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CAN Class Reference

CAN Class Reference

A can bus client, used for communicating with can devices. More...

#include <CAN.h>

Public Member Functions

 CAN (PinName rd, PinName td)
 Creates an CAN interface connected to specific pins.
int frequency (int hz)
 Set the frequency of the CAN interface.
int write (CANMessage msg)
 Write a CANMessage to the bus.
int read (CANMessage &msg)
 Read a CANMessage from the bus.
void reset ()
 Reset CAN interface.
void monitor (bool silent)
 Puts or removes the CAN interface into silent monitoring mode.
unsigned char rderror ()
 Returns number of read errors to detect read overflow errors.
unsigned char tderror ()
 Returns number of write errors to detect write overflow errors.
void attach (void(*fptr)(void))
 Attach a function to call whenever a CAN frame received interrupt is generated.
template<typename T >
void attach (T *tptr, void(T::*mptr)(void))
 Attach a member function to call whenever a CAN frame received interrupt is generated.

Detailed Description

A can bus client, used for communicating with can devices.

Definition at line 67 of file CAN.h.


Constructor & Destructor Documentation

CAN ( PinName  rd,
PinName  td 
)

Creates an CAN interface connected to specific pins.

Parameters:
rdread from transmitter
tdtransmit 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);
     }
 }

Definition at line 24 of file CAN.cpp.


Member Function Documentation

void attach ( void(*)(void)  fptr )

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

Parameters:
fptrA pointer to a void function, or 0 to set as none

Definition at line 108 of file CAN.cpp.

void attach ( T *  tptr,
void(T::*)(void)  mptr 
)

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

Parameters:
tptrpointer to the object to call the member function on
mptrpointer to the member function to be called

Definition at line 175 of file CAN.h.

int frequency ( int  hz )

Set the frequency of the CAN interface.

Parameters:
hzThe bus frequency in hertz
Returns:
1 if successful, 0 otherwise

Definition at line 32 of file CAN.cpp.

void monitor ( bool  silent )

Puts or removes the CAN interface into silent monitoring mode.

Parameters:
silentboolean indicating whether to go into silent mode or not

Definition at line 56 of file CAN.cpp.

unsigned char rderror (  )

Returns number of read errors to detect read overflow errors.

Definition at line 48 of file CAN.cpp.

int read ( CANMessage msg )

Read a CANMessage from the bus.

Parameters:
msgA CANMessage to read to.
Returns:
0 if no message arrived, 1 if message arrived

Definition at line 40 of file CAN.cpp.

void reset (  )

Reset CAN interface.

To use after error overflow.

Definition at line 44 of file CAN.cpp.

unsigned char tderror (  )

Returns number of write errors to detect write overflow errors.

Definition at line 52 of file CAN.cpp.

int write ( CANMessage  msg )

Write a CANMessage to the bus.

Parameters:
msgThe CANMessage to write.
Returns:
0 if write failed, 1 if write was successful

Definition at line 36 of file CAN.cpp.