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Fork of OmniWheels by Gustav Atmel

mbed-os/drivers/CAN.cpp@1:9c5af431a1f1, 2018-05-01 (annotated)

Committer:
gustavatmel
Date:
Tue May 01 15:47:08 2018 +0000
Revision:
1:9c5af431a1f1
sdf

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gustavatmel 1:9c5af431a1f1 1 /* mbed Microcontroller Library
gustavatmel 1:9c5af431a1f1 2 * Copyright (c) 2006-2013 ARM Limited
gustavatmel 1:9c5af431a1f1 3 *
gustavatmel 1:9c5af431a1f1 4 * Licensed under the Apache License, Version 2.0 (the "License");
gustavatmel 1:9c5af431a1f1 5 * you may not use this file except in compliance with the License.
gustavatmel 1:9c5af431a1f1 6 * You may obtain a copy of the License at
gustavatmel 1:9c5af431a1f1 7 *
gustavatmel 1:9c5af431a1f1 8 * http://www.apache.org/licenses/LICENSE-2.0
gustavatmel 1:9c5af431a1f1 9 *
gustavatmel 1:9c5af431a1f1 10 * Unless required by applicable law or agreed to in writing, software
gustavatmel 1:9c5af431a1f1 11 * distributed under the License is distributed on an "AS IS" BASIS,
gustavatmel 1:9c5af431a1f1 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
gustavatmel 1:9c5af431a1f1 13 * See the License for the specific language governing permissions and
gustavatmel 1:9c5af431a1f1 14 * limitations under the License.
gustavatmel 1:9c5af431a1f1 15 */
gustavatmel 1:9c5af431a1f1 16 #include "drivers/CAN.h"
gustavatmel 1:9c5af431a1f1 17
gustavatmel 1:9c5af431a1f1 18 #if DEVICE_CAN
gustavatmel 1:9c5af431a1f1 19
gustavatmel 1:9c5af431a1f1 20 #include "cmsis.h"
gustavatmel 1:9c5af431a1f1 21 #include "platform/mbed_power_mgmt.h"
gustavatmel 1:9c5af431a1f1 22
gustavatmel 1:9c5af431a1f1 23 namespace mbed {
gustavatmel 1:9c5af431a1f1 24
gustavatmel 1:9c5af431a1f1 25 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
gustavatmel 1:9c5af431a1f1 26 // No lock needed in constructor
gustavatmel 1:9c5af431a1f1 27
gustavatmel 1:9c5af431a1f1 28 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
gustavatmel 1:9c5af431a1f1 29 _irq[i] = NULL;
gustavatmel 1:9c5af431a1f1 30 }
gustavatmel 1:9c5af431a1f1 31
gustavatmel 1:9c5af431a1f1 32 can_init(&_can, rd, td);
gustavatmel 1:9c5af431a1f1 33 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
gustavatmel 1:9c5af431a1f1 34 }
gustavatmel 1:9c5af431a1f1 35
gustavatmel 1:9c5af431a1f1 36 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
gustavatmel 1:9c5af431a1f1 37 // No lock needed in constructor
gustavatmel 1:9c5af431a1f1 38
gustavatmel 1:9c5af431a1f1 39 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
gustavatmel 1:9c5af431a1f1 40 _irq[i] = NULL;
gustavatmel 1:9c5af431a1f1 41 }
gustavatmel 1:9c5af431a1f1 42
gustavatmel 1:9c5af431a1f1 43 can_init_freq(&_can, rd, td, hz);
gustavatmel 1:9c5af431a1f1 44 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
gustavatmel 1:9c5af431a1f1 45 }
gustavatmel 1:9c5af431a1f1 46
gustavatmel 1:9c5af431a1f1 47 CAN::~CAN() {
gustavatmel 1:9c5af431a1f1 48 // No lock needed in destructor
gustavatmel 1:9c5af431a1f1 49
gustavatmel 1:9c5af431a1f1 50 // Detaching interrupts releases the sleep lock if it was locked
gustavatmel 1:9c5af431a1f1 51 for (int irq = 0; irq < IrqCnt; irq++) {
gustavatmel 1:9c5af431a1f1 52 attach(NULL, (IrqType)irq);
gustavatmel 1:9c5af431a1f1 53 }
gustavatmel 1:9c5af431a1f1 54 can_irq_free(&_can);
gustavatmel 1:9c5af431a1f1 55 can_free(&_can);
gustavatmel 1:9c5af431a1f1 56 }
gustavatmel 1:9c5af431a1f1 57
gustavatmel 1:9c5af431a1f1 58 int CAN::frequency(int f) {
gustavatmel 1:9c5af431a1f1 59 lock();
gustavatmel 1:9c5af431a1f1 60 int ret = can_frequency(&_can, f);
gustavatmel 1:9c5af431a1f1 61 unlock();
gustavatmel 1:9c5af431a1f1 62 return ret;
gustavatmel 1:9c5af431a1f1 63 }
gustavatmel 1:9c5af431a1f1 64
gustavatmel 1:9c5af431a1f1 65 int CAN::write(CANMessage msg) {
gustavatmel 1:9c5af431a1f1 66 lock();
gustavatmel 1:9c5af431a1f1 67 int ret = can_write(&_can, msg, 0);
gustavatmel 1:9c5af431a1f1 68 unlock();
gustavatmel 1:9c5af431a1f1 69 return ret;
gustavatmel 1:9c5af431a1f1 70 }
gustavatmel 1:9c5af431a1f1 71
gustavatmel 1:9c5af431a1f1 72 int CAN::read(CANMessage &msg, int handle) {
gustavatmel 1:9c5af431a1f1 73 lock();
gustavatmel 1:9c5af431a1f1 74 int ret = can_read(&_can, &msg, handle);
gustavatmel 1:9c5af431a1f1 75 unlock();
gustavatmel 1:9c5af431a1f1 76 return ret;
gustavatmel 1:9c5af431a1f1 77 }
gustavatmel 1:9c5af431a1f1 78
gustavatmel 1:9c5af431a1f1 79 void CAN::reset() {
gustavatmel 1:9c5af431a1f1 80 lock();
gustavatmel 1:9c5af431a1f1 81 can_reset(&_can);
gustavatmel 1:9c5af431a1f1 82 unlock();
gustavatmel 1:9c5af431a1f1 83 }
gustavatmel 1:9c5af431a1f1 84
gustavatmel 1:9c5af431a1f1 85 unsigned char CAN::rderror() {
gustavatmel 1:9c5af431a1f1 86 lock();
gustavatmel 1:9c5af431a1f1 87 int ret = can_rderror(&_can);
gustavatmel 1:9c5af431a1f1 88 unlock();
gustavatmel 1:9c5af431a1f1 89 return ret;
gustavatmel 1:9c5af431a1f1 90 }
gustavatmel 1:9c5af431a1f1 91
gustavatmel 1:9c5af431a1f1 92 unsigned char CAN::tderror() {
gustavatmel 1:9c5af431a1f1 93 lock();
gustavatmel 1:9c5af431a1f1 94 int ret = can_tderror(&_can);
gustavatmel 1:9c5af431a1f1 95 unlock();
gustavatmel 1:9c5af431a1f1 96 return ret;
gustavatmel 1:9c5af431a1f1 97 }
gustavatmel 1:9c5af431a1f1 98
gustavatmel 1:9c5af431a1f1 99 void CAN::monitor(bool silent) {
gustavatmel 1:9c5af431a1f1 100 lock();
gustavatmel 1:9c5af431a1f1 101 can_monitor(&_can, (silent) ? 1 : 0);
gustavatmel 1:9c5af431a1f1 102 unlock();
gustavatmel 1:9c5af431a1f1 103 }
gustavatmel 1:9c5af431a1f1 104
gustavatmel 1:9c5af431a1f1 105 int CAN::mode(Mode mode) {
gustavatmel 1:9c5af431a1f1 106 lock();
gustavatmel 1:9c5af431a1f1 107 int ret = can_mode(&_can, (CanMode)mode);
gustavatmel 1:9c5af431a1f1 108 unlock();
gustavatmel 1:9c5af431a1f1 109 return ret;
gustavatmel 1:9c5af431a1f1 110 }
gustavatmel 1:9c5af431a1f1 111
gustavatmel 1:9c5af431a1f1 112 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
gustavatmel 1:9c5af431a1f1 113 lock();
gustavatmel 1:9c5af431a1f1 114 int ret = can_filter(&_can, id, mask, format, handle);
gustavatmel 1:9c5af431a1f1 115 unlock();
gustavatmel 1:9c5af431a1f1 116 return ret;
gustavatmel 1:9c5af431a1f1 117 }
gustavatmel 1:9c5af431a1f1 118
gustavatmel 1:9c5af431a1f1 119 void CAN::attach(Callback<void()> func, IrqType type) {
gustavatmel 1:9c5af431a1f1 120 lock();
gustavatmel 1:9c5af431a1f1 121 if (func) {
gustavatmel 1:9c5af431a1f1 122 // lock deep sleep only the first time
gustavatmel 1:9c5af431a1f1 123 if (!_irq[(CanIrqType)type]) {
gustavatmel 1:9c5af431a1f1 124 sleep_manager_lock_deep_sleep();
gustavatmel 1:9c5af431a1f1 125 }
gustavatmel 1:9c5af431a1f1 126 _irq[(CanIrqType)type] = func;
gustavatmel 1:9c5af431a1f1 127 can_irq_set(&_can, (CanIrqType)type, 1);
gustavatmel 1:9c5af431a1f1 128 } else {
gustavatmel 1:9c5af431a1f1 129 // unlock deep sleep only the first time
gustavatmel 1:9c5af431a1f1 130 if (_irq[(CanIrqType)type]) {
gustavatmel 1:9c5af431a1f1 131 sleep_manager_unlock_deep_sleep();
gustavatmel 1:9c5af431a1f1 132 }
gustavatmel 1:9c5af431a1f1 133 _irq[(CanIrqType)type] = NULL;
gustavatmel 1:9c5af431a1f1 134 can_irq_set(&_can, (CanIrqType)type, 0);
gustavatmel 1:9c5af431a1f1 135 }
gustavatmel 1:9c5af431a1f1 136 unlock();
gustavatmel 1:9c5af431a1f1 137 }
gustavatmel 1:9c5af431a1f1 138
gustavatmel 1:9c5af431a1f1 139 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
gustavatmel 1:9c5af431a1f1 140 CAN *handler = (CAN*)id;
gustavatmel 1:9c5af431a1f1 141 if (handler->_irq[type]) {
gustavatmel 1:9c5af431a1f1 142 handler->_irq[type].call();
gustavatmel 1:9c5af431a1f1 143 }
gustavatmel 1:9c5af431a1f1 144 }
gustavatmel 1:9c5af431a1f1 145
gustavatmel 1:9c5af431a1f1 146 void CAN::lock() {
gustavatmel 1:9c5af431a1f1 147 _mutex.lock();
gustavatmel 1:9c5af431a1f1 148 }
gustavatmel 1:9c5af431a1f1 149
gustavatmel 1:9c5af431a1f1 150 void CAN::unlock() {
gustavatmel 1:9c5af431a1f1 151 _mutex.unlock();
gustavatmel 1:9c5af431a1f1 152 }
gustavatmel 1:9c5af431a1f1 153
gustavatmel 1:9c5af431a1f1 154 } // namespace mbed
gustavatmel 1:9c5af431a1f1 155
gustavatmel 1:9c5af431a1f1 156 #endif