Luis Silvio Cordova Rivadeneira / Mbed 2 deprecated Can_open_slavenode

Can_open_slavenode

Dependencies:   mbed

framework/driver/mbed/can_mbed.cpp@2:e0be90742924, 2011-05-30 (annotated)

Committer:
sam_grove
Date:
Mon May 30 09:56:35 2011 +0000
Revision:
2:e0be90742924
Parent:
0:6219434a0cb5
Child:
4:a0557653428b
done for the night 5-30-11

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:6219434a0cb5 1 /*
sam_grove 0:6219434a0cb5 2 This file is part of CanFestival, a library implementing CanOpen Stack.
sam_grove 0:6219434a0cb5 3
sam_grove 0:6219434a0cb5 4 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:6219434a0cb5 5 mbed Port: sgrove
sam_grove 0:6219434a0cb5 6
sam_grove 0:6219434a0cb5 7 See COPYING file for copyrights details.
sam_grove 0:6219434a0cb5 8
sam_grove 0:6219434a0cb5 9 This library is free software; you can redistribute it and/or
sam_grove 0:6219434a0cb5 10 modify it under the terms of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 11 License as published by the Free Software Foundation; either
sam_grove 0:6219434a0cb5 12 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:6219434a0cb5 13
sam_grove 0:6219434a0cb5 14 This library is distributed in the hope that it will be useful,
sam_grove 0:6219434a0cb5 15 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:6219434a0cb5 16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:6219434a0cb5 17 Lesser General Public License for more details.
sam_grove 0:6219434a0cb5 18
sam_grove 0:6219434a0cb5 19 You should have received a copy of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 20 License along with this library; if not, write to the Free Software
sam_grove 0:6219434a0cb5 21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sam_grove 0:6219434a0cb5 22 */
sam_grove 0:6219434a0cb5 23
sam_grove 0:6219434a0cb5 24 //#define DEBUG_WAR_CONSOLE_ON
sam_grove 0:6219434a0cb5 25 //#define DEBUG_ERR_CONSOLE_ON
sam_grove 0:6219434a0cb5 26
sam_grove 0:6219434a0cb5 27 #include "can_mbed.h"
sam_grove 0:6219434a0cb5 28 #include "canfestival.h"
sam_grove 0:6219434a0cb5 29
sam_grove 0:6219434a0cb5 30 volatile unsigned char msg_received = 0;
sam_grove 0:6219434a0cb5 31 // initialize the CAN object from the mbed api
sam_grove 0:6219434a0cb5 32 CAN CANopen(p9, p10);
sam_grove 0:6219434a0cb5 33
sam_grove 0:6219434a0cb5 34 unsigned char canInit(unsigned int bitrate)
sam_grove 0:6219434a0cb5 35 /******************************************************************************
sam_grove 0:6219434a0cb5 36 Initialize the hardware to send and receive CAN messages
sam_grove 0:6219434a0cb5 37 INPUT bitrate bitrate in kilobit
sam_grove 0:6219434a0cb5 38 OUTPUT 1 if successful
sam_grove 0:6219434a0cb5 39 ******************************************************************************/
sam_grove 0:6219434a0cb5 40 {
sam_grove 0:6219434a0cb5 41 // make sure the requested baudrate is supported
sam_grove 0:6219434a0cb5 42 if (CANopen.frequency(bitrate*1000) == 0){
sam_grove 0:6219434a0cb5 43 return 0;
sam_grove 0:6219434a0cb5 44 }
sam_grove 0:6219434a0cb5 45 // desired baud was set
sam_grove 0:6219434a0cb5 46 return 1;
sam_grove 0:6219434a0cb5 47 }
sam_grove 0:6219434a0cb5 48
sam_grove 0:6219434a0cb5 49 unsigned char canSend(CAN_PORT notused, Message *m)
sam_grove 0:6219434a0cb5 50 /******************************************************************************
sam_grove 0:6219434a0cb5 51 The driver send a CAN message passed from the CANopen stack
sam_grove 0:6219434a0cb5 52 INPUT CAN_PORT is not used (only 1 avaiable)
sam_grove 0:6219434a0cb5 53 Message *m pointer to message to send
sam_grove 0:6219434a0cb5 54 OUTPUT 1 if hardware -> CAN frame
sam_grove 0:6219434a0cb5 55 ******************************************************************************/
sam_grove 0:6219434a0cb5 56 {
sam_grove 0:6219434a0cb5 57 // convert the message from a CANopen object to a mbed object
sam_grove 2:e0be90742924 58 CANMessage msg(m->cob_id, (uint8_t*)m->data, m->len, static_cast<CANType>(m->rtr), CANStandard);
sam_grove 0:6219434a0cb5 59 // make sure the message was sent
sam_grove 0:6219434a0cb5 60 if (CANopen.write(msg) == 0){
sam_grove 0:6219434a0cb5 61 return 0;
sam_grove 0:6219434a0cb5 62 }
sam_grove 0:6219434a0cb5 63 // message was sent
sam_grove 0:6219434a0cb5 64 return 1;
sam_grove 0:6219434a0cb5 65 }
sam_grove 0:6219434a0cb5 66
sam_grove 0:6219434a0cb5 67 unsigned char canReceive(Message *m)
sam_grove 0:6219434a0cb5 68 /******************************************************************************
sam_grove 0:6219434a0cb5 69 The driver pass a received CAN message to the stack
sam_grove 0:6219434a0cb5 70 INPUT Message *m pointer to received CAN message
sam_grove 0:6219434a0cb5 71 OUTPUT 1 if a message received
sam_grove 0:6219434a0cb5 72 ******************************************************************************/
sam_grove 0:6219434a0cb5 73 {
sam_grove 0:6219434a0cb5 74 // object to store the last message
sam_grove 0:6219434a0cb5 75 CANMessage msg;
sam_grove 0:6219434a0cb5 76 // look if something has been rec'd
sam_grove 0:6219434a0cb5 77 if (CANopen.read(msg) == 0){
sam_grove 0:6219434a0cb5 78 return 0;
sam_grove 0:6219434a0cb5 79 }
sam_grove 0:6219434a0cb5 80 // conver the CANMessage object to a Message object
sam_grove 0:6219434a0cb5 81 m->cob_id = msg.id;
sam_grove 0:6219434a0cb5 82 m->len = msg.len;
sam_grove 0:6219434a0cb5 83 m->rtr = static_cast<UNS8>(msg.type);
sam_grove 0:6219434a0cb5 84 // clear erroneous data from the last use
sam_grove 2:e0be90742924 85 for (int i=0; i<=7; i++){
sam_grove 2:e0be90742924 86 if (i <= (msg.len-1))
sam_grove 2:e0be90742924 87 m->data[i] = msg.data[i];
sam_grove 2:e0be90742924 88 else
sam_grove 2:e0be90742924 89 m->data[i] = 0;
sam_grove 2:e0be90742924 90 }
sam_grove 2:e0be90742924 91 // messge processed
sam_grove 0:6219434a0cb5 92 return 1;
sam_grove 0:6219434a0cb5 93 }
sam_grove 0:6219434a0cb5 94
sam_grove 0:6219434a0cb5 95 /***************************************************************************/
sam_grove 0:6219434a0cb5 96 unsigned char canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
sam_grove 0:6219434a0cb5 97 {
sam_grove 2:e0be90742924 98 // not sure how baud is passed as a char* yet
sam_grove 0:6219434a0cb5 99 return 0;
sam_grove 0:6219434a0cb5 100 }
sam_grove 0:6219434a0cb5 101