BA / Mbed OS BaBoRo_test2

Backup 1

mbed-os/drivers/CAN.cpp@0:02dd72d1d465, 2018-04-24 (annotated)

Committer:
borlanic
Date:
Tue Apr 24 11:45:18 2018 +0000
Revision:
0:02dd72d1d465
BaBoRo_test2 - backup 1

Who changed what in which revision?

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borlanic 0:02dd72d1d465 1 /* mbed Microcontroller Library
borlanic 0:02dd72d1d465 2 * Copyright (c) 2006-2013 ARM Limited
borlanic 0:02dd72d1d465 3 *
borlanic 0:02dd72d1d465 4 * Licensed under the Apache License, Version 2.0 (the "License");
borlanic 0:02dd72d1d465 5 * you may not use this file except in compliance with the License.
borlanic 0:02dd72d1d465 6 * You may obtain a copy of the License at
borlanic 0:02dd72d1d465 7 *
borlanic 0:02dd72d1d465 8 * http://www.apache.org/licenses/LICENSE-2.0
borlanic 0:02dd72d1d465 9 *
borlanic 0:02dd72d1d465 10 * Unless required by applicable law or agreed to in writing, software
borlanic 0:02dd72d1d465 11 * distributed under the License is distributed on an "AS IS" BASIS,
borlanic 0:02dd72d1d465 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
borlanic 0:02dd72d1d465 13 * See the License for the specific language governing permissions and
borlanic 0:02dd72d1d465 14 * limitations under the License.
borlanic 0:02dd72d1d465 15 */
borlanic 0:02dd72d1d465 16 #include "drivers/CAN.h"
borlanic 0:02dd72d1d465 17
borlanic 0:02dd72d1d465 18 #if DEVICE_CAN
borlanic 0:02dd72d1d465 19
borlanic 0:02dd72d1d465 20 #include "cmsis.h"
borlanic 0:02dd72d1d465 21 #include "platform/mbed_power_mgmt.h"
borlanic 0:02dd72d1d465 22
borlanic 0:02dd72d1d465 23 namespace mbed {
borlanic 0:02dd72d1d465 24
borlanic 0:02dd72d1d465 25 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
borlanic 0:02dd72d1d465 26 // No lock needed in constructor
borlanic 0:02dd72d1d465 27
borlanic 0:02dd72d1d465 28 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
borlanic 0:02dd72d1d465 29 _irq[i] = NULL;
borlanic 0:02dd72d1d465 30 }
borlanic 0:02dd72d1d465 31
borlanic 0:02dd72d1d465 32 can_init(&_can, rd, td);
borlanic 0:02dd72d1d465 33 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
borlanic 0:02dd72d1d465 34 }
borlanic 0:02dd72d1d465 35
borlanic 0:02dd72d1d465 36 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
borlanic 0:02dd72d1d465 37 // No lock needed in constructor
borlanic 0:02dd72d1d465 38
borlanic 0:02dd72d1d465 39 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
borlanic 0:02dd72d1d465 40 _irq[i] = NULL;
borlanic 0:02dd72d1d465 41 }
borlanic 0:02dd72d1d465 42
borlanic 0:02dd72d1d465 43 can_init_freq(&_can, rd, td, hz);
borlanic 0:02dd72d1d465 44 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
borlanic 0:02dd72d1d465 45 }
borlanic 0:02dd72d1d465 46
borlanic 0:02dd72d1d465 47 CAN::~CAN() {
borlanic 0:02dd72d1d465 48 // No lock needed in destructor
borlanic 0:02dd72d1d465 49
borlanic 0:02dd72d1d465 50 // Detaching interrupts releases the sleep lock if it was locked
borlanic 0:02dd72d1d465 51 for (int irq = 0; irq < IrqCnt; irq++) {
borlanic 0:02dd72d1d465 52 attach(NULL, (IrqType)irq);
borlanic 0:02dd72d1d465 53 }
borlanic 0:02dd72d1d465 54 can_irq_free(&_can);
borlanic 0:02dd72d1d465 55 can_free(&_can);
borlanic 0:02dd72d1d465 56 }
borlanic 0:02dd72d1d465 57
borlanic 0:02dd72d1d465 58 int CAN::frequency(int f) {
borlanic 0:02dd72d1d465 59 lock();
borlanic 0:02dd72d1d465 60 int ret = can_frequency(&_can, f);
borlanic 0:02dd72d1d465 61 unlock();
borlanic 0:02dd72d1d465 62 return ret;
borlanic 0:02dd72d1d465 63 }
borlanic 0:02dd72d1d465 64
borlanic 0:02dd72d1d465 65 int CAN::write(CANMessage msg) {
borlanic 0:02dd72d1d465 66 lock();
borlanic 0:02dd72d1d465 67 int ret = can_write(&_can, msg, 0);
borlanic 0:02dd72d1d465 68 unlock();
borlanic 0:02dd72d1d465 69 return ret;
borlanic 0:02dd72d1d465 70 }
borlanic 0:02dd72d1d465 71
borlanic 0:02dd72d1d465 72 int CAN::read(CANMessage &msg, int handle) {
borlanic 0:02dd72d1d465 73 lock();
borlanic 0:02dd72d1d465 74 int ret = can_read(&_can, &msg, handle);
borlanic 0:02dd72d1d465 75 unlock();
borlanic 0:02dd72d1d465 76 return ret;
borlanic 0:02dd72d1d465 77 }
borlanic 0:02dd72d1d465 78
borlanic 0:02dd72d1d465 79 void CAN::reset() {
borlanic 0:02dd72d1d465 80 lock();
borlanic 0:02dd72d1d465 81 can_reset(&_can);
borlanic 0:02dd72d1d465 82 unlock();
borlanic 0:02dd72d1d465 83 }
borlanic 0:02dd72d1d465 84
borlanic 0:02dd72d1d465 85 unsigned char CAN::rderror() {
borlanic 0:02dd72d1d465 86 lock();
borlanic 0:02dd72d1d465 87 int ret = can_rderror(&_can);
borlanic 0:02dd72d1d465 88 unlock();
borlanic 0:02dd72d1d465 89 return ret;
borlanic 0:02dd72d1d465 90 }
borlanic 0:02dd72d1d465 91
borlanic 0:02dd72d1d465 92 unsigned char CAN::tderror() {
borlanic 0:02dd72d1d465 93 lock();
borlanic 0:02dd72d1d465 94 int ret = can_tderror(&_can);
borlanic 0:02dd72d1d465 95 unlock();
borlanic 0:02dd72d1d465 96 return ret;
borlanic 0:02dd72d1d465 97 }
borlanic 0:02dd72d1d465 98
borlanic 0:02dd72d1d465 99 void CAN::monitor(bool silent) {
borlanic 0:02dd72d1d465 100 lock();
borlanic 0:02dd72d1d465 101 can_monitor(&_can, (silent) ? 1 : 0);
borlanic 0:02dd72d1d465 102 unlock();
borlanic 0:02dd72d1d465 103 }
borlanic 0:02dd72d1d465 104
borlanic 0:02dd72d1d465 105 int CAN::mode(Mode mode) {
borlanic 0:02dd72d1d465 106 lock();
borlanic 0:02dd72d1d465 107 int ret = can_mode(&_can, (CanMode)mode);
borlanic 0:02dd72d1d465 108 unlock();
borlanic 0:02dd72d1d465 109 return ret;
borlanic 0:02dd72d1d465 110 }
borlanic 0:02dd72d1d465 111
borlanic 0:02dd72d1d465 112 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
borlanic 0:02dd72d1d465 113 lock();
borlanic 0:02dd72d1d465 114 int ret = can_filter(&_can, id, mask, format, handle);
borlanic 0:02dd72d1d465 115 unlock();
borlanic 0:02dd72d1d465 116 return ret;
borlanic 0:02dd72d1d465 117 }
borlanic 0:02dd72d1d465 118
borlanic 0:02dd72d1d465 119 void CAN::attach(Callback<void()> func, IrqType type) {
borlanic 0:02dd72d1d465 120 lock();
borlanic 0:02dd72d1d465 121 if (func) {
borlanic 0:02dd72d1d465 122 // lock deep sleep only the first time
borlanic 0:02dd72d1d465 123 if (!_irq[(CanIrqType)type]) {
borlanic 0:02dd72d1d465 124 sleep_manager_lock_deep_sleep();
borlanic 0:02dd72d1d465 125 }
borlanic 0:02dd72d1d465 126 _irq[(CanIrqType)type] = func;
borlanic 0:02dd72d1d465 127 can_irq_set(&_can, (CanIrqType)type, 1);
borlanic 0:02dd72d1d465 128 } else {
borlanic 0:02dd72d1d465 129 // unlock deep sleep only the first time
borlanic 0:02dd72d1d465 130 if (_irq[(CanIrqType)type]) {
borlanic 0:02dd72d1d465 131 sleep_manager_unlock_deep_sleep();
borlanic 0:02dd72d1d465 132 }
borlanic 0:02dd72d1d465 133 _irq[(CanIrqType)type] = NULL;
borlanic 0:02dd72d1d465 134 can_irq_set(&_can, (CanIrqType)type, 0);
borlanic 0:02dd72d1d465 135 }
borlanic 0:02dd72d1d465 136 unlock();
borlanic 0:02dd72d1d465 137 }
borlanic 0:02dd72d1d465 138
borlanic 0:02dd72d1d465 139 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
borlanic 0:02dd72d1d465 140 CAN *handler = (CAN*)id;
borlanic 0:02dd72d1d465 141 if (handler->_irq[type]) {
borlanic 0:02dd72d1d465 142 handler->_irq[type].call();
borlanic 0:02dd72d1d465 143 }
borlanic 0:02dd72d1d465 144 }
borlanic 0:02dd72d1d465 145
borlanic 0:02dd72d1d465 146 void CAN::lock() {
borlanic 0:02dd72d1d465 147 _mutex.lock();
borlanic 0:02dd72d1d465 148 }
borlanic 0:02dd72d1d465 149
borlanic 0:02dd72d1d465 150 void CAN::unlock() {
borlanic 0:02dd72d1d465 151 _mutex.unlock();
borlanic 0:02dd72d1d465 152 }
borlanic 0:02dd72d1d465 153
borlanic 0:02dd72d1d465 154 } // namespace mbed
borlanic 0:02dd72d1d465 155
borlanic 0:02dd72d1d465 156 #endif