test
Fork of CANnucleo by
CAN.cpp
- Committer:
- hudakz
- Date:
- 2015-10-23
- Revision:
- 6:c5a40d5fd9f1
- Parent:
- 5:b53e5ee15315
- Child:
- 8:5c90d6b9a382
File content as of revision 6:c5a40d5fd9f1:
/* mbed Microcontroller Library * Copyright (c) 2006-2013 ARM Limited * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * * Modified by Zoltan Hudak <hudakz@inbox.com> * */ #include "CAN.h" //#if DEVICE_CAN #include "cmsis.h" namespace mbed { /** * @brief Constructor * @note Constructs an instance of CAN class * @param rxPin: CAN Rx pin name * @param txPin: CAN Tx pin name * @param abom: Automatic recovery from bus-off state (defaults to enabled) * @retval */ CAN::CAN(PinName rxPin, PinName txPin, FunctionalState abom /* = ENABLE */) : _can(), _irq() { can_init(&_can, rxPin, txPin, abom); can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this); } /** * @brief * @note * @param * @retval */ CAN::~CAN(void) { can_irq_free(&_can); can_free(&_can); } /** * @brief * @note * @param * @retval */ int CAN::frequency(int f) { return can_frequency(&_can, f); } /** * @brief * @note * @param * @retval */ int CAN::write(CANMessage msg) { return can_write(&_can, msg, 0); } /** * @brief * @note * @param * @retval */ int CAN::read(CANMessage& msg, int handle) { return can_read(&_can, &msg, handle); } /** * @brief * @note * @param * @retval */ void CAN::reset(void) { can_reset(&_can); } /** * @brief * @note * @param * @retval */ unsigned char CAN::rderror(void) { return can_rderror(&_can); } /** * @brief * @note * @param * @retval */ unsigned char CAN::tderror(void) { return can_tderror(&_can); } /** * @brief * @note * @param * @retval */ void CAN::monitor(bool silent) { can_monitor(&_can, (silent) ? 1 : 0); } /** * @brief * @note * @param * @retval */ int CAN::mode(Mode mode) { return can_mode(&_can, (CanMode) mode); } /** * @brief * @note * @param * @retval */ int CAN::filter(unsigned int id, unsigned int mask, CANFormat format /* CANAny */, int handle /* 0 */) { return can_filter(&_can, id, mask, format, handle); } /** * @brief Attaches handler funcion to CAN1 RX0 Interrupt * @note Only CAN1 RX0 Interrupt supported * @param fptr: pointer to a void (*)(void) function * @param type: not used (only CAN1 RX0 Interrupt supported) * @retval */ void CAN::attach(void (*fptr) (void), IrqType type) { HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn); if(fptr) { can_irq_set(fptr); } can_irq_init(&_can, &CAN::_irq_handler, (uint32_t) this); HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn); } /** * @brief * @note * @param * @retval */ void CAN::_irq_handler(uint32_t id, CanIrqType type) { CAN* handler = (CAN*)id; handler->_irq[type].call(); } } // namespace mbed