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Can_open_slavenode
Diff: framework/driver/mbed/can_mbed.cpp
- Revision:
- 0:6219434a0cb5
- Child:
- 2:e0be90742924
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/framework/driver/mbed/can_mbed.cpp Mon May 30 07:14:41 2011 +0000 @@ -0,0 +1,101 @@ +/* +This file is part of CanFestival, a library implementing CanOpen Stack. + +Copyright (C): Edouard TISSERANT and Francis DUPIN +mbed Port: sgrove + +See COPYING file for copyrights details. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +//#define DEBUG_WAR_CONSOLE_ON +//#define DEBUG_ERR_CONSOLE_ON + +#include "can_mbed.h" +#include "canfestival.h" + +volatile unsigned char msg_received = 0; +// initialize the CAN object from the mbed api +CAN CANopen(p9, p10); + +unsigned char canInit(unsigned int bitrate) +/****************************************************************************** +Initialize the hardware to send and receive CAN messages +INPUT bitrate bitrate in kilobit +OUTPUT 1 if successful +******************************************************************************/ +{ + // make sure the requested baudrate is supported + if (CANopen.frequency(bitrate*1000) == 0){ + return 0; + } + // desired baud was set + return 1; +} + +unsigned char canSend(CAN_PORT notused, Message *m) +/****************************************************************************** +The driver send a CAN message passed from the CANopen stack +INPUT CAN_PORT is not used (only 1 avaiable) + Message *m pointer to message to send +OUTPUT 1 if hardware -> CAN frame +******************************************************************************/ +{ + // convert the message from a CANopen object to a mbed object + CANMessage msg(m->cob_id, (char*)m->data, m->len, static_cast<CANType>(m->rtr), CANStandard); + // make sure the message was sent + if (CANopen.write(msg) == 0){ + return 0; + } + // message was sent + return 1; +} + +unsigned char canReceive(Message *m) +/****************************************************************************** +The driver pass a received CAN message to the stack +INPUT Message *m pointer to received CAN message +OUTPUT 1 if a message received +******************************************************************************/ +{ + // object to store the last message + CANMessage msg; + // look if something has been rec'd + if (CANopen.read(msg) == 0){ + return 0; + } + // conver the CANMessage object to a Message object + m->cob_id = msg.id; + m->len = msg.len; + m->rtr = static_cast<UNS8>(msg.type); + // clear erroneous data from the last use + for (int i=0; i<=7; i++){ + if (i <= (msg.len-1)) + m->data[i] = msg.data[i]; + else + m->data[i] = 0; + } + // messge processed + return 1; +} + +/***************************************************************************/ +unsigned char canChangeBaudRate_driver( CAN_HANDLE fd, char* baud) +{ + // not sure how baud is passed as a char* yet + return 0; +} +