CAN library containing a CAN controller object handling a FIFO, and CAN peripherals attached to it.
ControllerCAN.cpp@1:b69d05604535, 2016-02-06 (annotated)
- Committer:
- garivetm
- Date:
- Sat Feb 06 14:18:08 2016 +0000
- Revision:
- 1:b69d05604535
- Parent:
- 0:ebe6f5e97160
- Child:
- 2:c81dff9c8a93
Naming corrections
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garivetm | 0:ebe6f5e97160 | 1 | #include "mbed.h" |
garivetm | 0:ebe6f5e97160 | 2 | #include "ControllerCAN.h" |
garivetm | 0:ebe6f5e97160 | 3 | |
garivetm | 0:ebe6f5e97160 | 4 | ControllerCAN::ControllerCAN() : can(p30, p29) { |
garivetm | 0:ebe6f5e97160 | 5 | can.frequency(250000); // Baud rate : kbits/s |
garivetm | 1:b69d05604535 | 6 | can.attach(this, &ControllerCAN::can_ISR_Reader); // CAN ISR |
garivetm | 0:ebe6f5e97160 | 7 | FIFO_ecriture = 0; |
garivetm | 0:ebe6f5e97160 | 8 | FIFO_lecture = 0; |
garivetm | 0:ebe6f5e97160 | 9 | FIFO_occupation = 0; |
garivetm | 0:ebe6f5e97160 | 10 | FIFO_max_occupation = 0; |
garivetm | 0:ebe6f5e97160 | 11 | } |
garivetm | 0:ebe6f5e97160 | 12 | |
garivetm | 0:ebe6f5e97160 | 13 | ControllerCAN::~ControllerCAN(){ |
garivetm | 0:ebe6f5e97160 | 14 | } |
garivetm | 0:ebe6f5e97160 | 15 | |
garivetm | 1:b69d05604535 | 16 | void ControllerCAN::attach(PeripheralCAN* peripheral){ |
garivetm | 1:b69d05604535 | 17 | peripherals.push_back(peripheral); |
garivetm | 0:ebe6f5e97160 | 18 | } |
garivetm | 0:ebe6f5e97160 | 19 | |
garivetm | 0:ebe6f5e97160 | 20 | long ControllerCAN::writeData(long Id, const char *data, char len){ |
garivetm | 0:ebe6f5e97160 | 21 | CANMessage msg(Id, data, len); |
garivetm | 0:ebe6f5e97160 | 22 | return (can.write(msg)); |
garivetm | 0:ebe6f5e97160 | 23 | } |
garivetm | 0:ebe6f5e97160 | 24 | |
garivetm | 0:ebe6f5e97160 | 25 | long ControllerCAN::writeRemote(long Id){ |
garivetm | 0:ebe6f5e97160 | 26 | CANMessage msg(Id); |
garivetm | 0:ebe6f5e97160 | 27 | return (can.write(msg)); |
garivetm | 0:ebe6f5e97160 | 28 | } |
garivetm | 0:ebe6f5e97160 | 29 | |
garivetm | 0:ebe6f5e97160 | 30 | char ControllerCAN::FIFOread(void){ |
garivetm | 0:ebe6f5e97160 | 31 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
garivetm | 0:ebe6f5e97160 | 32 | if(FIFO_occupation<0) |
garivetm | 0:ebe6f5e97160 | 33 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
garivetm | 0:ebe6f5e97160 | 34 | if(FIFO_max_occupation<FIFO_occupation) |
garivetm | 0:ebe6f5e97160 | 35 | FIFO_max_occupation=FIFO_occupation; |
garivetm | 0:ebe6f5e97160 | 36 | if(FIFO_occupation>SIZE_FIFO) |
garivetm | 1:b69d05604535 | 37 | {} |
garivetm | 0:ebe6f5e97160 | 38 | if(FIFO_occupation!=0) |
garivetm | 0:ebe6f5e97160 | 39 | { |
garivetm | 0:ebe6f5e97160 | 40 | char res = 0; |
garivetm | 1:b69d05604535 | 41 | for (int i = 0; i < peripherals.size(); i++){ |
garivetm | 1:b69d05604535 | 42 | vector<unsigned short*> IdsRead = peripherals[i]->getIdsRead(); |
garivetm | 0:ebe6f5e97160 | 43 | for (int j = 0; j < IdsRead.size() ; j++){ |
garivetm | 0:ebe6f5e97160 | 44 | if (can_MsgRx[FIFO_lecture].id == *(IdsRead[j])){ |
garivetm | 1:b69d05604535 | 45 | peripherals[i]->update(*(IdsRead[j]), can_MsgRx[FIFO_lecture]); |
garivetm | 0:ebe6f5e97160 | 46 | res = 1; |
garivetm | 0:ebe6f5e97160 | 47 | break; |
garivetm | 0:ebe6f5e97160 | 48 | } |
garivetm | 0:ebe6f5e97160 | 49 | } |
garivetm | 0:ebe6f5e97160 | 50 | if(res) break; |
garivetm | 0:ebe6f5e97160 | 51 | } |
garivetm | 0:ebe6f5e97160 | 52 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
garivetm | 0:ebe6f5e97160 | 53 | return 1; |
garivetm | 0:ebe6f5e97160 | 54 | } |
garivetm | 0:ebe6f5e97160 | 55 | return -1; |
garivetm | 0:ebe6f5e97160 | 56 | } |
garivetm | 0:ebe6f5e97160 | 57 | |
garivetm | 0:ebe6f5e97160 | 58 | void ControllerCAN::can_ISR_Reader(void){ |
garivetm | 0:ebe6f5e97160 | 59 | if (can.read(can_MsgRx[FIFO_ecriture])) |
garivetm | 0:ebe6f5e97160 | 60 | { |
garivetm | 0:ebe6f5e97160 | 61 | // FIFO gestion |
garivetm | 0:ebe6f5e97160 | 62 | FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
garivetm | 0:ebe6f5e97160 | 63 | } |
garivetm | 1:b69d05604535 | 64 | } |