code2love / CommunicationManager

Library for publish/subscribe communication via CAN with the teensy 3.2 board.

CommunicationManager

The CommunicationManager provides a simple interface to communicate over CAN. It follows the Publisher-Subscriber pattern. A publisher is offering messages to all other network nodes. Subscribers can subscribe to messages which they are interested in. The library is built on top of FlexCAN.

Required Hardware

You need a teensy 3.2 board and a CAN transreceiver (e.g. SN65HVD230) to use this library.

How to use this library

Just take a look into the examples to see how to use the CommunicationManager class. Please keep in mind that the maximum message size is limited to 8 bytes.

Provided functions:

Function	Parameters	Return value	Description
static CommunicationManager* GetInstance();	-	Pointer to the class instance
void Initialize(uint32_t baud = 500000, COMMUNICATION_BYTE_ORDER byteOrder = ORDER_MSB);	baud: Speed in bits per second byteOrder: Data byte order	-	Initializes the CommunicationManager. Should be called in the setup() method of your sketch
void Update();	-	-	Call this function in the loop() method of your sketch
bool Fire(unsigned int canId);	canId: CAN Identifier	False if an error occured, otherwise true	Writes a CAN message immediately into the message queue
bool Fire(void* val, unsigned int bytes, unsigned int canId);	val: Pointer to value bytes: Number of bytes canId: CAN Identifier	False if an error occured, otherwise true	Writes a CAN message immediately into the message queue
bool Publish(void* val, unsigned int bytes, unsigned int canId, unsigned char* txFlag, COM_CYCLE cycle);	val: Pointer to value bytes: Number of bytes canId: CAN Identifier txFlag: Pointer to transmitted flag cycle: Send cycletime	False if an error occured, otherwise true	Publishes value with the given CAN Identifier with specified cycle time. The flag gets set to '1' everytime the value was sent
bool Subscribe(void* val, unsigned int bytes, unsigned int canId, unsigned char* rxFlag);	val: Pointer to value bytes: Number of bytes canId: CAN Identifier rxFlag: Pointer to received flag	False if an error occured, otherwise true	Subscribes to a CAN message and writes the received payload into value. The flag gets set to '1' everytime a message was received

Byte Order values:

• ORDER_MSB
• ORDER_LSB

Cycle Time values:

• CYCLE_10   (10ms)
• CYCLE_20   (20ms)
• CYCLE_40   (40ms)
• CYCLE_80   (80ms)
• CYCLE_100 (100ms)