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;
+}
+