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

#include <CAN.h>

Inheritance diagram for 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 118 of file CAN.h.

Constructor & Destructor Documentation

CAN	(	PinName	rd,
		PinName	td
	)

Creates a CAN interface connected to specific pins.

Parameters

rd	read from transmitter
td	transmit 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);
unsigned char counter = 0;
void send() {
    if(can1.write(CANMessage(1337U, &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

rd	the read pin
td	the transmit pin
hz	the 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

func	A pointer to a void function, or 0 to set as none
type	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)

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

obj	pointer to the object to call the member function on
method	pointer to the member function to be called
type	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)

Deprecated:: The attach function does not support cv-qualifiers. Replaced by attach(callback(obj, method), type).

Definition at line 300 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

obj	pointer to the object to call the member function on
method	pointer to the member function to be called
type	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)

Deprecated:: The attach function does not support cv-qualifiers. Replaced by attach(callback(obj, method), type).

Definition at line 320 of file CAN.h.

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

Filter out incoming messages.

Parameters

id	the id to filter on
mask	the mask applied to the id
format	format to filter on (Default CANAny)
handle	message 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

hz	The bus frequency in hertz

Returns: 1 if successful, 0 otherwise

int mode ( Mode mode )

Change CAN operation to the specified mode.

Parameters

mode	The 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

silent boolean 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

msg	A CANMessage to read to.
handle	message 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

msg	The CANMessage to write.

Returns: 0 if write failed, 1 if write was successful

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

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