can_routine_callback()

Description

can_routine_callback() – call-back method stub. Overwrite this method in your own class to be called regularly e.g. to do some background processing of your class.

class MY_CLASS : public SAMC21_CAN_RECEIVER
{
  public: 
   void can_msg_recv_callback(const CANMessage & inMessage)
   {      }
   void can_routine_callback()
   {     }
};

Syntax

void can_routine_callback() { }

Parameters

none

Returns

nothing

Example Code

Definition of a derived class that overwrites the call-back methodes.

class MY_ENGINE_CLASS : public SAMC21_CAN_RECEIVER
{
 public:
  uint32_t  u32_RPM;
  uint8_t   s8_Temperature;
  void can_msg_recv_callback(const CANMessage & inMessage)
  {
    if(inMessage.id == 0x123)
      u32_RPM = inMessage.data32[0];
    if(inMessage.id == 0x124)
      s8_Temperature= inMessage.data[0];
  }
  void can_routine_callback()
  {
    static uint32_t u32_counter = 0;
    u32_counter++;
    if(u32_counter > 10000)
    {
      if(digitalRead(LED_BUILTIN))
        digitalWrite(LED_BUILTIN, LOW);
      else
	digitalWrite(LED_BUILTIN, HIGH);
      u32_counter = 0;
    }
  }
};

Examples can be found in the Arduino IDE menu:
File -> Examples -> DICE -> CAN_Bus -> ReceiverClassExample

Notes and Warnings

It is common practise to only do calculations and to set variables in call-back routines.
Do not use any functions like delay(), yields(), println() etc. that would cause the re-entrance of the call-backs.