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 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
event	Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, TxIrq for transmitted or aborted, EwIrq for error warning, DoIrq for data overrun, WuIrq for wake-up, EpIrq for error passive, AlIrq for arbitration lost, BeIrq for bus error)

Definition at line 222 of file CAN.h.

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
event	Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, CAN::TxIrq for transmitted or aborted, CAN::EwIrq for error warning, CAN::DoIrq for data overrun, CAN::WuIrq for wake-up, CAN::EpIrq for error passive, CAN::AlIrq for arbitration lost, CAN::BeIrq for bus error)

Filter out incomming messages.

Parameters:

id	the id to filter on
mask	the mask applied to the id
format	format to filter on (Default CANAny)
handle	message filter handle (Optional)

Returns:

0 if filter change failed or unsupported, new filter handle if successful

Set the frequency of the CAN interface.

Parameters:

hz	The bus frequency in hertz

Returns:

1 if successful, 0 otherwise

Change CAN operation to the specified mode.

Parameters:

mode	The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)

Returns:

0 if mode change failed or unsupported, 1 if mode change was successful

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.
handle	message filter handle (0 for any message)

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