CAN Class Reference

Creates an CAN interface connected to specific pins.

Parameters:

rd	read from transmitter
td	transmit to transmitter

Example:

 #include "mbed.h"

 Ticker ticker;
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
 CAN can1(p9, p10);
 CAN can2(p30, p29);

 char counter = 0;

 void send() {
     if(can1.write(CANMessage(1337, &counter, 1))) {
         printf("Message sent: %d\n", counter);
         counter++;
     }
     led1 = !led1;
 }

 int main() {
     ticker.attach(&send, 1);
    CANMessage msg;
     while(1) {
         if(can2.read(msg)) {
             printf("Message received: %d\n\n", msg.data[0]);
             led2 = !led2;
         }
         wait(0.2);
     }
 }

Attach a function to call whenever a CAN frame received interrupt is generated.

Parameters:

fptr	A pointer to a void function, or 0 to set as none

Attach a member function to call whenever a CAN frame received interrupt is generated.

Parameters:

tptr	pointer to the object to call the member function on
mptr	pointer to the member function to be called

Definition at line 175 of file CAN.h.

Set the frequency of the CAN interface.

Parameters:

hz	The bus frequency in hertz

Returns:

1 if successful, 0 otherwise

Puts or removes the CAN interface into silent monitoring mode.

Parameters:

silent

boolean indicating whether to go into silent mode or not

Returns number of read errors to detect read overflow errors.

Read a CANMessage from the bus.

Parameters:

msg	A CANMessage to read to.

Returns:

0 if no message arrived, 1 if message arrived

Reset CAN interface.

To use after error overflow.

Returns number of write errors to detect write overflow errors.

Write a CANMessage to the bus.

Parameters:

msg	The CANMessage to write.

Returns:

0 if write failed, 1 if write was successful