CAN Class Reference

Creates an CAN interface connected to specific pins.

Parameters:

rd	read from transmitter
td	transmit to transmitter

Example:

 #include "mbed.h"
  
 Ticker ticker;
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
 CAN can1(p9, p10);
 CAN can2(p30, p29);
  
 char counter = 0;
  
 void send() {
     if(can1.write(CANMessage(1337, &counter, 1))) {
         printf("Message sent: %d\n", counter);
         counter++;
     } 
     led1 = !led1;
 }
  
 int main() {
     ticker.attach(&send, 1);
    CANMessage msg;
     while(1) {
         if(can2.read(msg)) {
             printf("Message received: %d\n\n", msg.data[0]);
             led2 = !led2;
         } 
         wait(0.2);
     }
 } 

Add the class to the list of classes which can have static methods called via rpc (the static methods which can be called are defined by that class' get_rpc_class() static method).

Definition at line 143 of file Base.h.

Attach a function to call whenever a CAN frame received interrupt is generated.

Parameters:

fptr	A pointer to a void function, or 0 to set as none

Attach a member function to call whenever a CAN frame received interrupt is generated.

Parameters:

tptr	pointer to the object to call the member function on
mptr	pointer to the member function to be called

Definition at line 208 of file CAN.h.

Set the frequency of the CAN interface.

Parameters:

hz	The bus frequency in hertz

Returns:

1 if successful, 0 otherwise

Returns a pointer to an array describing the rpc methods supported by this object, terminated by either RPC_METHOD_END or RPC_METHOD_SUPER(Superclass).

Example

 class Example : public Base {
     int foo(int a, int b) { return a + b; }
     virtual const struct rpc_method *get_rpc_methods() {
         static const rpc_method rpc_methods[] = {
             { "foo", generic_caller<int, Example, int, int, &Example::foo> },
             RPC_METHOD_SUPER(Base)
         };
         return rpc_methods;
     }
 };

Reimplemented in AnalogIn, AnalogOut, BusIn, BusInOut, BusOut, DigitalIn, DigitalInOut, DigitalOut, PwmOut, Serial, SPI, and Timer.

Lookup and return the object that has the given name.

Parameters:

name	the name to lookup.
len	the length of name.

Puts or removes the CAN interface into silent monitoring mode.

Parameters:

silent

boolean indicating whether to go into silent mode or not

Returns the name of the object.

Returns:

The name of the object, or NULL if it has no name.

Returns number of read errors to detect read overflow errors.

Read a CANMessage from the bus.

Parameters:

msg	A CANMessage to read to.

Returns:

0 if no message arrived, 1 if message arrived

Registers this object with the given name, so that it can be looked up with lookup.

If this object has already been registered, then this just changes the name.

Parameters:

name	The name to give the object. If NULL we do nothing.

Reset CAN interface.

To use after error overflow.

Use the lookup function to lookup an object and, if successful, call its rpc method.

Returns:

false if name does not correspond to an object, otherwise the return value of the call to the object's rpc method.

Call the given method with the given arguments, and write the result into the string pointed to by result.

The default implementation calls rpc_methods to determine the supported methods.

Parameters:

method	The name of the method to call.
arguments	A list of arguments separated by spaces.
result	A pointer to a string to write the result into. May be NULL, in which case nothing is written.

Returns:

true if method corresponds to a valid rpc method, or false otherwise.

Returns number of write errors to detect write overflow errors.

Write a CANMessage to the bus.

Parameters:

msg	The CANMessage to write.

Returns:

0 if write failed, 1 if write was successful