RawCAN Class Reference

Creates an unlocked CAN interface connected to specific pins. More...

#include <RawCAN.h>

Inheritance diagram for RawCAN:

Public Member Functions
	CAN (PinName rd, PinName td)
	Creates a CAN interface connected to specific pins.
	CAN (PinName rd, PinName td, int hz, int data_hz=0)
	Initialize CAN interface and set the frequency.
	CAN (const can_pinmap_t &pinmap)
	Initialize CAN interface.
	CAN (const can_pinmap_t &pinmap, int hz, int data_hz=0)
	Initialize CAN interface and set the frequency.
int	frequency (int hz, int data_hz=0)
	Set the frequency of the CAN interface.
int	write (CANMessage msg)
	Write a CANMessage to the bus.
int	write (CANFDMessage msg)
	Write a CANFDMessage to the bus.
int	read (CANMessage &msg, int handle=0)
	Read a CANMessage from the bus.
int	read (CANFDMessage &msg, int handle=0)
	Read a CANFDMessage from the bus.
void	reset ()
	Reset CAN interface.
void	monitor (bool silent)
	Puts or removes the CAN interface into silent monitoring mode.
int	mode (Mode mode)
	Change CAN operation to the specified mode.
int	filter (unsigned int id, unsigned int mask, CANFormat format=CANAny, int handle=0)
	Filter out incoming messages.
unsigned char	rderror ()
	Detects read errors - Used to detect read overflow errors.
unsigned char	tderror ()
	Detects write errors - Used to detect write overflow errors.
void	attach (Callback< void()> func, IrqType type=IrqType::RxIrq)
	Attach a function to call whenever a CAN frame received interrupt is generated.

Detailed Description

Creates an unlocked CAN interface connected to specific pins.

Example:

#include "mbed.h"
 
 
Ticker ticker;
DigitalOut led1(LED1);
DigitalOut led2(LED2);
//The constructor takes in RX, and TX pin respectively.
//These pins, for this example, are defined in mbed_app.json
RawCAN can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD);
RawCAN can2(MBED_CONF_APP_CAN2_RD, MBED_CONF_APP_CAN2_TD);
 
unsigned char counter = 0;
 
void send() {
    if(can1.write(CANMessage(1337U, &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;
        }
        ThisThread::sleep_for(200);
    }
}

Definition at line 73 of file RawCAN.h.

Member Function Documentation

CAN() [1/4]

CAN	(	PinName	rd,
		PinName	td
	)

Creates a 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);
//The constructor takes in RX, and TX pin respectively.
//These pins, for this example, are defined in mbed_app.json
CAN can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD);
CAN can2(MBED_CONF_APP_CAN2_RD, MBED_CONF_APP_CAN2_TD);
 
unsigned char counter = 0;
 
void send() {
    if(can1.write(CANMessage(1337U, &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;
        }
        ThisThread::sleep_for(200);
    }
}

CAN() [2/4]

CAN	(	PinName	rd,
		PinName	td,
		int	hz,
		int	data_hz = 0
	)

Initialize CAN interface and set the frequency.

Parameters

rd	the read pin
td	the transmit pin
hz	the bus frequency in hertz
data_hz	the data frequency in hertz(CAN FD only)

CAN() [3/4]

CAN

(

const can_pinmap_t &

pinmap

)

Initialize CAN interface.

Parameters

pinmap

reference to structure which holds static pinmap

CAN() [4/4]

CAN	(	const can_pinmap_t &	pinmap,
		int	hz,
		int	data_hz = 0
	)

Initialize CAN interface and set the frequency.

Parameters

pinmap	reference to structure which holds static pinmap
hz	the bus frequency in hertz
data_hz	the data frequency in hertz(CAN FD only)

frequency()

int frequency ( int  hz, int  data_hz = 0  )

inherited

Set the frequency of the CAN interface.

Parameters

hz	The bus frequency in hertz
data_hz	the data frequency in hertz(CAN FD only)

Returns

1 if successful, 0 otherwise

write() [1/2]

int write ( CANMessage  msg )

inherited

Write a CANMessage to the bus.

Parameters

msg	The CANMessage to write.

Returns

0 if write failed, 1 if write was successful

write() [2/2]

int write ( CANFDMessage  msg )

inherited

Write a CANFDMessage to the bus.

Parameters

msg	The CANFDMessage to write.

Returns

0 if write failed, 1 if write was successful

read() [1/2]

int read ( CANMessage &  msg, int  handle = 0  )

inherited

Read a CANMessage from the bus.

Parameters

msg	A CANMessage to read to.
handle	message filter handle (0 for any message)

Returns

0 if no message arrived, 1 if message arrived

read() [2/2]

int read ( CANFDMessage &  msg, int  handle = 0  )

inherited

Read a CANFDMessage from the bus.

Parameters

msg	A CANFDMessage to read to.
handle	message filter handle (0 for any message)

Returns

0 if no message arrived, 1 if message arrived

reset()

void reset ( )

inherited

Reset CAN interface.

To use after error overflow.

monitor()

void monitor ( bool  silent )

inherited

Puts or removes the CAN interface into silent monitoring mode.

Parameters

silent

boolean indicating whether to go into silent mode or not

mode()

int mode ( Mode  mode )

inherited

Change CAN operation to the specified mode.

Parameters

mode	The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)

Returns

0 if mode change failed or unsupported, 1 if mode change was successful

filter()

int filter ( unsigned int  id, unsigned int  mask, CANFormat  format = CANAny, int  handle = 0  )

inherited

Filter out incoming messages.

Parameters

id	the id to filter on
mask	the mask applied to the id
format	format to filter on (Default CANAny)
handle	message filter handle (Optional)

Returns

0 if filter change failed or unsupported, new filter handle if successful

rderror()

unsigned char rderror ( )

inherited

Detects read errors - Used to detect read overflow errors.

Returns

number of read errors

tderror()

unsigned char tderror ( )

inherited

Detects write errors - Used to detect write overflow errors.

Returns

number of write errors

attach()

void attach ( Callback< void()>  func, IrqType  type = IrqType::RxIrq  )

inherited

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

This function locks the deep sleep while a callback is attached

Parameters

func	A pointer to a void function, or 0 to set as none
type	Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, CAN::TxIrq for transmitted or aborted, CAN::EwIrq for error warning, CAN::DoIrq for data overrun, CAN::WuIrq for wake-up, CAN::EpIrq for error passive, CAN::AlIrq for arbitration lost, CAN::BeIrq for bus error)