File Information
Library: IoT/CANopen
Package: CANopen
Header: IoT/CANopen/CANBus.h
Description
A CANBus object sends and receives CAN frames over a physical CAN bus. Actual sending and receiving is done via a CANInterface. Scheduling of sent frames is done using a FrameScheduler. Received frames are reported via an event.
Inheritance
Direct Base Classes: Poco::Runnable
All Base Classes: Poco::Runnable
Member Summary
Member Functions: onInterfaceError, run, sendFrame, start, stop
Inherited Functions: run
Enumerations
CANBitrates
Supported CANopen bus bit rates.
CAN_BITRATE_10_KBPS = 10000
10 KBit/s
CAN_BITRATE_20_KBPS = 20000
20 KBit/s
CAN_BITRATE_50_KBPS = 50000
50 KBit/s
CAN_BITRATE_125_KBPS = 125000
125 KBit/s
CAN_BITRATE_250_KBPS = 250000
250 KBit/s
CAN_BITRATE_500_KBPS = 500000
500 KBit/s
CAN_BITRATE_800_KBPS = 800000
800 KBit/s
CAN_BITRATE_1000_KBPS = 1000000
1 MBit/s
Constructors
CANBus
CANBus(
CANInterface & canInterface,
long interFrameDelay
);
Creates the FrameScheduler with the given CANInterface and inter-frame delay in milliseconds.
CANBus
CANBus(
CANInterface & canInterface,
int bitrate,
int busUtilization
);
Creates the FrameScheduler with the given CANInterface, bitrate (bits per second) and bus utilization in percent (1 - 100).
Destructor
~CANBus 
~CANBus();
Destroys the CANBus.
Member Functions
sendFrame 
void sendFrame(
const CANFrame & frame
);
Enqueues the given CANFrame on the send queue.
start
void start();
Starts sending and receiving frames.
stop
void stop();
Stops sending and receiving frames.
onInterfaceError 
void onInterfaceError(
const Poco::Exception & exc
);
run
void run();
See also: Poco::Runnable::run()
Variables
frameReceived
Poco::BasicEvent < const CANFrame > frameReceived;
Fired when a valid CAN frame has been received.
The delegate should process the frame as fast as possible, as reception of further frames will be blocked until all delegates complete.
interfaceError
Poco::BasicEvent < const Poco::Exception > interfaceError;
Fired when a send or receive operation on the CAN interface fails with an exception.