CanPipe Class Reference

Enumeration for method return values.

Definition at line 21 of file CanPipe.h.

Enumeration for how filters should be handled.

Definition at line 29 of file CanPipe.h.

Creates message handler linked with the CAN device.

Parameters:

p_can	reference to CAN device
filter_mode	hardware or software filtering only (Optional)

Example:

 #include "mbed.h"
 #include "CanPipe.h"

 Ticker ticker;
 DigitalOut led1(LED1);

 CAN m_can(P0_11, P0_31);
 CanPipe m_can_pipe(&m_can);

 char counter = 0;

 void send() {
     led1 = !led1;
     m_can_pipe.PostMessage(CANMessage(1337, &counter, 1));
 }

 int callback1(CANMessage &msg) { return CanPipe::kOkay; }
 int callback2(CANMessage &msg) { return CanPipe::kOkay; }
 int callback3(CANMessage &msg) { return CanPipe::kOkay; }

 int main() {
     int handle;

     handle = m_can_pipe.RegisterFilter(0x200, 0x780);
     m_can_pipe.RegisterCallback(callback1, handle);

     handle = m_can_pipe.RegisterFilter(0x281, 0);
     m_can_pipe.RegisterCallback(callback2, handle);
     m_can_pipe.RegisterCallback(callback3, handle);

     ticker.attach(send, 1);

     while (1) {
         __WFI(); //sleep();
         m_can_pipe.HandleMessages();
     }
 }

Definition at line 4 of file CanPipe.cpp.

Passes all received messages through the software-filters, if any, and writes any messages that have been posted.

Returns:

Boolean 1 if a message was handled (post or receive). 0 otherwise.

Definition at line 89 of file CanPipe.cpp.

Stage a message to be written to the bus.

Parameters:

msg	message to write

Definition at line 85 of file CanPipe.cpp.

Assigns a callback to apply to CAN messages associated with a given filter.

Parameters:

callback	29 bit identifier to base filter on
handle	Filter handle to associate with this callback (Optional)

Member functions can be added using the right callback Constructor

 canopen_class.RegisterCallback(
         CanMessageCallback(&object_instance, &ObjectClass::HandleMessage),
         handle);

Definition at line 53 of file CanPipe.cpp.

Assigns a filter to apply to CAN messages.

Parameters:

id	29 bit identifier to base filter on
mask	Bit mask applied to the id
format	CAN message format (Default CANAny)
handle	Number to associate with message when passing this filter (Optional)

Can create software filters if device fails to create filters in hardware

Definition at line 12 of file CanPipe.cpp.