pilotak / NoMutexCAN

Mbed library for reading CAN bus in ISR

NoMutexCAN

Standard mbed CAN library doesn't allow you to read messages in ISR. And when you try to use EventQueue (can.attach(eQueue.event(canListen), CAN::RxIrq);) it will give you ISR overflow error so the only chance is to override mutex, that's what this library do.

#include "mbed.h"
#include "NoMutexCAN.h"

CircularBuffer<CANMessage, 32> queue;
NoMutexCAN can(PB_8, PB_9);

void canListen() {  // ISR
    CANMessage msg;

    if (can.read(msg)) {
        queue.push(msg);
    }
}

int main(void) {
    can.frequency(250000);
    can.mode(CAN::Normal);

    can.attach(&canListen, CAN::RxIrq);

    while (1) {
        while (!queue.empty()) {
            CANMessage msg;
            queue.pop(msg);
            printf("ID: %X\n", msg.id);
        }
    }
}