Dependents: Kamal_CAN ReadFromSerial446 USNA-UMBC-KF-02_v3-noise USNA-UMBC-KF-01
CAN3.h
00001 00002 #ifndef _CAN3_H_ 00003 #define _CAN3_H_ 00004 00005 #include "mbed.h" 00006 #include "mcp2515.h" 00007 #include "mcp2515_defs.h" 00008 #include "mcp2515_can.h" 00009 #include "SPI.h" 00010 00011 #define BFPCTRL 0x0C 00012 #define TXRTSCTRL 0x0D 00013 00014 00015 class CAN3 { 00016 SPI& spi; 00017 InterruptIn _itr; 00018 mcp2515 _mcp; 00019 public: 00020 CAN3(SPI& _spi, PinName ncs, PinName itr); 00021 00022 uint8_t read(CANMessage *msg); // int read(CANMessage& msg); 00023 void write(CANMessage* test); //int write(CANMessage msg); 00024 int frequency( int canSpeed); //Set the frequency of the CAN interface hz The bus frequency in hertz 00025 00026 00027 void reset(); //Reset CAN interface. To use after error overflow. 00028 unsigned char rderror(); //Returns number of read errors to detect read overflow errors. 00029 unsigned char tderror(); //Returns number of write errors to detect write overflow errors. 00030 00031 void rise(void (*fptr)(void)); 00032 void fall(void (*fptr2)(void)); 00033 00034 00035 00036 00037 // Private functions 00038 private : 00039 uint8_t checkReceive(void); 00040 00041 00042 }; 00043 00044 #endif // _MCP2515_H_
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