Package com.tinkerforge
Class BrickletCANV2
- java.lang.Object
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- com.tinkerforge.DeviceBase
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- com.tinkerforge.Device
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- com.tinkerforge.BrickletCANV2
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public class BrickletCANV2 extends Device
Communicates with CAN bus devices
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Nested Class Summary
Nested Classes Modifier and Type Class Description class
BrickletCANV2.ErrorLog
class
BrickletCANV2.ErrorLogLowLevel
static interface
BrickletCANV2.ErrorOccurredListener
This listener is triggered if any error occurred while writing, reading or transmitting CAN frames.static interface
BrickletCANV2.FrameReadableListener
This listener is triggered if a data or remote frame was received by the CAN transceiver.static interface
BrickletCANV2.FrameReadListener
This listener is triggered if a data or remote frame was received by the CAN transceiver.static interface
BrickletCANV2.FrameReadLowLevelListener
class
BrickletCANV2.QueueConfiguration
class
BrickletCANV2.QueueConfigurationLowLevel
class
BrickletCANV2.ReadFilterConfiguration
class
BrickletCANV2.ReadFrame
class
BrickletCANV2.ReadFrameLowLevel
class
BrickletCANV2.SPITFPErrorCount
class
BrickletCANV2.TransceiverConfiguration
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Nested classes/interfaces inherited from class com.tinkerforge.Device
Device.Identity
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Field Summary
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Constructor Summary
Constructors Constructor Description BrickletCANV2(java.lang.String uid, IPConnection ipcon)
Creates an object with the unique device ID \c uid.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
addErrorOccurredListener(BrickletCANV2.ErrorOccurredListener listener)
Adds a ErrorOccurred listener.void
addFrameReadableListener(BrickletCANV2.FrameReadableListener listener)
Adds a FrameReadable listener.void
addFrameReadListener(BrickletCANV2.FrameReadListener listener)
Adds a FrameRead listener.void
addFrameReadLowLevelListener(BrickletCANV2.FrameReadLowLevelListener listener)
Adds a FrameReadLowLevel listener.int
getBootloaderMode()
Returns the current bootloader mode, seesetBootloaderMode(int)
.int
getChipTemperature()
Returns the temperature as measured inside the microcontroller.int
getCommunicationLEDConfig()
Returns the configuration as set bysetCommunicationLEDConfig(int)
int
getErrorLEDConfig()
Returns the configuration as set bysetErrorLEDConfig(int)
.BrickletCANV2.ErrorLog
getErrorLog()
Returns information about different kinds of errors.BrickletCANV2.ErrorLogLowLevel
getErrorLogLowLevel()
Returns information about different kinds of errors.boolean
getErrorOccurredCallbackConfiguration()
Returns *true* if theBrickletCANV2.ErrorOccurredListener
listener is enabled, *false* otherwise.boolean
getFrameReadableCallbackConfiguration()
Returns *true* if theBrickletCANV2.FrameReadableListener
listener is enabled, *false* otherwise.boolean
getFrameReadCallbackConfiguration()
Returns *true* if theBrickletCANV2.FrameReadListener
listener is enabled, *false* otherwise.Device.Identity
getIdentity()
Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.BrickletCANV2.QueueConfiguration
getQueueConfiguration()
Returns the queue configuration as set bysetQueueConfiguration(int, int, int, int[], int)
.BrickletCANV2.QueueConfigurationLowLevel
getQueueConfigurationLowLevel()
Returns the queue configuration as set bysetQueueConfiguration(int, int, int, int[], int)
.BrickletCANV2.ReadFilterConfiguration
getReadFilterConfiguration(int bufferIndex)
Returns the read filter configuration as set bysetReadFilterConfiguration(int, int, long, long)
.BrickletCANV2.SPITFPErrorCount
getSPITFPErrorCount()
Returns the error count for the communication between Brick and Bricklet.int
getStatusLEDConfig()
Returns the configuration as set bysetStatusLEDConfig(int)
BrickletCANV2.TransceiverConfiguration
getTransceiverConfiguration()
Returns the configuration as set bysetTransceiverConfiguration(long, int, int)
.BrickletCANV2.ReadFrame
readFrame()
Tries to read the next data or remote frame from the read queue and returns it.BrickletCANV2.ReadFrameLowLevel
readFrameLowLevel()
Tries to read the next data or remote frame from the read queue and returns it.long
readUID()
Returns the current UID as an integer.void
removeErrorOccurredListener(BrickletCANV2.ErrorOccurredListener listener)
Removes a ErrorOccurred listener.void
removeFrameReadableListener(BrickletCANV2.FrameReadableListener listener)
Removes a FrameReadable listener.void
removeFrameReadListener(BrickletCANV2.FrameReadListener listener)
Removes a FrameRead listener.void
removeFrameReadLowLevelListener(BrickletCANV2.FrameReadLowLevelListener listener)
Removes a FrameReadLowLevel listener.void
reset()
Calling this function will reset the Bricklet.int
setBootloaderMode(int mode)
Sets the bootloader mode and returns the status after the requested mode change was instigated.void
setCommunicationLEDConfig(int config)
Sets the communication LED configuration.void
setErrorLEDConfig(int config)
Sets the error LED configuration.void
setErrorOccurredCallbackConfiguration(boolean enabled)
Enables and disables theBrickletCANV2.ErrorOccurredListener
listener.void
setFrameReadableCallbackConfiguration(boolean enabled)
Enables and disables theBrickletCANV2.FrameReadableListener
listener.void
setFrameReadCallbackConfiguration(boolean enabled)
Enables and disables theBrickletCANV2.FrameReadListener
listener.void
setQueueConfiguration(int writeBufferSize, int writeBufferTimeout, int writeBacklogSize, int[] readBufferSizes, int readBacklogSize)
Sets the write and read queue configuration.void
setQueueConfigurationLowLevel(int writeBufferSize, int writeBufferTimeout, int writeBacklogSize, int readBufferSizesLength, int[] readBufferSizesData, int readBacklogSize)
Sets the write and read queue configuration.void
setReadFilterConfiguration(int bufferIndex, int filterMode, long filterMask, long filterIdentifier)
Set the read filter configuration for the given read buffer index.void
setStatusLEDConfig(int config)
Sets the status LED configuration.void
setTransceiverConfiguration(long baudRate, int samplePoint, int transceiverMode)
Sets the transceiver configuration for the CAN bus communication.void
setWriteFirmwarePointer(long pointer)
Sets the firmware pointer forwriteFirmware(int[])
.int
writeFirmware(int[] data)
Writes 64 Bytes of firmware at the position as written bysetWriteFirmwarePointer(long)
before.boolean
writeFrame(int frameType, long identifier, int[] data)
Writes a data or remote frame to the write queue to be transmitted over the CAN transceiver.boolean
writeFrameLowLevel(int frameType, long identifier, int dataLength, int[] dataData)
Writes a data or remote frame to the write queue to be transmitted over the CAN transceiver.void
writeUID(long uid)
Writes a new UID into flash.-
Methods inherited from class com.tinkerforge.DeviceBase
getAPIVersion, getResponseExpected, setResponseExpected, setResponseExpectedAll
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Field Detail
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DEVICE_IDENTIFIER
public static final int DEVICE_IDENTIFIER
- See Also:
- Constant Field Values
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DEVICE_DISPLAY_NAME
public static final java.lang.String DEVICE_DISPLAY_NAME
- See Also:
- Constant Field Values
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FUNCTION_WRITE_FRAME_LOW_LEVEL
public static final byte FUNCTION_WRITE_FRAME_LOW_LEVEL
- See Also:
- Constant Field Values
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FUNCTION_READ_FRAME_LOW_LEVEL
public static final byte FUNCTION_READ_FRAME_LOW_LEVEL
- See Also:
- Constant Field Values
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FUNCTION_SET_FRAME_READ_CALLBACK_CONFIGURATION
public static final byte FUNCTION_SET_FRAME_READ_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_FRAME_READ_CALLBACK_CONFIGURATION
public static final byte FUNCTION_GET_FRAME_READ_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_SET_TRANSCEIVER_CONFIGURATION
public static final byte FUNCTION_SET_TRANSCEIVER_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_TRANSCEIVER_CONFIGURATION
public static final byte FUNCTION_GET_TRANSCEIVER_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_SET_QUEUE_CONFIGURATION_LOW_LEVEL
public static final byte FUNCTION_SET_QUEUE_CONFIGURATION_LOW_LEVEL
- See Also:
- Constant Field Values
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FUNCTION_GET_QUEUE_CONFIGURATION_LOW_LEVEL
public static final byte FUNCTION_GET_QUEUE_CONFIGURATION_LOW_LEVEL
- See Also:
- Constant Field Values
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FUNCTION_SET_READ_FILTER_CONFIGURATION
public static final byte FUNCTION_SET_READ_FILTER_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_READ_FILTER_CONFIGURATION
public static final byte FUNCTION_GET_READ_FILTER_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_ERROR_LOG_LOW_LEVEL
public static final byte FUNCTION_GET_ERROR_LOG_LOW_LEVEL
- See Also:
- Constant Field Values
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FUNCTION_SET_COMMUNICATION_LED_CONFIG
public static final byte FUNCTION_SET_COMMUNICATION_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_COMMUNICATION_LED_CONFIG
public static final byte FUNCTION_GET_COMMUNICATION_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_SET_ERROR_LED_CONFIG
public static final byte FUNCTION_SET_ERROR_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_ERROR_LED_CONFIG
public static final byte FUNCTION_GET_ERROR_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_SET_FRAME_READABLE_CALLBACK_CONFIGURATION
public static final byte FUNCTION_SET_FRAME_READABLE_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_FRAME_READABLE_CALLBACK_CONFIGURATION
public static final byte FUNCTION_GET_FRAME_READABLE_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_SET_ERROR_OCCURRED_CALLBACK_CONFIGURATION
public static final byte FUNCTION_SET_ERROR_OCCURRED_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_ERROR_OCCURRED_CALLBACK_CONFIGURATION
public static final byte FUNCTION_GET_ERROR_OCCURRED_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_SPITFP_ERROR_COUNT
public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
- See Also:
- Constant Field Values
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FUNCTION_SET_BOOTLOADER_MODE
public static final byte FUNCTION_SET_BOOTLOADER_MODE
- See Also:
- Constant Field Values
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FUNCTION_GET_BOOTLOADER_MODE
public static final byte FUNCTION_GET_BOOTLOADER_MODE
- See Also:
- Constant Field Values
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FUNCTION_SET_WRITE_FIRMWARE_POINTER
public static final byte FUNCTION_SET_WRITE_FIRMWARE_POINTER
- See Also:
- Constant Field Values
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FUNCTION_WRITE_FIRMWARE
public static final byte FUNCTION_WRITE_FIRMWARE
- See Also:
- Constant Field Values
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FUNCTION_SET_STATUS_LED_CONFIG
public static final byte FUNCTION_SET_STATUS_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_STATUS_LED_CONFIG
public static final byte FUNCTION_GET_STATUS_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_CHIP_TEMPERATURE
public static final byte FUNCTION_GET_CHIP_TEMPERATURE
- See Also:
- Constant Field Values
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FUNCTION_RESET
public static final byte FUNCTION_RESET
- See Also:
- Constant Field Values
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FUNCTION_WRITE_UID
public static final byte FUNCTION_WRITE_UID
- See Also:
- Constant Field Values
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FUNCTION_READ_UID
public static final byte FUNCTION_READ_UID
- See Also:
- Constant Field Values
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FUNCTION_GET_IDENTITY
public static final byte FUNCTION_GET_IDENTITY
- See Also:
- Constant Field Values
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FRAME_TYPE_STANDARD_DATA
public static final int FRAME_TYPE_STANDARD_DATA
- See Also:
- Constant Field Values
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FRAME_TYPE_STANDARD_REMOTE
public static final int FRAME_TYPE_STANDARD_REMOTE
- See Also:
- Constant Field Values
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FRAME_TYPE_EXTENDED_DATA
public static final int FRAME_TYPE_EXTENDED_DATA
- See Also:
- Constant Field Values
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FRAME_TYPE_EXTENDED_REMOTE
public static final int FRAME_TYPE_EXTENDED_REMOTE
- See Also:
- Constant Field Values
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TRANSCEIVER_MODE_NORMAL
public static final int TRANSCEIVER_MODE_NORMAL
- See Also:
- Constant Field Values
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TRANSCEIVER_MODE_LOOPBACK
public static final int TRANSCEIVER_MODE_LOOPBACK
- See Also:
- Constant Field Values
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TRANSCEIVER_MODE_READ_ONLY
public static final int TRANSCEIVER_MODE_READ_ONLY
- See Also:
- Constant Field Values
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FILTER_MODE_ACCEPT_ALL
public static final int FILTER_MODE_ACCEPT_ALL
- See Also:
- Constant Field Values
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FILTER_MODE_MATCH_STANDARD_ONLY
public static final int FILTER_MODE_MATCH_STANDARD_ONLY
- See Also:
- Constant Field Values
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FILTER_MODE_MATCH_EXTENDED_ONLY
public static final int FILTER_MODE_MATCH_EXTENDED_ONLY
- See Also:
- Constant Field Values
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FILTER_MODE_MATCH_STANDARD_AND_EXTENDED
public static final int FILTER_MODE_MATCH_STANDARD_AND_EXTENDED
- See Also:
- Constant Field Values
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TRANSCEIVER_STATE_ACTIVE
public static final int TRANSCEIVER_STATE_ACTIVE
- See Also:
- Constant Field Values
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TRANSCEIVER_STATE_PASSIVE
public static final int TRANSCEIVER_STATE_PASSIVE
- See Also:
- Constant Field Values
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TRANSCEIVER_STATE_DISABLED
public static final int TRANSCEIVER_STATE_DISABLED
- See Also:
- Constant Field Values
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COMMUNICATION_LED_CONFIG_OFF
public static final int COMMUNICATION_LED_CONFIG_OFF
- See Also:
- Constant Field Values
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COMMUNICATION_LED_CONFIG_ON
public static final int COMMUNICATION_LED_CONFIG_ON
- See Also:
- Constant Field Values
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COMMUNICATION_LED_CONFIG_SHOW_HEARTBEAT
public static final int COMMUNICATION_LED_CONFIG_SHOW_HEARTBEAT
- See Also:
- Constant Field Values
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COMMUNICATION_LED_CONFIG_SHOW_COMMUNICATION
public static final int COMMUNICATION_LED_CONFIG_SHOW_COMMUNICATION
- See Also:
- Constant Field Values
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ERROR_LED_CONFIG_OFF
public static final int ERROR_LED_CONFIG_OFF
- See Also:
- Constant Field Values
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ERROR_LED_CONFIG_ON
public static final int ERROR_LED_CONFIG_ON
- See Also:
- Constant Field Values
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ERROR_LED_CONFIG_SHOW_HEARTBEAT
public static final int ERROR_LED_CONFIG_SHOW_HEARTBEAT
- See Also:
- Constant Field Values
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ERROR_LED_CONFIG_SHOW_TRANSCEIVER_STATE
public static final int ERROR_LED_CONFIG_SHOW_TRANSCEIVER_STATE
- See Also:
- Constant Field Values
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ERROR_LED_CONFIG_SHOW_ERROR
public static final int ERROR_LED_CONFIG_SHOW_ERROR
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_BOOTLOADER
public static final int BOOTLOADER_MODE_BOOTLOADER
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_FIRMWARE
public static final int BOOTLOADER_MODE_FIRMWARE
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
public static final int BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_OK
public static final int BOOTLOADER_STATUS_OK
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_INVALID_MODE
public static final int BOOTLOADER_STATUS_INVALID_MODE
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_NO_CHANGE
public static final int BOOTLOADER_STATUS_NO_CHANGE
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
public static final int BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
public static final int BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_CRC_MISMATCH
public static final int BOOTLOADER_STATUS_CRC_MISMATCH
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_OFF
public static final int STATUS_LED_CONFIG_OFF
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_ON
public static final int STATUS_LED_CONFIG_ON
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_SHOW_HEARTBEAT
public static final int STATUS_LED_CONFIG_SHOW_HEARTBEAT
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_SHOW_STATUS
public static final int STATUS_LED_CONFIG_SHOW_STATUS
- See Also:
- Constant Field Values
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Constructor Detail
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BrickletCANV2
public BrickletCANV2(java.lang.String uid, IPConnection ipcon)
Creates an object with the unique device ID \c uid. and adds it to the IP Connection \c ipcon.
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Method Detail
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writeFrameLowLevel
public boolean writeFrameLowLevel(int frameType, long identifier, int dataLength, int[] dataData) throws TinkerforgeException
Writes a data or remote frame to the write queue to be transmitted over the CAN transceiver. The Bricklet supports the standard 11-bit (CAN 2.0A) and the additional extended 29-bit (CAN 2.0B) identifiers. For standard frames the Bricklet uses bit 0 to 10 from the ``identifier`` parameter as standard 11-bit identifier. For extended frames the Bricklet uses bit 0 to 28 from the ``identifier`` parameter as extended 29-bit identifier. The ``data`` parameter can be up to 15 bytes long. For data frames up to 8 bytes will be used as the actual data. The length (DLC) field in the data or remote frame will be set to the actual length of the ``data`` parameter. This allows to transmit data and remote frames with excess length. For remote frames only the length of the ``data`` parameter is used. The actual ``data`` bytes are ignored. Returns *true* if the frame was successfully added to the write queue. Returns *false* if the frame could not be added because write queue is already full or because the write buffer or the write backlog are configured with a size of zero (seesetQueueConfiguration(int, int, int, int[], int)
). The write queue can overflow if frames are written to it at a higher rate than the Bricklet can transmitted them over the CAN transceiver. This may happen if the CAN transceiver is configured as read-only or is using a low baud rate (seesetTransceiverConfiguration(long, int, int)
). It can also happen if the CAN bus is congested and the frame cannot be transmitted because it constantly loses arbitration or because the CAN transceiver is currently disabled due to a high write error level (seegetErrorLog()
).- Throws:
TinkerforgeException
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readFrameLowLevel
public BrickletCANV2.ReadFrameLowLevel readFrameLowLevel() throws TinkerforgeException
Tries to read the next data or remote frame from the read queue and returns it. If a frame was successfully read, then the ``success`` return value is set to *true* and the other return values contain the frame. If the read queue is empty and no frame could be read, then the ``success`` return value is set to *false* and the other return values contain invalid data. The ``identifier`` return value follows the identifier format described forwriteFrame(int, long, int[])
. The ``data`` return value can be up to 15 bytes long. For data frames up to the first 8 bytes are the actual received data. All bytes after the 8th byte are always zero and only there to indicate the length of a data or remote frame with excess length. For remote frames the length of the ``data`` return value represents the requested length. The actual ``data`` bytes are always zero. A configurable read filter can be used to define which frames should be received by the CAN transceiver and put into the read queue (seesetReadFilterConfiguration(int, int, long, long)
). Instead of polling with this function, you can also use listeners. See thesetFrameReadCallbackConfiguration(boolean)
function and theBrickletCANV2.FrameReadListener
callback.- Throws:
TinkerforgeException
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setFrameReadCallbackConfiguration
public void setFrameReadCallbackConfiguration(boolean enabled) throws TinkerforgeException
Enables and disables theBrickletCANV2.FrameReadListener
listener. By default the listener is disabled. Enabling this listener will disable theBrickletCANV2.FrameReadableListener
listener.- Throws:
TinkerforgeException
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getFrameReadCallbackConfiguration
public boolean getFrameReadCallbackConfiguration() throws TinkerforgeException
Returns *true* if theBrickletCANV2.FrameReadListener
listener is enabled, *false* otherwise.- Throws:
TinkerforgeException
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setTransceiverConfiguration
public void setTransceiverConfiguration(long baudRate, int samplePoint, int transceiverMode) throws TinkerforgeException
Sets the transceiver configuration for the CAN bus communication. The CAN transceiver has three different modes: * Normal: Reads from and writes to the CAN bus and performs active bus error detection and acknowledgement. * Loopback: All reads and writes are performed internally. The transceiver is disconnected from the actual CAN bus. * Read-Only: Only reads from the CAN bus, but does neither active bus error detection nor acknowledgement. Only the receiving part of the transceiver is connected to the CAN bus.- Throws:
TinkerforgeException
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getTransceiverConfiguration
public BrickletCANV2.TransceiverConfiguration getTransceiverConfiguration() throws TinkerforgeException
Returns the configuration as set bysetTransceiverConfiguration(long, int, int)
.- Throws:
TinkerforgeException
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setQueueConfigurationLowLevel
public void setQueueConfigurationLowLevel(int writeBufferSize, int writeBufferTimeout, int writeBacklogSize, int readBufferSizesLength, int[] readBufferSizesData, int readBacklogSize) throws TinkerforgeException
Sets the write and read queue configuration. The CAN transceiver has 32 buffers in total in hardware for transmitting and receiving frames. Additionally, the Bricklet has a backlog for 768 frames in total in software. The buffers and the backlog can be freely assigned to the write and read queues.writeFrame(int, long, int[])
writes a frame into the write backlog. The Bricklet moves the frame from the backlog into a free write buffer. The CAN transceiver then transmits the frame from the write buffer to the CAN bus. If there are no write buffers (``write_buffer_size`` is zero) or there is no write backlog (``write_backlog_size`` is zero) then no frames can be transmitted andwriteFrame(int, long, int[])
returns always *false*. The CAN transceiver receives a frame from the CAN bus and stores it into a free read buffer. The Bricklet moves the frame from the read buffer into the read backlog.readFrame()
reads the frame from the read backlog and returns it. If there are no read buffers (``read_buffer_sizes`` is empty) or there is no read backlog (``read_backlog_size`` is zero) then no frames can be received andreadFrame()
returns always *false*. There can be multiple read buffers, because the CAN transceiver cannot receive data and remote frames into the same read buffer. A positive read buffer size represents a data frame read buffer and a negative read buffer size represents a remote frame read buffer. A read buffer size of zero is not allowed. By default the first read buffer is configured for data frames and the second read buffer is configured for remote frame. There can be up to 32 different read buffers, assuming that no write buffer is used. Each read buffer has its own filter configuration (seesetReadFilterConfiguration(int, int, long, long)
). A valid queue configuration fulfills these conditions:: write_buffer_size + abs(read_buffer_size_0) + abs(read_buffer_size_1) + ... + abs(read_buffer_size_31) <= 32 write_backlog_size + read_backlog_size <= 768 The write buffer timeout has three different modes that define how a failed frame transmission should be handled: * Single-Shot (< 0): Only one transmission attempt will be made. If the transmission fails then the frame is discarded. * Infinite (= 0): Infinite transmission attempts will be made. The frame will never be discarded. * Milliseconds (> 0): A limited number of transmission attempts will be made. If the frame could not be transmitted successfully after the configured number of milliseconds then the frame is discarded. The current content of the queues is lost when this function is called.- Throws:
TinkerforgeException
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getQueueConfigurationLowLevel
public BrickletCANV2.QueueConfigurationLowLevel getQueueConfigurationLowLevel() throws TinkerforgeException
Returns the queue configuration as set bysetQueueConfiguration(int, int, int, int[], int)
.- Throws:
TinkerforgeException
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setReadFilterConfiguration
public void setReadFilterConfiguration(int bufferIndex, int filterMode, long filterMask, long filterIdentifier) throws TinkerforgeException
Set the read filter configuration for the given read buffer index. This can be used to define which frames should be received by the CAN transceiver and put into the read buffer. The read filter has four different modes that define if and how the filter mask and the filter identifier are applied: * Accept-All: All frames are received. * Match-Standard-Only: Only standard frames with a matching identifier are received. * Match-Extended-Only: Only extended frames with a matching identifier are received. * Match-Standard-And-Extended: Standard and extended frames with a matching identifier are received. The filter mask and filter identifier are used as bit masks. Their usage depends on the mode: * Accept-All: Mask and identifier are ignored. * Match-Standard-Only: Bit 0 to 10 (11 bits) of filter mask and filter identifier are used to match the 11-bit identifier of standard frames. * Match-Extended-Only: Bit 0 to 28 (29 bits) of filter mask and filter identifier are used to match the 29-bit identifier of extended frames. * Match-Standard-And-Extended: Bit 18 to 28 (11 bits) of filter mask and filter identifier are used to match the 11-bit identifier of standard frames, bit 0 to 17 (18 bits) are ignored in this case. Bit 0 to 28 (29 bits) of filter mask and filter identifier are used to match the 29-bit identifier of extended frames. The filter mask and filter identifier are applied in this way: The filter mask is used to select the frame identifier bits that should be compared to the corresponding filter identifier bits. All unselected bits are automatically accepted. All selected bits have to match the filter identifier to be accepted. If all bits for the selected mode are accepted then the frame is accepted and is added to the read buffer. \verbatim "Filter Mask Bit", "Filter Identifier Bit", "Frame Identifier Bit", "Result" 0, X, X, Accept 1, 0, 0, Accept 1, 0, 1, Reject 1, 1, 0, Reject 1, 1, 1, Accept \endverbatim For example, to receive standard frames with identifier 0x123 only, the mode can be set to Match-Standard-Only with 0x7FF as mask and 0x123 as identifier. The mask of 0x7FF selects all 11 identifier bits for matching so that the identifier has to be exactly 0x123 to be accepted. To accept identifier 0x123 and identifier 0x456 at the same time, just set filter 2 to 0x456 and keep mask and filter 1 unchanged. There can be up to 32 different read filters configured at the same time, because there can be up to 32 read buffer (seesetQueueConfiguration(int, int, int, int[], int)
). The default mode is accept-all for all read buffers.- Throws:
TinkerforgeException
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getReadFilterConfiguration
public BrickletCANV2.ReadFilterConfiguration getReadFilterConfiguration(int bufferIndex) throws TinkerforgeException
Returns the read filter configuration as set bysetReadFilterConfiguration(int, int, long, long)
.- Throws:
TinkerforgeException
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getErrorLogLowLevel
public BrickletCANV2.ErrorLogLowLevel getErrorLogLowLevel() throws TinkerforgeException
Returns information about different kinds of errors. The write and read error levels indicate the current level of stuffing, form, acknowledgement, bit and checksum errors during CAN bus write and read operations. For each of this error kinds there is also an individual counter. When the write error level extends 255 then the CAN transceiver gets disabled and no frames can be transmitted or received anymore. The CAN transceiver will automatically be activated again after the CAN bus is idle for a while. The write buffer timeout, read buffer and backlog overflow counts represents the number of these errors: * A write buffer timeout occurs if a frame could not be transmitted before the configured write buffer timeout expired (seesetQueueConfiguration(int, int, int, int[], int)
). * A read buffer overflow occurs if a read buffer of the CAN transceiver still contains the last received frame when the next frame arrives. In this case the last received frame is lost. This happens if the CAN transceiver receives more frames than the Bricklet can handle. Using the read filter (seesetReadFilterConfiguration(int, int, long, long)
) can help to reduce the amount of received frames. This count is not exact, but a lower bound, because the Bricklet might not able detect all overflows if they occur in rapid succession. * A read backlog overflow occurs if the read backlog of the Bricklet is already full when the next frame should be read from a read buffer of the CAN transceiver. In this case the frame in the read buffer is lost. This happens if the CAN transceiver receives more frames to be added to the read backlog than are removed from the read backlog using thereadFrame()
function. Using theBrickletCANV2.FrameReadListener
listener ensures that the read backlog can not overflow. The read buffer overflow counter counts the overflows of all configured read buffers. Which read buffer exactly suffered from an overflow can be figured out from the read buffer overflow occurrence list (``read_buffer_overflow_error_occurred``). Reading the error log clears the occurence list.- Throws:
TinkerforgeException
-
setCommunicationLEDConfig
public void setCommunicationLEDConfig(int config) throws TinkerforgeException
Sets the communication LED configuration. By default the LED shows CAN-Bus traffic, it flickers once for every 40 transmitted or received frames. You can also turn the LED permanently on/off or show a heartbeat. If the Bricklet is in bootloader mode, the LED is off.- Throws:
TinkerforgeException
-
getCommunicationLEDConfig
public int getCommunicationLEDConfig() throws TinkerforgeException
Returns the configuration as set bysetCommunicationLEDConfig(int)
- Throws:
TinkerforgeException
-
setErrorLEDConfig
public void setErrorLEDConfig(int config) throws TinkerforgeException
Sets the error LED configuration. By default (show-transceiver-state) the error LED turns on if the CAN transceiver is passive or disabled state (seegetErrorLog()
). If the CAN transceiver is in active state the LED turns off. If the LED is configured as show-error then the error LED turns on if any error occurs. If you call this function with the show-error option again, the LED will turn off until the next error occurs. You can also turn the LED permanently on/off or show a heartbeat. If the Bricklet is in bootloader mode, the LED is off.- Throws:
TinkerforgeException
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getErrorLEDConfig
public int getErrorLEDConfig() throws TinkerforgeException
Returns the configuration as set bysetErrorLEDConfig(int)
.- Throws:
TinkerforgeException
-
setFrameReadableCallbackConfiguration
public void setFrameReadableCallbackConfiguration(boolean enabled) throws TinkerforgeException
Enables and disables theBrickletCANV2.FrameReadableListener
listener. By default the listener is disabled. Enabling this listener will disable theBrickletCANV2.FrameReadListener
listener. .. versionadded:: 2.0.3$nbsp;(Plugin)- Throws:
TinkerforgeException
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getFrameReadableCallbackConfiguration
public boolean getFrameReadableCallbackConfiguration() throws TinkerforgeException
Returns *true* if theBrickletCANV2.FrameReadableListener
listener is enabled, *false* otherwise. .. versionadded:: 2.0.3$nbsp;(Plugin)- Throws:
TinkerforgeException
-
setErrorOccurredCallbackConfiguration
public void setErrorOccurredCallbackConfiguration(boolean enabled) throws TinkerforgeException
Enables and disables theBrickletCANV2.ErrorOccurredListener
listener. By default the listener is disabled. .. versionadded:: 2.0.3$nbsp;(Plugin)- Throws:
TinkerforgeException
-
getErrorOccurredCallbackConfiguration
public boolean getErrorOccurredCallbackConfiguration() throws TinkerforgeException
Returns *true* if theBrickletCANV2.ErrorOccurredListener
listener is enabled, *false* otherwise. .. versionadded:: 2.0.3$nbsp;(Plugin)- Throws:
TinkerforgeException
-
getSPITFPErrorCount
public BrickletCANV2.SPITFPErrorCount getSPITFPErrorCount() throws TinkerforgeException
Returns the error count for the communication between Brick and Bricklet. The errors are divided into * ACK checksum errors, * message checksum errors, * framing errors and * overflow errors. The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.- Throws:
TinkerforgeException
-
setBootloaderMode
public int setBootloaderMode(int mode) throws TinkerforgeException
Sets the bootloader mode and returns the status after the requested mode change was instigated. You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.- Throws:
TinkerforgeException
-
getBootloaderMode
public int getBootloaderMode() throws TinkerforgeException
Returns the current bootloader mode, seesetBootloaderMode(int)
.- Throws:
TinkerforgeException
-
setWriteFirmwarePointer
public void setWriteFirmwarePointer(long pointer) throws TinkerforgeException
Sets the firmware pointer forwriteFirmware(int[])
. The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256). This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.- Throws:
TinkerforgeException
-
writeFirmware
public int writeFirmware(int[] data) throws TinkerforgeException
Writes 64 Bytes of firmware at the position as written bysetWriteFirmwarePointer(long)
before. The firmware is written to flash every 4 chunks. You can only write firmware in bootloader mode. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.- Throws:
TinkerforgeException
-
setStatusLEDConfig
public void setStatusLEDConfig(int config) throws TinkerforgeException
Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets. You can also turn the LED permanently on/off or show a heartbeat. If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.- Throws:
TinkerforgeException
-
getStatusLEDConfig
public int getStatusLEDConfig() throws TinkerforgeException
Returns the configuration as set bysetStatusLEDConfig(int)
- Throws:
TinkerforgeException
-
getChipTemperature
public int getChipTemperature() throws TinkerforgeException
Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature! The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.- Throws:
TinkerforgeException
-
reset
public void reset() throws TinkerforgeException
Calling this function will reset the Bricklet. All configurations will be lost. After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!- Throws:
TinkerforgeException
-
writeUID
public void writeUID(long uid) throws TinkerforgeException
Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first. We recommend that you use Brick Viewer to change the UID.- Throws:
TinkerforgeException
-
readUID
public long readUID() throws TinkerforgeException
Returns the current UID as an integer. Encode as Base58 to get the usual string version.- Throws:
TinkerforgeException
-
getIdentity
public Device.Identity getIdentity() throws TinkerforgeException
Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier. The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an :ref:`Isolator Bricklet <isolator_bricklet>` is always at position 'z'. The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|- Specified by:
getIdentity
in classDevice
- Throws:
TinkerforgeException
-
writeFrame
public boolean writeFrame(int frameType, long identifier, int[] data) throws TinkerforgeException
Writes a data or remote frame to the write queue to be transmitted over the CAN transceiver. The Bricklet supports the standard 11-bit (CAN 2.0A) and the additional extended 29-bit (CAN 2.0B) identifiers. For standard frames the Bricklet uses bit 0 to 10 from the ``identifier`` parameter as standard 11-bit identifier. For extended frames the Bricklet uses bit 0 to 28 from the ``identifier`` parameter as extended 29-bit identifier. The ``data`` parameter can be up to 15 bytes long. For data frames up to 8 bytes will be used as the actual data. The length (DLC) field in the data or remote frame will be set to the actual length of the ``data`` parameter. This allows to transmit data and remote frames with excess length. For remote frames only the length of the ``data`` parameter is used. The actual ``data`` bytes are ignored. Returns *true* if the frame was successfully added to the write queue. Returns *false* if the frame could not be added because write queue is already full or because the write buffer or the write backlog are configured with a size of zero (seesetQueueConfiguration(int, int, int, int[], int)
). The write queue can overflow if frames are written to it at a higher rate than the Bricklet can transmitted them over the CAN transceiver. This may happen if the CAN transceiver is configured as read-only or is using a low baud rate (seesetTransceiverConfiguration(long, int, int)
). It can also happen if the CAN bus is congested and the frame cannot be transmitted because it constantly loses arbitration or because the CAN transceiver is currently disabled due to a high write error level (seegetErrorLog()
).- Throws:
TinkerforgeException
-
readFrame
public BrickletCANV2.ReadFrame readFrame() throws TinkerforgeException
Tries to read the next data or remote frame from the read queue and returns it. If a frame was successfully read, then the ``success`` return value is set to *true* and the other return values contain the frame. If the read queue is empty and no frame could be read, then the ``success`` return value is set to *false* and the other return values contain invalid data. The ``identifier`` return value follows the identifier format described forwriteFrame(int, long, int[])
. The ``data`` return value can be up to 15 bytes long. For data frames up to the first 8 bytes are the actual received data. All bytes after the 8th byte are always zero and only there to indicate the length of a data or remote frame with excess length. For remote frames the length of the ``data`` return value represents the requested length. The actual ``data`` bytes are always zero. A configurable read filter can be used to define which frames should be received by the CAN transceiver and put into the read queue (seesetReadFilterConfiguration(int, int, long, long)
). Instead of polling with this function, you can also use listeners. See thesetFrameReadCallbackConfiguration(boolean)
function and theBrickletCANV2.FrameReadListener
callback.- Throws:
TinkerforgeException
-
setQueueConfiguration
public void setQueueConfiguration(int writeBufferSize, int writeBufferTimeout, int writeBacklogSize, int[] readBufferSizes, int readBacklogSize) throws TinkerforgeException
Sets the write and read queue configuration. The CAN transceiver has 32 buffers in total in hardware for transmitting and receiving frames. Additionally, the Bricklet has a backlog for 768 frames in total in software. The buffers and the backlog can be freely assigned to the write and read queues.writeFrame(int, long, int[])
writes a frame into the write backlog. The Bricklet moves the frame from the backlog into a free write buffer. The CAN transceiver then transmits the frame from the write buffer to the CAN bus. If there are no write buffers (``write_buffer_size`` is zero) or there is no write backlog (``write_backlog_size`` is zero) then no frames can be transmitted andwriteFrame(int, long, int[])
returns always *false*. The CAN transceiver receives a frame from the CAN bus and stores it into a free read buffer. The Bricklet moves the frame from the read buffer into the read backlog.readFrame()
reads the frame from the read backlog and returns it. If there are no read buffers (``read_buffer_sizes`` is empty) or there is no read backlog (``read_backlog_size`` is zero) then no frames can be received andreadFrame()
returns always *false*. There can be multiple read buffers, because the CAN transceiver cannot receive data and remote frames into the same read buffer. A positive read buffer size represents a data frame read buffer and a negative read buffer size represents a remote frame read buffer. A read buffer size of zero is not allowed. By default the first read buffer is configured for data frames and the second read buffer is configured for remote frame. There can be up to 32 different read buffers, assuming that no write buffer is used. Each read buffer has its own filter configuration (seesetReadFilterConfiguration(int, int, long, long)
). A valid queue configuration fulfills these conditions:: write_buffer_size + abs(read_buffer_size_0) + abs(read_buffer_size_1) + ... + abs(read_buffer_size_31) <= 32 write_backlog_size + read_backlog_size <= 768 The write buffer timeout has three different modes that define how a failed frame transmission should be handled: * Single-Shot (< 0): Only one transmission attempt will be made. If the transmission fails then the frame is discarded. * Infinite (= 0): Infinite transmission attempts will be made. The frame will never be discarded. * Milliseconds (> 0): A limited number of transmission attempts will be made. If the frame could not be transmitted successfully after the configured number of milliseconds then the frame is discarded. The current content of the queues is lost when this function is called.- Throws:
TinkerforgeException
-
getQueueConfiguration
public BrickletCANV2.QueueConfiguration getQueueConfiguration() throws TinkerforgeException
Returns the queue configuration as set bysetQueueConfiguration(int, int, int, int[], int)
.- Throws:
TinkerforgeException
-
getErrorLog
public BrickletCANV2.ErrorLog getErrorLog() throws TinkerforgeException
Returns information about different kinds of errors. The write and read error levels indicate the current level of stuffing, form, acknowledgement, bit and checksum errors during CAN bus write and read operations. For each of this error kinds there is also an individual counter. When the write error level extends 255 then the CAN transceiver gets disabled and no frames can be transmitted or received anymore. The CAN transceiver will automatically be activated again after the CAN bus is idle for a while. The write buffer timeout, read buffer and backlog overflow counts represents the number of these errors: * A write buffer timeout occurs if a frame could not be transmitted before the configured write buffer timeout expired (seesetQueueConfiguration(int, int, int, int[], int)
). * A read buffer overflow occurs if a read buffer of the CAN transceiver still contains the last received frame when the next frame arrives. In this case the last received frame is lost. This happens if the CAN transceiver receives more frames than the Bricklet can handle. Using the read filter (seesetReadFilterConfiguration(int, int, long, long)
) can help to reduce the amount of received frames. This count is not exact, but a lower bound, because the Bricklet might not able detect all overflows if they occur in rapid succession. * A read backlog overflow occurs if the read backlog of the Bricklet is already full when the next frame should be read from a read buffer of the CAN transceiver. In this case the frame in the read buffer is lost. This happens if the CAN transceiver receives more frames to be added to the read backlog than are removed from the read backlog using thereadFrame()
function. Using theBrickletCANV2.FrameReadListener
listener ensures that the read backlog can not overflow. The read buffer overflow counter counts the overflows of all configured read buffers. Which read buffer exactly suffered from an overflow can be figured out from the read buffer overflow occurrence list (``read_buffer_overflow_error_occurred``). Reading the error log clears the occurence list.- Throws:
TinkerforgeException
-
addFrameReadLowLevelListener
public void addFrameReadLowLevelListener(BrickletCANV2.FrameReadLowLevelListener listener)
Adds a FrameReadLowLevel listener.
-
removeFrameReadLowLevelListener
public void removeFrameReadLowLevelListener(BrickletCANV2.FrameReadLowLevelListener listener)
Removes a FrameReadLowLevel listener.
-
addFrameReadableListener
public void addFrameReadableListener(BrickletCANV2.FrameReadableListener listener)
Adds a FrameReadable listener.
-
removeFrameReadableListener
public void removeFrameReadableListener(BrickletCANV2.FrameReadableListener listener)
Removes a FrameReadable listener.
-
addErrorOccurredListener
public void addErrorOccurredListener(BrickletCANV2.ErrorOccurredListener listener)
Adds a ErrorOccurred listener.
-
removeErrorOccurredListener
public void removeErrorOccurredListener(BrickletCANV2.ErrorOccurredListener listener)
Removes a ErrorOccurred listener.
-
addFrameReadListener
public void addFrameReadListener(BrickletCANV2.FrameReadListener listener)
Adds a FrameRead listener.
-
removeFrameReadListener
public void removeFrameReadListener(BrickletCANV2.FrameReadListener listener)
Removes a FrameRead listener.
-
-