CAN-xbee.h

00001 #ifndef CAN_XBEE_H
00002 #define CAN_XBEE_H
00003 
00004 #include "mbed.h"
00005 #include "MODSERIAL.h"
00006 
00007 // The string format of a CAN message shall be:
00008 // char0:       Letter 'C' - start of a CAN message
00009 // char1:       message type = (extended?1:0 << 0) | (RTR?1:0 << 1) | (DLC << 2)
00010 // char1:       ID lower byte
00011 // char2:       ID upper byte
00012 // char3-10:    data bytes (lowest first)
00013 // lastChar:    \n - newline = end of message
00014 //
00015 // Extended ID message is the same but with more ID bytes.
00016 // RTR messages show up as empty messages (no data, DLC=0) but are otherwise indistinguishable.
00017 
00018 class CANxbee {
00019 public:
00020     CANxbee(PinName tx, PinName rx, int baud, int txSize, int rxSize);
00021     
00022     bool send(CANMessage &msg, unsigned int* length);         // Send a CANMessage object over the xbee (first converts to serial)
00023     bool receive(CANMessage &msg);      // Receive a CANMessage object over the xbee (converts from serial message to CAN)
00024     void baud(int baudrate) {
00025         serial.baud(baudrate);   
00026     }
00027     bool txSize(unsigned int size) {
00028         return (serial.txBufferSetSize(size) == 0);   
00029     }
00030     bool rxSize(unsigned int size) {
00031         return (serial.rxBufferSetSize(size) == 0);   
00032     }   
00033 private:
00034     MODSERIAL serial;
00035     char rxBuff[15];
00036     int rx_i;
00037     int getChars;
00038 };
00039 
00040 #endif