obj, void(T::*method)(), IrqType type=RxIrq)
 Attach a member function to call whenever a CAN frame received interrupt is generated. More...
 
template<typename T >
void attach (T *obj, void(*method)(T *), IrqType type=RxIrq)
 Attach a member function to call whenever a CAN frame received interrupt is generated. More...
 

Detailed Description

A can bus client, used for communicating with can devices.

Definition at line 86 of file CAN.h.

Constructor & Destructor Documentation

CAN ( PinName  rd,
PinName  td 
)

Creates a CAN interface connected to specific pins.

Parameters
rdread from transmitter
tdtransmit to transmitter

Example:

#include "mbed.h"
Ticker ticker;
DigitalOut led1(LED1);
DigitalOut led2(LED2);
//The constructor takes in RX, and TX pin respectively.
//These pins, for this example, are defined in mbed_app.json
CAN can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD);
CAN can2(MBED_CONF_APP_CAN2_RD, MBED_CONF_APP_CAN2_TD);
char counter = 0;
void send() {
if(can1.write(CANMessage(1337, &counter, 1))) {
printf("Message sent: %d\n", counter);
counter++;
}
led1 = !led1;
}
int main() {
ticker.attach(&send, 1);
CANMessage msg;
while(1) {
if(can2.read(msg)) {
printf("Message received: %d\n\n", msg.data[0]);
led2 = !led2;
}
wait(0.2);
}
}
CAN ( PinName  rd,
PinName  td,
int  hz 
)

Initialize CAN interface and set the frequency.

Parameters
rdthe read pin
tdthe transmit pin
hzthe bus frequency in hertz

Member Function Documentation

void attach ( Callback< void()>  func,
IrqType  type = RxIrq 
)

Attach a function to call whenever a CAN frame received interrupt is generated.

This function locks the deep sleep while a callback is attached

Parameters
funcA pointer to a void function, or 0 to set as none
typeWhich 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)
void attach ( T *  obj,
void(T::*)()  method,
IrqType  type = RxIrq 
)

Attach a member function to call whenever a CAN frame received interrupt is generated.

Parameters
objpointer to the object to call the member function on
methodpointer to the member function to be called
typeWhich 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)
Deprecated:
The attach function does not support cv-qualifiers. Replaced by attach(callback(obj, method), type).

Definition at line 268 of file CAN.h.

void attach ( T *  obj,
void(*)(T *)  method,
IrqType  type = RxIrq 
)

Attach a member function to call whenever a CAN frame received interrupt is generated.

Parameters
objpointer to the object to call the member function on
methodpointer to the member function to be called
typeWhich 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)
Deprecated:
The attach function does not support cv-qualifiers. Replaced by attach(callback(obj, method), type).

Definition at line 288 of file CAN.h.

int filter ( unsigned int  id,
unsigned int  mask,
CANFormat  format = CANAny,
int  handle = 0 
)

Filter out incoming messages.

Parameters
idthe id to filter on
maskthe mask applied to the id
formatformat to filter on (Default CANAny)
handlemessage filter handle (Optional)
Returns
0 if filter change failed or unsupported, new filter handle if successful
int frequency ( int  hz)

Set the frequency of the CAN interface.

Parameters
hzThe bus frequency in hertz
Returns
1 if successful, 0 otherwise
int mode ( Mode  mode)

Change CAN operation to the specified mode.

Parameters
modeThe new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
Returns
0 if mode change failed or unsupported, 1 if mode change was successful
void monitor ( bool  silent)

Puts or removes the CAN interface into silent monitoring mode.

Parameters
silentboolean indicating whether to go into silent mode or not
unsigned char rderror ( )

Detects read errors - Used to detect read overflow errors.

Returns
number of read errors
int read ( CANMessage msg,
int  handle = 0 
)

Read a CANMessage from the bus.

Parameters
msgA CANMessage to read to.
handlemessage filter handle (0 for any message)
Returns
0 if no message arrived, 1 if message arrived
void reset ( )

Reset CAN interface.

To use after error overflow.

unsigned char tderror ( )

Detects write errors - Used to detect write overflow errors.

Returns
number of write errors
int write ( CANMessage  msg)

Write a CANMessage to the bus.

Parameters
msgThe CANMessage to write.
Returns
0 if write failed, 1 if write was successful
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