CANHandler Class Reference

#include <CANHandler.h>

Public Types
enum	CANBus { CANBUS_1 , CANBUS_2 , NOBUS }

Public Member Functions
	CANHandler ()
	CANHandler (PinName canRx, PinName canTx)
void	attach (Callback< void()> func, CAN::IrqType type=CAN::IrqType::RxIrq)
void	updateCANs (PinName canRx, PinName canTx)
CAN *	getCAN ()
void	registerCallback (uint32_t id, std::function< void(const CANMsg *)> func)
	Add a callback for a specific id.
void	registerCallback (uint32_t start_id, uint32_t end_id, std::function< void(const CANMsg *)> func)
	Add a callback for multiple ids.
void	readAllCan ()
	Get feedback from all CAN devices, and send to relevant callbacks.
bool	getFeedback (int *id, uint8_t bytes[], int canbus)
	Get feedback back from the motor.
bool	rawRead (int *id, uint8_t bytes[], int length)
bool	rawSend (int id, int8_t bytes[], int length=8)
	Raw sending of CAN Messages.

Static Public Member Functions
static void	printMsg (CANMessage &msg)
	Prints a CANMessage nicely.

Public Attributes
CAN	can
std::vector< ExactCallback >	exact_
std::vector< RangeCallback >	range_
bool	exists = false

Member Enumeration Documentation

CANBus

enum CANHandler::CANBus

Enumerator
CANBUS_1
CANBUS_2
NOBUS

Constructor & Destructor Documentation

CANHandler() [1/2]

CANHandler::CANHandler ( )

inline

CANHandler() [2/2]

CANHandler::CANHandler ( PinName  canRx, PinName  canTx  )

inline

Member Function Documentation

attach()

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

inline

getCAN()

CAN * CANHandler::getCAN ( )

inline

getFeedback()

bool CANHandler::getFeedback ( int *  id, uint8_t  bytes[], int  canbus  )

inline

Get feedback back from the motor.

printMsg()

static void CANHandler::printMsg ( CANMessage &  msg )

inlinestatic

Prints a CANMessage nicely.

Parameters

msg

rawRead()

bool CANHandler::rawRead ( int *  id, uint8_t  bytes[], int  length  )

inline

rawSend()

bool CANHandler::rawSend ( int  id, int8_t  bytes[], int  length = 8  )

inline

Raw sending of CAN Messages.

Parameters

id	the CAN ID you're sending to
bytes	the bytes you're sending (8)
bus	the bus you're sending the CAN messages to

readAllCan()

void CANHandler::readAllCan ( )

inline

Get feedback from all CAN devices, and send to relevant callbacks.

registerCallback() [1/2]

void CANHandler::registerCallback ( uint32_t  id, std::function< void(const CANMsg *)>  func  )

inline

Add a callback for a specific id.

Parameters

id	CANMessage id
func	Callback function

registerCallback() [2/2]

void CANHandler::registerCallback ( uint32_t  start_id, uint32_t  end_id, std::function< void(const CANMsg *)>  func  )

inline

Add a callback for multiple ids.

Parameters

stard_id	first CANMessage id
stard_id	last CANMessage id
func	Callback function

updateCANs()

void CANHandler::updateCANs ( PinName  canRx, PinName  canTx  )

inline

Member Data Documentation

can

CAN CANHandler::can

exact_

std::vector<ExactCallback> CANHandler::exact_

exists

bool CANHandler::exists = false

range_

std::vector<RangeCallback> CANHandler::range_

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The documentation for this class was generated from the following file:

• core/util/communications/CANHandler.h