File content as of revision 0:f5d099885d3d:

/* mbed FRDM-KL25Z Library for Seeed Studios CAN-BUS Shield
 * Copyright (c) 2013 Sophie Dexter
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "seeed_can.h"

/** Seeed Studios CAN-BUS Shield Constructor - initialise FRDM-KL25Z's SPI0 for the MCP2515
 */
SEEED_CAN::SEEED_CAN(PinName ncs, PinName irq, PinName mosi, PinName miso, PinName clk, int spiBitrate, int canBitrate) :
    _spi(mosi, miso, clk),
    _can(_spi, ncs, irq)
{
    // Make sure CS is high
    _can.ncs = 1;
    // Set up the spi interface
    _can.spi.format(8, 3);
    _can.spi.frequency(spiBitrate);
    mcpInit(&_can, canBitrate);                                             
}

/** Set CAN-BUS frequency (Bit Rate)
*/
int SEEED_CAN::frequency(int setBitRate)
{
//    return mcpSetBitRate(&_can, (uint32_t) setBitRate);
    return mcpInit(&_can, (uint32_t) setBitRate);
}

/** Read a CAN bus message from the MCP2515 (if there is one)
 */
int SEEED_CAN::read(SEEED_CANMessage &msg)
{
    return mcpCanRead(&_can, &msg);
}

/**  Write a CAN bus message to the MCP2515 (if there is a free message buffer)
 */
int SEEED_CAN::write(SEEED_CANMessage msg)
{
    return mcpCanWrite(&_can, msg);
}

/** Returns number of message reception (read) errors to detect read overflow errors.
 */
unsigned char SEEED_CAN::rderror(void)
{
    return mcpReceptionErrorCount(&_can);
}

/** Returns number of message transmission (write) errors to detect write overflow errors.
 */
unsigned char SEEED_CAN::tderror(void)
{
    return mcpTransmissionErrorCount(&_can);
}

/** Check if any type of error has been detected
 */
int SEEED_CAN::errors(void)
{
    return (mcpRead(&_can, MCP_EFLG) & MCP_EFLG_ERRORMASK) ? 1 : 0;
}

/** Puts or removes the Seeed Studios CAN-BUS shield into or from silent monitoring mode
 */
void SEEED_CAN::monitor(bool silent)
{
    mcpMonitor(&_can, silent);
}

/** Puts or removes the Seeed Studios CAN-BUS shield into the specified mode
 */
int SEEED_CAN::mode(Mode mode)
{
    return mcpMode(&_can, (CANMode)mode);
}

/** Configure one of the Accpetance Masks (0 or 1)
 */
int SEEED_CAN::Mask(int maskNum, int canId, CANFormat format) {
    return mcpInitMask(&_can, maskNum, canId, format);
}

/** Configure one of the Acceptance Filters (0 through 5)
 */
int SEEED_CAN::Filter(int filterNum, int canId, CANFormat format) {
    return mcpInitFilter(&_can, filterNum, canId, format);
}

/** Attach a function to call whenever a CAN frame received interrupt is generated.
 */
void SEEED_CAN::attach(void (*fptr)(void), IrqType type)
{
    _can.irq.fall(fptr);
/*    if (fptr) {
        _irq[(CanIrqType)type].attach(fptr);
        can_irq_set(&_can, (CanIrqType)type, 1);
    } else {
        can_irq_set(&_can, (CanIrqType)type, 0);
    }*/
}