Diff: ControllerCAN.cpp

Revision:

5:d1920eb1d63e

Parent:

4:0ed21bbd917b

--- a/ControllerCAN.cpp	Sat May 05 13:46:16 2018 +0000
+++ b/ControllerCAN.cpp	Sat Sep 12 12:36:45 2020 +0000
@@ -5,7 +5,7 @@
 INSTITUTION : IUT de CACHAN - 9 av. de la div. Leclerc - 94230 CACHAN                
                                                                                       
 VERSIONS    : v1 (03/07/2012) : FIFO organisation                             
-              v2 (18/02/2016) : Controller aand Peripheral organisation
+              v2 (18/02/2016) : Controller and Peripheral organisation
 
 ****************************************************************************
 Copyright 2016 LARNAUDIE GARIVET
@@ -25,11 +25,13 @@
 #include "mbed.h"
 #include "ControllerCAN.h"
 
-CAN ControllerCAN::can(PA_8, PA_9);
-
-ControllerCAN::ControllerCAN(){
-    can.frequency(250000);              // Baud rate : kbits/s
+ControllerCAN::ControllerCAN(PinName rd, PinName td) : can(rd, td, 250000) {
+    // Enable bus off auto mangement
+    unsigned long* CAN_MCR = (unsigned long*) 0x40006400;
+    *CAN_MCR |= CAN_MCR_ABOM;
+    
     can.attach(callback(this, &ControllerCAN::can_ISR_Reader));        // CAN ISR
+    
     FIFO_ecriture = 0;
     FIFO_lecture = 0;
     FIFO_occupation = 0;
@@ -64,9 +66,9 @@
     if(FIFO_occupation!=0)
     {
         char res = 0;
-        for (int i = 0; i < peripherals.size(); i++){
+        for (uint32_t i = 0; i < peripherals.size(); i++){
             vector<unsigned short*> IdsRead = peripherals[i]->getIdsRead();
-            for (int j = 0; j < IdsRead.size() ; j++){
+            for (uint32_t j = 0; j < IdsRead.size() ; j++){
                 if (can_MsgRx[FIFO_lecture].id == *(IdsRead[j])){
                     peripherals[i]->update(*(IdsRead[j]), can_MsgRx[FIFO_lecture]);
                     res = 1;