Diff: CANUtils.cpp

Revision:

1:d5452e398b76

Parent:

0:e0b964252a05

Child:

2:bf3a2b29259a

--- a/CANUtils.cpp	Wed May 19 12:39:18 2010 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,97 +0,0 @@
-// CANUtils.cpp - functions that work with the CAN bus directly
-// Anything to do with the CAN bus must (should anyway) be done by one of these functions.
-
-#include "CANUtils.h"
-
-// CAN_RS pin at Philips PCA82C250 can bus controller.
-// activate transceiver by pulling this pin to GND.
-// (Rise and fall slope controlled by resistor R_s)
-// (+5V result in tranceiver standby mode)
-// For further information see datasheet page 4
-DigitalOut can_Pca82c250SlopePin(p28);// second can controller on these pins. Not used here.
-// CAN can1(p9, p10);
-// We use can on mbed pins 29(CAN_TXD) and 30(CAN_RXD).
-CAN can2(p30, p29);
-// Use a timer to see if things take too long
-Timer CANTimer;
-
-// Use the LEDs to if anything is happening on the CAN bus
-// LED1 CAN send
-DigitalOut led1(LED1);
-// LED2 CAN receive
-DigitalOut led2(LED2);
-
-
-void CANOpen() {
-    // 600kbit/s first - basically sets up CAN interface, but to wrong speed - not sure what else it does
-    can2.frequency(600000);
-    // 615kbit/s direct write of 615 kbit/s speed setting
-    LPC_CAN2->BTR = 0x370002;
-    // activate external can transceiver
-    can_Pca82c250SlopePin = 0;
-}
-
-void CANClose() {
-    // disable external can transceiver
-    can_Pca82c250SlopePin = 1;
-}
-
-//
-// Sends a CAN Message, returns FALSE if the message wasn't sent in time
-//
-// inputs:  integer CAN message 'id', pointer to 'frame', integer message length and integer timeout
-// return:     TRUE if the CAN message was sent before the 'timeout' expires
-//          FALSE if 'timeout' expires or the message length is wrong
-//
-extern bool CANSendTimeout (int id, char *frame, int len, int timeout) {
-    CANTimer.reset();
-    CANTimer.start();
-    while (CANTimer.read_ms() < timeout) {
-        if (can2.write(CANMessage(id, frame, len))) {
-            CANTimer.stop();
-            led1 = !led1;
-            return TRUE;
-        }
-    }
-    CANTimer.stop();
-    return FALSE;
-}
-
-//
-// Waits for a CAN Message with the specified 'id' for a time specified by the 'timeout'
-// All other messages are ignored
-// The CAN message frame is returned using the pointer to 'frame'
-//
-// inputs:    integer CAN message 'id', pointer to 'frame' for returning the data
-//          integer expected length of message, len and integer for the waiting time 'timeout'
-//
-// return:    TRUE if a qualifying message was received
-//          FALSE if 'timeout' expires or the message length is wrong
-//
-extern bool CANWaitTimeout (int id, char *frame, int len, int timeout) {
-    CANMessage CANMsgRx;
-    CANTimer.reset();
-    CANTimer.start();
-    while (CANTimer.read_ms() < timeout) {
-        if (can2.read(CANMsgRx)) {
-/*
-            printf("w%03x8", CANMsgRx.id);
-            for (char i=0; i<len; i++) {
-                printf("%02x", CANMsgRx.data[i]);
-            }
-            printf("\n\r");
-//            */
-            led2 = !led2;
-            if (CANMsgRx.id == id) {
-                CANTimer.stop();
-//                if (T5MsgRx.len != len)
-//                    return FALSE;
-                for (int i=0; i<len; i++)
-                    frame[i] = CANMsgRx.data[i];
-                return TRUE;
-            }
-        }
-    }
-    CANTimer.stop();
-    return FALSE;
-}