Mbed OS Reference | RawCAN.h Source File

 /*
  *  Copyright (C) 2021, STMicroelectronics, All Rights Reserved
  *  SPDX-License-Identifier: Apache-2.0
  *
  *  Licensed under the Apache License, Version 2.0 (the "License"); you may
  *  not use this file except in compliance with the License.
  *  You may obtain a copy of the License at
  *
  *  http://www.apache.org/licenses/LICENSE-2.0
  *
  *  Unless required by applicable law or agreed to in writing, software
  *  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
  *  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  *  See the License for the specific language governing permissions and
  *  limitations under the License.
  */
 
 #ifndef RAWCAN_H
 #define RAWCAN_H
 
 #include "platform/platform.h"
 #include "drivers/CAN.h"
 
 #if DEVICE_CAN || defined(DOXYGEN_ONLY)
 
 #include "interfaces/InterfaceCAN.h"
 #include "hal/can_api.h"
 #include "platform/Callback.h"
 #include "platform/PlatformMutex.h"
 
 namespace mbed {
 #ifndef FEATURE_EXPERIMENTAL_API
 class RawCAN: public CAN {
 public:
     /** Creates an unlocked CAN interface connected to specific pins.
      *
      *  @param rd read from transmitter
      *  @param td transmit to transmitter
      *
      * Example:
      * @code
      * #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
      * RawCAN can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD);
      * RawCAN 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;
      *         }
      *         ThisThread::sleep_for(200);
      *     }
      * }
      *
      * @endcode
      */
 
     /* Note: The can apis are unlocked hence using this when multiple
     *  threads are accessing a single instance of CAN will lead to
     *  race conditions, can be used in single threaded CAN.
     */
     using CAN::CAN;
 
 
     // override lock apis to create unlocked CAN
     void lock() override {};
     void unlock() override {};
 
 };
 #endif //FEATURE_EXPERIMENTAL_API
 }
 
 #endif
 #endif //RAWCAN_H
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