Diff: Libs/XbeeManager/CAN-xbee/CAN-xbee.h

Revision:

33:6bc82b6b62e5

Child:

34:18bcf276d3bf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/XbeeManager/CAN-xbee/CAN-xbee.h	Tue Jan 06 20:45:26 2015 +0000
@@ -0,0 +1,32 @@
+#ifndef CAN_XBEE_H
+#define CAN_XBEE_H
+
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+// The string format of a CAN message shall be:
+// char0:       Letter 'C' - start of a CAN message
+// char1:       message type = (extended?1:0 << 0) | (RTR?1:0 << 1) | (DLC << 2)
+// char1:       ID lower byte
+// char2:       ID upper byte
+// char3-10:    data bytes (lowest first)
+// lastChar:    \n - newline = end of message
+//
+// Extended ID message is the same but with more ID bytes.
+// RTR messages show up as empty messages (no data, DLC=0) but are otherwise indistinguishable.
+
+class CANxbee {
+public:
+    CANxbee(PinName tx, PinName rx, int baud, int txSize, int rxSize);
+    
+    bool send(CANMessage &msg);         // Send a CANMessage object over the xbee (first converts to serial)
+    bool receive(CANMessage &msg);      // Receive a CANMessage object over the xbee (converts from serial message to CAN)
+    
+private:
+    MODSERIAL serial;
+    char rxBuff[14];
+    int rx_i;
+    bool building;
+};
+
+#endif
\ No newline at end of file