CAN3.h

00001 
00002 #ifndef _CAN3_H_
00003 #define _CAN3_H_
00004 
00005 #include "mbed.h"
00006 #include "mcp2515.h"
00007 #include "mcp2515_defs.h"
00008 #include "mcp2515_can.h"
00009 #include "SPI.h"
00010 
00011 #define BFPCTRL        0x0C
00012 #define TXRTSCTRL       0x0D
00013 
00014 
00015 class CAN3  {
00016     SPI& spi;
00017     //InterruptIn _itr;
00018     mcp2515 _mcp;
00019 public:
00020     CAN3(SPI& _spi, PinName ncs);//, PinName itr);
00021     
00022     uint8_t read(CANMessage *msg); //    int read(CANMessage&    msg);
00023     void write(CANMessage* test);   //int write(CANMessage     msg);
00024     int frequency( int canSpeed); //Set the frequency of the CAN interface hz    The bus frequency in hertz
00025 
00026 
00027     void reset(); //Reset CAN interface. To use after error overflow.
00028     unsigned char rderror(); //Returns number of read errors to detect read overflow errors.
00029     unsigned char tderror(); //Returns number of write errors to detect write overflow errors.
00030 
00031     void rise(void (*fptr)(void));
00032     void fall(void (*fptr2)(void));
00033 
00034     // Private functions
00035 private :
00036     uint8_t checkReceive(void);
00037 
00038 
00039 };
00040 
00041 #endif // _CAN3_H_