PCANController Class Reference

A Controller which interacts with the PCAN linux driver to address the physical controller. More...

#include <PCANController.hpp>

Inheritance diagram for PCANController:

Public Member Functions
	PCANController (int priority, unsigned int minor=0, WORD bitrate=CAN_BAUD_500K, int CANMsgType=CAN_INIT_TYPE_EX)
	Create a PCAN Controller.
bool	initialize ()
void	loop ()
bool	breakLoop ()
void	finalize ()
virtual void	addBus (unsigned int chan, CANBusInterface *_bus)
virtual void	process (const CANMessage *msg)
	This method instructs the CANDeviceInterface instance to process a certain CANMessage.
virtual unsigned int	nodeId () const
bool	readFromBuffer (CANMessage &msg)
bool	writeToBuffer (const CANMessage *msg)
DWORD	status () const
HANDLE	handle () const
Protected Attributes
HANDLE	_handle
DWORD	_status
WORD	_bitrate
int	_CANMsgType
int	_channel
CANBusInterface *	_bus
CANMessage	_CANMsg
unsigned int	total_recv
unsigned int	total_trns
unsigned int	failed_recv
unsigned int	failed_trns
bool	exit
Static Protected Attributes
static PCANController *	controller [PCAN_CHANNEL_MAX]

Detailed Description

A Controller which interacts with the PCAN linux driver to address the physical controller.

This controller uses the NON-REALTIME CAN driver from Peak Systems (See http://www.peak-system.com/linux/) and should support all their boards, although it's only tested with their PCI card.

Definition at line 53 of file PCANController.hpp.

Constructor & Destructor Documentation

PCANController	(	int	priority,
		unsigned int	minor = `0`,
		WORD	bitrate = `CAN_BAUD_500K`,
		int	CANMsgType = `CAN_INIT_TYPE_EX`
	)

Create a PCAN Controller.

Parameters:

	priority	the priority of the activity that mirrors the physical and software CAN bus
	period	the priority of the activity that mirrors the physical and software CAN bus
	minor	minor number of the CAN device node. E.g. if you are using /dev/pcan1, minor is 1
	bitrate	bitrate of the CAN bus. Possible values are ranging from CAN_BAUD_5K (5 kbits/s) to CAN_BAUD_1M (1 Mbit/s). See libpcan.h for an exhaustive list. Defaults to CAN_BAUD_500K.
	CANMsgType	Standard or Extended frames CAN_INIT_TYPE_EX CAN_INIT_TYPE_ST. Defaults to CAN_INIT_TYPE_EX FIXME Klaas Gadeyne. Does CAN_INIT_TYPE_ST or CAN_INIT_TYPE_EX means the controller can either send standard or extended frames here???