tap::can::Can Class Reference

#include <can.hpp>

Public Member Functions
	Can ()=default
mockable	~Can ()=default
mockable void	initialize ()
mockable bool	isMessageAvailable (CanBus bus) const
mockable bool	getMessage (CanBus bus, modm::can::Message *message)
mockable bool	isReadyToSend (CanBus bus) const
mockable bool	sendMessage (CanBus bus, const modm::can::Message &message)

Detailed Description

A simple CAN wrapper class that handles I/O from both CAN bus 1 and 2.

Constructor & Destructor Documentation

Can()

tap::can::Can::Can ( )

default

~Can()

mockable tap::can::Can::~Can ( )

default

Member Function Documentation

getMessage()

bool tap::can::Can::getMessage	(	CanBus	bus,
		modm::can::Message *	message
	)

Checks the CanBus for a message and if a message is successfully acquired, returns true and places the message in the return parameter message.

Parameters

[in]	bus	the CanBus to acquire a message from.
[out]	message	a return parameter which the message is placed in.

Returns

true if a valid message was placed in the parameter message. False otherwise.

initialize()

void tap::can::Can::initialize

(

)

Initializes CAN 1 and CAN 2 hardware to pins specific to the development board and sets up the CAN bus filters necessary for reading from the CAN bus.

Note

CAN 1 is connected to pins D0 (RX) and D1 (TX) and CAN 2 is connected to pins B12 (RX) and B12 (TX).

The CAN filters are set up to receive NOT extended identifier IDs.

isMessageAvailable()

bool tap::can::Can::isMessageAvailable

(

CanBus

bus

)

const

Checks the passed in CanBus to see if there is a message waiting and available.

Parameters

[in]

bus

the CanBus to check for a message.

Returns

true if a message is available, false otherwise.

isReadyToSend()

bool tap::can::Can::isReadyToSend

(

CanBus

bus

)

const

Checks the given CanBus to see if the CanBus is idle.

Parameters

[in]

bus

the CanBus to check.

Returns

true if the bus is not busy, false otherwise.

sendMessage()

bool tap::can::Can::sendMessage	(	CanBus	bus,
		const modm::can::Message &	message
	)

Sends the passed in message over the CanBus. Returns whether or not the message succeeded.

Attention

modm::can::Message defaults to an extended message identifier. For all RoboMaster products we have, we do not want our messages to be extended. Be sure to be explicit when instantiating a message object and setting extended to false.

Parameters

[in]	bus	the CanBus for which the message should be sent across.
[in]	message	the message to send

Returns

true if the message was successfully sent, false otherwise.

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

• fang-mcb-project/taproot/src/tap/communication/can/can.hpp
• fang-mcb-project/taproot/src/tap/communication/can/can.cpp