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CAN Class Reference
A can bus client, used for communicating with can devices. More...
#include <CAN.h>
Public Member Functions | |
CAN (PinName rd, PinName td) | |
Creates an CAN interface connected to specific pins. | |
int | frequency (int hz) |
Set the frequency of the CAN interface. | |
int | write (CANMessage msg) |
Write a CANMessage to the bus. | |
int | read (CANMessage &msg) |
Read a CANMessage from the bus. | |
void | reset () |
Reset CAN interface. | |
void | monitor (bool silent) |
Puts or removes the CAN interface into silent monitoring mode. | |
unsigned char | rderror () |
Returns number of read errors to detect read overflow errors. | |
unsigned char | tderror () |
Returns number of write errors to detect write overflow errors. | |
void | attach (void(*fptr)(void)) |
Attach a function to call whenever a CAN frame received interrupt is generated. | |
template<typename T > | |
void | attach (T *tptr, void(T::*mptr)(void)) |
Attach a member function to call whenever a CAN frame received interrupt is generated. |
Detailed Description
A can bus client, used for communicating with can devices.
Definition at line 67 of file CAN.h.
Constructor & Destructor Documentation
CAN | ( | PinName | rd, |
PinName | td | ||
) |
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); } }
Member Function Documentation
void attach | ( | void(*)(void) | fptr ) |
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
void attach | ( | T * | tptr, |
void(T::*)(void) | mptr | ||
) |
int frequency | ( | int | hz ) |
Set the frequency of the CAN interface.
- Parameters:
-
hz The bus frequency in hertz
- Returns:
- 1 if successful, 0 otherwise
void monitor | ( | bool | silent ) |
Puts or removes the CAN interface into silent monitoring mode.
- Parameters:
-
silent boolean indicating whether to go into silent mode or not
unsigned char rderror | ( | ) |
Returns number of read errors to detect read overflow errors.
int read | ( | CANMessage & | msg ) |
Read a CANMessage from the bus.
- Parameters:
-
msg A CANMessage to read to.
- Returns:
- 0 if no message arrived, 1 if message arrived
void reset | ( | ) |
Reset CAN interface.
To use after error overflow.
unsigned char tderror | ( | ) |
Returns number of write errors to detect write overflow errors.
int write | ( | CANMessage | msg ) |
Write a CANMessage to the bus.
- Parameters:
-
msg The CANMessage to write.
- Returns:
- 0 if write failed, 1 if write was successful
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