CanController Class

Namespace: GHIElectronics.TinyCLR.Devices.Can · Assembly: GHIElectronics.TinyCLR.Devices.Can

Represents a CAN bus controller. Configure bit timing and acceptance filters, Enable the controller, then exchange CanMessages. Subscribe to MessageReceived for event-driven receive instead of polling MessagesToRead.

public class CanController : IDisposable

Properties

Provider

public ICanControllerProvider Provider { get; }

The low-level provider backing this controller.

WriteBufferSize

public int WriteBufferSize { get; set; }

Size of the transmit message queue.

ReadBufferSize

public int ReadBufferSize { get; set; }

Size of the receive message queue.

MessagesToWrite

public int MessagesToWrite { get; }

Messages currently queued for transmission.

MessagesToRead

public int MessagesToRead { get; }

Messages currently available to read.

CanWriteMessage

public bool CanWriteMessage { get; }

True when the transmit queue has room.

CanReadMessage

public bool CanReadMessage { get; }

True when at least one received message is available.

WriteErrorCount

public int WriteErrorCount { get; }

Current transmit error counter (TEC).

ReadErrorCount

public int ReadErrorCount { get; }

Current receive error counter (REC).

SourceClock

public int SourceClock { get; }

Source clock feeding the CAN prescaler, in Hz. Used to compute bit timing.

Filter

public Filter Filter { get; }

Acceptance filter configuration for this controller.

Methods

GetDefault()

public static CanController GetDefault()

Returns the default CAN controller for this device.

Returns CanController

FromName(string name)

public static CanController FromName(string name)

Returns a CAN controller identified by its native API name.

Parameter	Type	Description
name	string

Returns CanController

FromProvider(ICanControllerProvider provider)

public static CanController FromProvider(ICanControllerProvider provider)

Creates a controller from a custom ICanControllerProvider.

Parameter	Type	Description
provider	ICanControllerProvider

Returns CanController

Dispose()

public void Dispose()

Releases the underlying provider.

Enable()

public void Enable()

Powers on the controller. Call after configuring timing and filters.

Disable()

public void Disable()

Powers off the controller.

WriteMessage(CanMessage message)

public bool WriteMessage(CanMessage message)

Queues a single message for transmission. Returns true on success.

Parameter	Type	Description
message	CanMessage

Returns bool

WriteMessages(CanMessage[] messages, int offset, int count)

public int WriteMessages(CanMessage[] messages, int offset, int count)

Queues a slice of messages for transmission.

Parameter	Type	Description
messages	CanMessage[]
offset	int
count	int

Returns int — Number of messages successfully queued.

ReadMessage(out CanMessage message)

public bool ReadMessage(out CanMessage message)

Dequeues a single received message. Returns true if one was available.

Parameter	Type	Description
message	out CanMessage

Returns bool

ReadMessages(CanMessage[] messages, int offset, int count)

public int ReadMessages(CanMessage[] messages, int offset, int count)

Dequeues up to count received messages into messages.

Parameter	Type	Description
messages	CanMessage[]
offset	int
count	int

Returns int — Number of messages actually read.

SetNominalBitTiming(CanBitTiming bitTiming)

public void SetNominalBitTiming(CanBitTiming bitTiming)

Configures the arbitration-phase bit timing (used for the whole frame in classic CAN).

Parameter	Type	Description
bitTiming	CanBitTiming

SetDataBitTiming(CanBitTiming bitTiming)

public void SetDataBitTiming(CanBitTiming bitTiming)

Configures the data-phase bit timing for CAN-FD frames with bit-rate switching.

Parameter	Type	Description
bitTiming	CanBitTiming

ClearWriteBuffer()

public void ClearWriteBuffer()

Empties the transmit queue.

ClearReadBuffer()

public void ClearReadBuffer()

Empties the receive queue.

Events

MessageReceived

public event MessageReceivedEventHandler MessageReceived

Raised when one or more messages have arrived. Call ReadMessage from the handler.

ErrorReceived

public event ErrorReceivedEventHandler ErrorReceived

Raised when the controller detects a bus error or enters bus-off.