can_mbed.cpp

00001 /*
00002 This file is part of CanFestival, a library implementing CanOpen Stack.
00003 
00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
00005 mbed Port: sgrove
00006 
00007 See COPYING file for copyrights details.
00008 
00009 This library is free software; you can redistribute it and/or
00010 modify it under the terms of the GNU Lesser General Public
00011 License as published by the Free Software Foundation; either
00012 version 2.1 of the License, or (at your option) any later version.
00013 
00014 This library is distributed in the hope that it will be useful,
00015 but WITHOUT ANY WARRANTY; without even the implied warranty of
00016 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00017 Lesser General Public License for more details.
00018 
00019 You should have received a copy of the GNU Lesser General Public
00020 License along with this library; if not, write to the Free Software
00021 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00022 */
00023 
00024 //#define DEBUG_WAR_CONSOLE_ON
00025 //#define DEBUG_ERR_CONSOLE_ON
00026 
00027 #include "can_mbed.h"
00028 #include "canfestival.h"
00029 
00030 volatile unsigned char msg_received = 0;
00031 // initialize the CAN object from the mbed api
00032 CAN CANopen(p9, p10);
00033 
00034 unsigned char canInit(unsigned int bitrate)
00035 /******************************************************************************
00036 Initialize the hardware to send and receive CAN messages 
00037 INPUT    bitrate        bitrate in kilobit
00038 OUTPUT    1 if successful    
00039 ******************************************************************************/
00040 {
00041       // make sure the requested baudrate is supported
00042     if (CANopen.frequency(bitrate*1000) == 0){
00043           return 0;
00044     }
00045       // desired baud was set
00046     return 1;
00047 }
00048 
00049 unsigned char canSend(CAN_PORT notused, Message *m)
00050 /******************************************************************************
00051 The driver send a CAN message passed from the CANopen stack
00052 INPUT    CAN_PORT is not used (only 1 avaiable)
00053     Message *m pointer to message to send
00054 OUTPUT    1 if  hardware -> CAN frame
00055 ******************************************************************************/
00056 {
00057     // convert the message from a CANopen object to a mbed object
00058     CANMessage msg(m->cob_id, (char*)m->data, m->len, static_cast<CANType>(m->rtr), CANStandard);
00059     // make sure the message was sent
00060     if (CANopen.write(msg) == 0){
00061         return 0;                               
00062     }
00063     // message was sent
00064     return 1;
00065 }
00066 
00067 unsigned char canReceive(Message *m)
00068 /******************************************************************************
00069 The driver pass a received CAN message to the stack
00070 INPUT    Message *m pointer to received CAN message
00071 OUTPUT    1 if a message received
00072 ******************************************************************************/
00073 {
00074     // object to store the last message
00075     CANMessage msg;
00076     // look if something has been rec'd
00077     if (CANopen.read(msg) == 0){
00078         return 0;
00079     }
00080     // conver the CANMessage object to a Message object
00081     m->cob_id = msg.id;
00082     m->len = msg.len;
00083     m->rtr = static_cast<UNS8>(msg.type);
00084     // clear erroneous data from the stack
00085     for (int i=0; i<=7; i++){
00086         if ((msg.len-1) >= i)
00087             m->data[i] = msg.data[i];
00088         else
00089             m->data[i] = 0;
00090     }
00091     return 1;
00092 }
00093 
00094 /***************************************************************************/
00095 unsigned char canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
00096 {
00097     // not sure how baud is passed as a char* yet
00098     return 0;
00099 }
00100