can_bus.cpp

00001 #include "mbed.h"
00002 #include "types.h"
00003 #include "rtos.h"
00004 
00005 #if 0
00006 
00007 CAN HSCAN(p30, p29);
00008 uint32 id;
00009 volatile uint32 available = 0;
00010 Thread canThread;
00011 
00012 void can_init(void)
00013 {
00014     //thread.start();    
00015 }
00016 
00017 void can_bus_rx_IRQ()
00018 {
00019     uint8 msg_raw[12];
00020     CANMessage msg;
00021     if(HSCAN.read(msg))
00022     {
00023        msg_raw[0] = (uint8)(msg.id >> 24);
00024        msg_raw[1] = (uint8)(msg.id >> 16);
00025        msg_raw[2] = (uint8)(msg.id >> 8);
00026        msg_raw[3] = (uint8)(msg.id >> 0);
00027        for(int i=0;i<8;i++)
00028         msg_raw[i+4] = msg.data[i];
00029     }
00030 }
00031 
00032 void can_bus_configure(uint32 txID,uint32 rxID,uint32 speed)
00033 {
00034     available = 0;
00035     HSCAN.reset();
00036     wait(2); // wait for 2 seconds
00037     HSCAN.frequency(speed);
00038     HSCAN.filter(rxID,0xFFFFFF);
00039     HSCAN.attach(can_bus_rx_IRQ,CAN::RxIrq);
00040     id = txID;
00041 }
00042 
00043 void can_bus_send(uint8 * message, uint8 dlc=8)
00044 {
00045     CANMessage msg;
00046     msg.id = id;
00047     msg.len = dlc;
00048     for(int i=0;i<dlc;i++) msg.data[i] = message[i];
00049     HSCAN.write(msg);
00050 }
00051 
00052 CANMessage can_bus_receive(void)
00053 {
00054     if(available)
00055     {
00056         
00057     }
00058 }
00059 
00060 uint32 can_bus_available(void)
00061 {
00062     return available;
00063 }
00064 
00065 #endif