Revision 3:4c780c641125, committed 2019-09-19

Comitter:

WiredHome

Date:

Thu Sep 19 21:46:28 2019 +0000

Parent:

2:1824d1421b6d

Commit message:

Clean up CANPort to have access to underlying CAN methods.

Changed in this revision

--- a/CANPort.cpp	Fri Aug 30 21:44:31 2019 +0000
+++ b/CANPort.cpp	Thu Sep 19 21:46:28 2019 +0000
@@ -28,9 +28,10 @@
 #define FLASH_RX_LEVEL 1.00
 
 
-CANPort::CANPort(CANCHANNEL_T chNum, PinName rd, PinName td, PinName _activityPin, PinName _slopePin, CANSlopeControl_T slope) {
+CANPort::CANPort(CANCHANNEL_T chNum, PinName rd, PinName td, PinName _activityPin, PinName _slopePin, CANSlopeControl_T slope) 
+    : CAN(rd,td) {
     channel = chNum;
-    can = new CAN(rd, td);
+    //can = new CAN(rd, td);
     if (_activityPin != NC) {
         activityPin = new PwmOut(_activityPin);
         activityPin->pulsewidth_us(100);
@@ -53,11 +54,11 @@
         delete slopePin;
     if (activityPin)
         delete activityPin;
-    if (can)
-        delete can;
+    //if (can)
+    //    delete can;
     slopePin = NULL;
     activityPin = NULL;
-    can = NULL;
+    //can = NULL;
 }
 
 
@@ -66,7 +67,7 @@
 
     if (msg.dir == xmt) {   // we have to have indicated our intent to transmit
         msg.ch = channel;
-        if (can->write(CANMessage(msg.id, (char *)&msg.data, msg.len, CANData, msg.format))) {
+        if ( write(CANMessage(msg.id, (char *)&msg.data, msg.len, CANData, msg.format))) {
             txCounter++;
             Flash(msg.dir);
             success = true;
@@ -80,7 +81,7 @@
     bool success = false;
     CANMessage _msg;
 
-    if (can->read(_msg)) {
+    if (read(_msg)) {
         /// @TODO This looks like a very inefficient method, but it works.
         CANmsg Xmsg(channel, rcv, _msg);
         msg = Xmsg;
@@ -92,9 +93,9 @@
 }
 
 
-void CANPort::Attach( void (*fptr)(void)) {
-    can->attach(fptr);
-}
+//void CANPort::Attach( void (*fptr)(void) ) {
+//    can->attach(fptr);
+//}
 
 
 void CANPort::Extinguish(void) {
@@ -125,11 +126,11 @@
 bool CANPort::SetBusMode(CANBusMode_T mode) {
     switch (mode) {
         case MONITOR:
-            can->monitor(true);
+            monitor(true);
             busMode = mode;
             break;
         case ACTIVE:
-            can->monitor(false);
+            monitor(false);
             busMode = mode;
             break;
         default:
@@ -139,7 +140,7 @@
 }
 
 
-CANBusMode_T CANPort::GetBusMode() {
+CANPort::CANBusMode_T CANPort::GetBusMode() {
     return busMode;
 }
 
@@ -169,13 +170,13 @@
 }
 
 
-CANSlopeControl_T CANPort::GetSlopeControl() {
+CANPort::CANSlopeControl_T CANPort::GetSlopeControl() {
     return slopeMode;
 }
 
 
-bool CANPort::SetBitRate(int rate) {
-    if (can->frequency(rate)) {
+bool CANPort::SetBitRate(uint32_t rate) {
+    if (frequency(rate)) {
         bitRate = rate;
         return true;
     } else {
@@ -184,7 +185,7 @@
 }
 
 
-int CANPort::GetBitRate() {
+uint32_t CANPort::GetBitRate() {
     return bitRate;
 }
 
@@ -200,17 +201,17 @@
 
 
 int CANPort::GetTxErrorCounter() {
-    return can->tderror();
+    return tderror();
 }
 
 
 int CANPort::GetRxErrorCounter() {
-    return can->rderror();
+    return rderror();
 }
 
 
 bool CANPort::ResetChip() {
-    can->reset();
+    reset();
     return true;
 }
 

--- a/CANPort.h	Fri Aug 30 21:44:31 2019 +0000
+++ b/CANPort.h	Thu Sep 19 21:46:28 2019 +0000
@@ -28,17 +28,6 @@
 #include "mbed.h"
 #include "CANMessage.h"
 
-typedef enum {
-    HIGHSPEED,
-    NORMALSPEED,
-    STANDBY
-} CANSlopeControl_T;
-
-typedef enum {
-    MONITOR,
-    ACTIVE
-} CANBusMode_T;
-
 /// This is the CANPort, which is the physical interface to CAN
 ///
 /// This derived class has a number of additional capabilities:
@@ -47,9 +36,20 @@
 /// \li counters, to keep track of received and transmitted messages
 /// \li and more...
 ///
-class CANPort {
+class CANPort : public CAN {
 public:
 
+    typedef enum {
+        HIGHSPEED,
+        NORMALSPEED,
+        STANDBY
+    } CANSlopeControl_T;
+    
+    typedef enum {
+        MONITOR,
+        ACTIVE
+    } CANBusMode_T;
+
     /// The advanced form of the constructure to create a CANPort, name 
     /// an activity indicator, and name a slope control pin
     ///
@@ -119,9 +119,9 @@
     /// @param tptr pointer to the object to call the member function on 
     /// @param mptr pointer to the member function to be called 
     ///
-    template <typename T> void Attach(T * tptr, void (T::*mptr)(void)) {
-        can->attach(callback(tptr, mptr));
-    }
+    //template <typename T> void Attach(T * tptr, void (T::*mptr)(void)) {
+    //    can->attach(callback(tptr, mptr));
+    //}
     
     /// This provides control of the AutoReset feature
     ///
@@ -200,9 +200,9 @@
     /// will retain the rate setting and then permits the query of the bitrate.
     /// 
     /// @param rate is the desired bitrate in bits per second.
-    /// @returns true if teh command succeeded
+    /// @returns true if the command succeeded
     ///
-    bool SetBitRate(int rate);
+    bool SetBitRate(uint32_t rate);
     
     /// This returns the current desired bitrate for the CAN channel
     ///
@@ -211,7 +211,7 @@
     ///
     /// @returns the bitrate in bits per second
     ///
-    int GetBitRate();
+    uint32_t GetBitRate();
 
     /// This returns the number of messages that were sent by this CAN channel
     ///
@@ -265,7 +265,7 @@
 
 private:
     CANCHANNEL_T channel;       // user assigned port number of this port
-    CAN * can;                  // bind to a specific CAN
+    //CAN * can;                  // bind to a specific CAN
     CANBusMode_T busMode;       // monitor or active mode
     int bitRate;                // bit rate for this bus
     PwmOut * activityPin;       // LED to indicate activity