File content as of revision 0:ebe6f5e97160:

#ifndef CONTROLLERCAN_H
#define CONTROLLERCAN_H

#include "mbed.h"
#include "PeripherialCAN.h"
#include <vector>

#define SIZE_FIFO 32

class PeripherialCAN;

/** My CAN Controller class
 * Used to manage reading and writing procedures on a CAN Bus
 *
 * Examples :
 * @code
 * @endcode
 */
class ControllerCAN {
    public :
    /** Create ControllerCAN instance
     */
    ControllerCAN();
    
    /** Destroy ControllerCAN instance
     */
    ~ControllerCAN();
    
    /** Write a CANMessage on CAN Bus
     *
     * @param Id Id message
     * @param data char array containing data to be send
     * @param len size of the data array 
     * @returns
     *   1 if write was successful,
     *   0 if write failed
     */
    long writeData(long Id, const char *data, char len);
    
    /** Write a remote CANMessage on CAN Bus
     *
     * @param Id Id message
     * @returns
     *   1 if write was successful,
     *   0 if write failed
     */
    long writeRemote(long Id);
    
    /** Attach a PeripherialCAN instance to a ControllerCAN
     *
     * @param peripherial Pointer on a PeripherialCAN instance
     */
    void attach(PeripherialCAN* peripherial);
    
    /** Read one message on the CAN FIFO
     *
     * @returns
     *  -1 if no match is found between the message Id and all Ids of 
     *     the PeripherialCAN instances attached to the ControllerCAN,
     *  1 if a match is found
     */
    char FIFOread(void);
    //void FIFO_remove_msg(void);
    
    private :
    
    CAN can;
    vector<PeripherialCAN*> peripherials;
    unsigned char FIFO_ecriture;
    signed char FIFO_lecture;
    signed char FIFO_occupation;
    signed char FIFO_max_occupation;
    CANMessage can_MsgRx[SIZE_FIFO];
    
    /** Interrupt Service Routine called whenever a CAN frame received interrupt
     *  is generated.
     */
    void can_ISR_Reader(void);
    
    //static void CAN_automate_reception(void);
};

#endif