EL4121 Embedded System / mbed-os

mbed-os

Dependents:   cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more

drivers/CAN.cpp@0:b74591d5ab33, 2017-12-11 (annotated)

Committer:
be_bryan
Date:
Mon Dec 11 17:54:04 2017 +0000
Revision:
0:b74591d5ab33
motor ++

Who changed what in which revision?

UserRevisionLine numberNew contents of line
be_bryan 0:b74591d5ab33 1 /* mbed Microcontroller Library
be_bryan 0:b74591d5ab33 2 * Copyright (c) 2006-2013 ARM Limited
be_bryan 0:b74591d5ab33 3 *
be_bryan 0:b74591d5ab33 4 * Licensed under the Apache License, Version 2.0 (the "License");
be_bryan 0:b74591d5ab33 5 * you may not use this file except in compliance with the License.
be_bryan 0:b74591d5ab33 6 * You may obtain a copy of the License at
be_bryan 0:b74591d5ab33 7 *
be_bryan 0:b74591d5ab33 8 * http://www.apache.org/licenses/LICENSE-2.0
be_bryan 0:b74591d5ab33 9 *
be_bryan 0:b74591d5ab33 10 * Unless required by applicable law or agreed to in writing, software
be_bryan 0:b74591d5ab33 11 * distributed under the License is distributed on an "AS IS" BASIS,
be_bryan 0:b74591d5ab33 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
be_bryan 0:b74591d5ab33 13 * See the License for the specific language governing permissions and
be_bryan 0:b74591d5ab33 14 * limitations under the License.
be_bryan 0:b74591d5ab33 15 */
be_bryan 0:b74591d5ab33 16 #include "drivers/CAN.h"
be_bryan 0:b74591d5ab33 17
be_bryan 0:b74591d5ab33 18 #if DEVICE_CAN
be_bryan 0:b74591d5ab33 19
be_bryan 0:b74591d5ab33 20 #include "cmsis.h"
be_bryan 0:b74591d5ab33 21 #include "platform/mbed_sleep.h"
be_bryan 0:b74591d5ab33 22
be_bryan 0:b74591d5ab33 23 namespace mbed {
be_bryan 0:b74591d5ab33 24
be_bryan 0:b74591d5ab33 25 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
be_bryan 0:b74591d5ab33 26 // No lock needed in constructor
be_bryan 0:b74591d5ab33 27
be_bryan 0:b74591d5ab33 28 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
be_bryan 0:b74591d5ab33 29 _irq[i] = NULL;
be_bryan 0:b74591d5ab33 30 }
be_bryan 0:b74591d5ab33 31
be_bryan 0:b74591d5ab33 32 can_init(&_can, rd, td);
be_bryan 0:b74591d5ab33 33 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
be_bryan 0:b74591d5ab33 34 }
be_bryan 0:b74591d5ab33 35
be_bryan 0:b74591d5ab33 36 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
be_bryan 0:b74591d5ab33 37 // No lock needed in constructor
be_bryan 0:b74591d5ab33 38
be_bryan 0:b74591d5ab33 39 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
be_bryan 0:b74591d5ab33 40 _irq[i] = NULL;
be_bryan 0:b74591d5ab33 41 }
be_bryan 0:b74591d5ab33 42
be_bryan 0:b74591d5ab33 43 can_init_freq(&_can, rd, td, hz);
be_bryan 0:b74591d5ab33 44 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
be_bryan 0:b74591d5ab33 45 }
be_bryan 0:b74591d5ab33 46
be_bryan 0:b74591d5ab33 47 CAN::~CAN() {
be_bryan 0:b74591d5ab33 48 // No lock needed in destructor
be_bryan 0:b74591d5ab33 49
be_bryan 0:b74591d5ab33 50 // Detaching interrupts releases the sleep lock if it was locked
be_bryan 0:b74591d5ab33 51 for (int irq = 0; irq < IrqCnt; irq++) {
be_bryan 0:b74591d5ab33 52 attach(NULL, (IrqType)irq);
be_bryan 0:b74591d5ab33 53 }
be_bryan 0:b74591d5ab33 54 can_irq_free(&_can);
be_bryan 0:b74591d5ab33 55 can_free(&_can);
be_bryan 0:b74591d5ab33 56 }
be_bryan 0:b74591d5ab33 57
be_bryan 0:b74591d5ab33 58 int CAN::frequency(int f) {
be_bryan 0:b74591d5ab33 59 lock();
be_bryan 0:b74591d5ab33 60 int ret = can_frequency(&_can, f);
be_bryan 0:b74591d5ab33 61 unlock();
be_bryan 0:b74591d5ab33 62 return ret;
be_bryan 0:b74591d5ab33 63 }
be_bryan 0:b74591d5ab33 64
be_bryan 0:b74591d5ab33 65 int CAN::write(CANMessage msg) {
be_bryan 0:b74591d5ab33 66 lock();
be_bryan 0:b74591d5ab33 67 int ret = can_write(&_can, msg, 0);
be_bryan 0:b74591d5ab33 68 unlock();
be_bryan 0:b74591d5ab33 69 return ret;
be_bryan 0:b74591d5ab33 70 }
be_bryan 0:b74591d5ab33 71
be_bryan 0:b74591d5ab33 72 int CAN::read(CANMessage &msg, int handle) {
be_bryan 0:b74591d5ab33 73 lock();
be_bryan 0:b74591d5ab33 74 int ret = can_read(&_can, &msg, handle);
be_bryan 0:b74591d5ab33 75 unlock();
be_bryan 0:b74591d5ab33 76 return ret;
be_bryan 0:b74591d5ab33 77 }
be_bryan 0:b74591d5ab33 78
be_bryan 0:b74591d5ab33 79 void CAN::reset() {
be_bryan 0:b74591d5ab33 80 lock();
be_bryan 0:b74591d5ab33 81 can_reset(&_can);
be_bryan 0:b74591d5ab33 82 unlock();
be_bryan 0:b74591d5ab33 83 }
be_bryan 0:b74591d5ab33 84
be_bryan 0:b74591d5ab33 85 unsigned char CAN::rderror() {
be_bryan 0:b74591d5ab33 86 lock();
be_bryan 0:b74591d5ab33 87 int ret = can_rderror(&_can);
be_bryan 0:b74591d5ab33 88 unlock();
be_bryan 0:b74591d5ab33 89 return ret;
be_bryan 0:b74591d5ab33 90 }
be_bryan 0:b74591d5ab33 91
be_bryan 0:b74591d5ab33 92 unsigned char CAN::tderror() {
be_bryan 0:b74591d5ab33 93 lock();
be_bryan 0:b74591d5ab33 94 int ret = can_tderror(&_can);
be_bryan 0:b74591d5ab33 95 unlock();
be_bryan 0:b74591d5ab33 96 return ret;
be_bryan 0:b74591d5ab33 97 }
be_bryan 0:b74591d5ab33 98
be_bryan 0:b74591d5ab33 99 void CAN::monitor(bool silent) {
be_bryan 0:b74591d5ab33 100 lock();
be_bryan 0:b74591d5ab33 101 can_monitor(&_can, (silent) ? 1 : 0);
be_bryan 0:b74591d5ab33 102 unlock();
be_bryan 0:b74591d5ab33 103 }
be_bryan 0:b74591d5ab33 104
be_bryan 0:b74591d5ab33 105 int CAN::mode(Mode mode) {
be_bryan 0:b74591d5ab33 106 lock();
be_bryan 0:b74591d5ab33 107 int ret = can_mode(&_can, (CanMode)mode);
be_bryan 0:b74591d5ab33 108 unlock();
be_bryan 0:b74591d5ab33 109 return ret;
be_bryan 0:b74591d5ab33 110 }
be_bryan 0:b74591d5ab33 111
be_bryan 0:b74591d5ab33 112 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
be_bryan 0:b74591d5ab33 113 lock();
be_bryan 0:b74591d5ab33 114 int ret = can_filter(&_can, id, mask, format, handle);
be_bryan 0:b74591d5ab33 115 unlock();
be_bryan 0:b74591d5ab33 116 return ret;
be_bryan 0:b74591d5ab33 117 }
be_bryan 0:b74591d5ab33 118
be_bryan 0:b74591d5ab33 119 void CAN::attach(Callback<void()> func, IrqType type) {
be_bryan 0:b74591d5ab33 120 lock();
be_bryan 0:b74591d5ab33 121 if (func) {
be_bryan 0:b74591d5ab33 122 // lock deep sleep only the first time
be_bryan 0:b74591d5ab33 123 if (!_irq[(CanIrqType)type]) {
be_bryan 0:b74591d5ab33 124 sleep_manager_lock_deep_sleep();
be_bryan 0:b74591d5ab33 125 }
be_bryan 0:b74591d5ab33 126 _irq[(CanIrqType)type] = func;
be_bryan 0:b74591d5ab33 127 can_irq_set(&_can, (CanIrqType)type, 1);
be_bryan 0:b74591d5ab33 128 } else {
be_bryan 0:b74591d5ab33 129 // unlock deep sleep only the first time
be_bryan 0:b74591d5ab33 130 if (_irq[(CanIrqType)type]) {
be_bryan 0:b74591d5ab33 131 sleep_manager_unlock_deep_sleep();
be_bryan 0:b74591d5ab33 132 }
be_bryan 0:b74591d5ab33 133 _irq[(CanIrqType)type] = NULL;
be_bryan 0:b74591d5ab33 134 can_irq_set(&_can, (CanIrqType)type, 0);
be_bryan 0:b74591d5ab33 135 }
be_bryan 0:b74591d5ab33 136 unlock();
be_bryan 0:b74591d5ab33 137 }
be_bryan 0:b74591d5ab33 138
be_bryan 0:b74591d5ab33 139 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
be_bryan 0:b74591d5ab33 140 CAN *handler = (CAN*)id;
be_bryan 0:b74591d5ab33 141 if (handler->_irq[type]) {
be_bryan 0:b74591d5ab33 142 handler->_irq[type].call();
be_bryan 0:b74591d5ab33 143 }
be_bryan 0:b74591d5ab33 144 }
be_bryan 0:b74591d5ab33 145
be_bryan 0:b74591d5ab33 146 void CAN::lock() {
be_bryan 0:b74591d5ab33 147 _mutex.lock();
be_bryan 0:b74591d5ab33 148 }
be_bryan 0:b74591d5ab33 149
be_bryan 0:b74591d5ab33 150 void CAN::unlock() {
be_bryan 0:b74591d5ab33 151 _mutex.unlock();
be_bryan 0:b74591d5ab33 152 }
be_bryan 0:b74591d5ab33 153
be_bryan 0:b74591d5ab33 154 } // namespace mbed
be_bryan 0:b74591d5ab33 155
be_bryan 0:b74591d5ab33 156 #endif