Revision 21:bcd8161f8f6c, committed 2016-05-19

Comitter:

hudakz

Date:

Thu May 19 17:16:59 2016 +0000

Parent:

19:249e3f065956

Commit message:

Added support for attaching member functions as interrupt handlers.

Changed in this revision

--- a/CAN.cpp	Sat Mar 19 21:16:10 2016 +0000
+++ b/CAN.cpp	Thu May 19 17:16:59 2016 +0000
@@ -31,10 +31,9 @@
  * @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);
+    can_init(rxPin, txPin, abom);
+    can_irq_init((uint32_t)this, (&CAN::_irq_handler));
 }
 
 /**
@@ -44,8 +43,8 @@
  * @retval
  */
 CAN::~CAN(void) {
-    can_irq_free(&_can);
-    can_free(&_can);
+    can_irq_free();
+    can_free();
 }
 
 /**
@@ -55,7 +54,7 @@
  * @retval
  */
 int CAN::frequency(int f) {
-    return can_frequency(&_can, f);
+    return can_frequency(f);
 }
 
 /**
@@ -65,7 +64,7 @@
  * @retval
  */
 int CAN::write(CANMessage msg) {
-    return can_write(&_can, msg, 0);
+    return can_write(msg, 0);
 }
 
 /**
@@ -75,7 +74,7 @@
  * @retval
  */
 int CAN::read(CANMessage& msg, int handle) {
-    return can_read(&_can, &msg, handle);
+    return can_read(&msg, handle);
 }
 
 /**
@@ -85,7 +84,7 @@
  * @retval
  */
 void CAN::reset(void) {
-    can_reset(&_can);
+    can_reset();
 }
 
 /**
@@ -95,7 +94,7 @@
  * @retval
  */
 unsigned char CAN::rderror(void) {
-    return can_rderror(&_can);
+    return can_rderror();
 }
 
 /**
@@ -105,7 +104,7 @@
  * @retval
  */
 unsigned char CAN::tderror(void) {
-    return can_tderror(&_can);
+    return can_tderror();
 }
 
 /**
@@ -115,7 +114,7 @@
  * @retval
  */
 void CAN::monitor(bool silent) {
-    can_monitor(&_can, (silent) ? 1 : 0);
+    can_monitor((silent) ? 1 : 0);
 }
 
 /**
@@ -125,7 +124,7 @@
  * @retval
  */
 int CAN::mode(Mode mode) {
-    return can_mode(&_can, (CanMode) mode);
+    return can_mode((CanMode) mode);
 }
 
 /**
@@ -182,14 +181,14 @@
  *                   |     |                     |
  *            STID[10:3]  STID[2:0]             IDE   
  *
- * Keep in mind that filter #0 was already set up in the constructor to receive all CAN messages by default.
+ * Recall that filter #0 has been set up in the constructor to receive all CAN messages by default.
  * So we have to reconfigure it. If we were set up filter #1 here then filter #0 would receive all the messages
  * and no message would reach filter #1!
  *
- * To set up filter #0 we call:
+ * To reconfigure (set up) filter #0 we call:
  *     can.filter(0x0207 << 21, 0xFFE00004, CANAny, 0);
  *
- *             Only these bits (set to 1) of filter id are compared with the corresponding
+ *             Only these bits of 'Filter id' (set to 1 here in 'Filter mask') are compared with the corresponding
  *             bits of received message (the others are disregarded)
  *                                |
  *                 ---------------------------------
@@ -209,20 +208,20 @@
  *                             ||||| |||||||| ||||| ||
  *                             -----------------------
  *                                         |
- *                          These bits (set to 0 in filter mask) are disregarded (masked).
+ *                          These bits (set to 0 in 'Filter mask') are disregarded (masked).
  *                          They can have arbitrary values.
  *
  * NOTE: For the meaning of individual bits see the mapping of 32-bits explained above.
  *
  * @param   format: This parameter must be CANAny
  * @param   handle: Selects the filter. This parameter must be a number between 0 and 13.
- * @param   retval: 0 - successful
- *                  1 - error
- *                  2 - busy
- *                  3 - time out  
+ * @retval  0 - successful
+ *          1 - error
+ *          2 - busy
+ *          3 - time out  
  */
 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format /* = CANAny */, int handle /* = 0 */) {
-    return can_filter(&_can, id, mask, format, handle);
+    return can_filter(id, mask, format, handle);
 }
 
 /**
@@ -234,10 +233,8 @@
  */
 void CAN::attach(void (*fptr) (void), IrqType type) {
     HAL_NVIC_DisableIRQ(CAN_IRQ);
-    if(fptr) {
-        can_irq_set(fptr);
-    }
-    can_irq_init(&_can, &CAN::_irq_handler, (uint32_t) this);
+    if(fptr)
+        _irq[(CanIrqType)type].attach(fptr);
     HAL_NVIC_EnableIRQ(CAN_IRQ);
 }
 
@@ -259,3 +256,5 @@
 
 
 
+
+

--- a/CAN.h	Sat Mar 19 21:16:10 2016 +0000
+++ b/CAN.h	Thu May 19 17:16:59 2016 +0000
@@ -250,7 +250,7 @@
      *  @param format format to filter on (Default CANAny)
      *  @param handle message filter handle (Optional)
      *
-     *  @returns 0 - successful
+     *  @retval  0 - successful
      *           1 - error
      *           2 - busy
      *           3 - time out 
@@ -294,19 +294,15 @@
      */
     template<typename T>
     void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
-        if((mptr != NULL) && (tptr != NULL)) {
+        HAL_NVIC_DisableIRQ(CAN_IRQ);
+        if((tptr != NULL) && (mptr != NULL))
             _irq[type].attach(tptr, mptr);
-//            can_irq_set(&_can, (CanIrqType)type, 1);
-        }
-//        else {
-//            can_irq_set(&_can, (CanIrqType)type, 0);
-//        }
+        HAL_NVIC_EnableIRQ(CAN_IRQ);
     }
 
     static void _irq_handler(uint32_t id, CanIrqType type);
 
 protected:
-    can_t           _can;
     FunctionPointer _irq[9];
 };
 

--- a/can_api.c	Sat Mar 19 21:16:10 2016 +0000
+++ b/can_api.c	Thu May 19 17:16:59 2016 +0000
@@ -29,8 +29,11 @@
 #include "can_helper.h"
 #include "pinmap.h"
 
-extern void (*rxCompleteCallback) (void);
-extern CAN_HandleTypeDef    _canHandle;
+extern void (*rxCompleteCallback)(void);
+extern CAN_HandleTypeDef _canHandle;
+
+static uint32_t          irq_id = 0;
+static can_irq_handler   irq_handler = 0;
 
 /**
  * @brief
@@ -38,9 +41,9 @@
  * @param
  * @retval
  */
-void can_init(can_t* obj, PinName rd, PinName td, FunctionalState abom) {
-    initCAN(obj, rd, td, abom);
-    can_filter(obj, 0, 0, CANAny, 0);
+void can_init(PinName rd, PinName td, FunctionalState abom) {
+    initCAN(rd, td, abom);
+    can_filter(0, 0, CANAny, 0);
 }
 
 /**
@@ -49,7 +52,7 @@
  * @param
  * @retval
  */
-void can_free(can_t* obj) {
+void can_free(void) {
     HAL_CAN_MspDeInit(&_canHandle);
 }
 
@@ -59,7 +62,7 @@
  * @param
  * @retval
  */
-int can_frequency(can_t* obj, int hz) {
+int can_frequency(int hz) {
     HAL_NVIC_DisableIRQ(CAN_IRQ);
     
 #if defined(TARGET_NUCLEO_F072RB) || \
@@ -224,7 +227,21 @@
  * @param
  * @retval
  */
-void can_irq_init(can_t* obj, can_irq_handler handler, uint32_t id) {
+void can_callback(void) {
+    irq_handler(irq_id, IRQ_RX);
+}
+
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+void can_irq_init(uint32_t id, can_irq_handler handler) {
+    irq_id = id;
+    irq_handler = handler;
+    rxCompleteCallback = can_callback;
+
     if(HAL_CAN_Receive_IT(&_canHandle, CAN_FIFO0) != HAL_OK) {
 #ifdef DEBUG
         printf("CAN reception initialization error\r\n");
@@ -238,9 +255,9 @@
  * @param
  * @retval
  */
-void can_irq_free(can_t* obj) {
+void can_irq_free(void) {
     rxCompleteCallback = 0;
-}
+}   
 
 /**
  * @brief
@@ -248,17 +265,7 @@
  * @param
  * @retval
  */
-void can_irq_set(void (*fptr) (void)) {
-    rxCompleteCallback = fptr;
-}
-
-/**
- * @brief
- * @note
- * @param
- * @retval
- */
-int can_write(can_t* obj, CAN_Message msg, int cc) {
+int can_write(CAN_Message msg, int cc) {
     int i = 0;
 
     if(msg.format == CANStandard) {
@@ -293,7 +300,7 @@
  * @param
  * @retval
  */
-int can_read(can_t* obj, CAN_Message* msg, int handle) {
+int can_read(CAN_Message* msg, int handle) {
     int i;
     msg->id = _canHandle.pRxMsg->IDE == CAN_ID_STD ? _canHandle.pRxMsg->StdId : _canHandle.pRxMsg->ExtId;
     msg->type = _canHandle.pRxMsg->RTR == CAN_RTR_DATA ? CANData : CANRemote;
@@ -311,7 +318,7 @@
  * @param
  * @retval
  */
-int can_mode(can_t* obj, CanMode mode) {
+int can_mode(CanMode mode) {
     switch(mode) {
     case MODE_RESET:
         return HAL_ERROR;
@@ -346,7 +353,7 @@
  * @param
  * @retval
  */
-int can_filter(can_t* obj, uint32_t id, uint32_t mask, CANFormat format /*=CANAny*/, int32_t handle /*=0*/ ) {
+int can_filter(uint32_t id, uint32_t mask, CANFormat format /*=CANAny*/, int32_t handle /*=0*/ ) {
     CAN_FilterConfTypeDef   sFilterConfig;
 
     sFilterConfig.FilterNumber = handle;    // Specifies the filter number (must be a number between 0 and 13 at 32-bit filter scale)
@@ -368,7 +375,7 @@
  * @param
  * @retval
  */
-void can_reset(can_t* obj) {
+void can_reset(void) {
     __HAL_CAN_RESET_HANDLE_STATE(&_canHandle);
 }
 
@@ -378,7 +385,7 @@
  * @param
  * @retval
  */
-unsigned char can_rderror(can_t* obj) {
+unsigned char can_rderror(void) {
     return HAL_CAN_GetError(&_canHandle);
 }
 
@@ -388,7 +395,7 @@
  * @param
  * @retval
  */
-unsigned char can_tderror(can_t* obj) {
+unsigned char can_tderror(void) {
     return HAL_CAN_GetError(&_canHandle);
 }
 
@@ -398,7 +405,7 @@
  * @param
  * @retval
  */
-void can_monitor(can_t* obj, int silent) {
+void can_monitor(int silent) {
 
     // not implemented
 }
@@ -407,3 +414,4 @@
 
 
 
+

--- a/can_api.h	Sat Mar 19 21:16:10 2016 +0000
+++ b/can_api.h	Thu May 19 17:16:59 2016 +0000
@@ -71,31 +71,20 @@
 
 typedef void (*can_irq_handler)(uint32_t id, CanIrqType type);
 
-struct can_s {
-    CAN_TypeDef *dev;
-    int index;
-};
-
-typedef struct can_s can_t;
-
-void          can_init     (can_t *obj, PinName rd, PinName td, FunctionalState abom);
-void          can_free     (can_t *obj);
-int           can_frequency(can_t *obj, int hz);
-
-void          can_irq_init (can_t *obj, can_irq_handler handler, uint32_t id);
-void          can_irq_free (can_t *obj);
-//void          can_irq_set  (can_t *obj, CanIrqType irq, uint32_t enable);
-void          can_irq_set(void (*fptr)(void));
-
-
-int           can_write    (can_t *obj, CAN_Message, int cc);
-int           can_read     (can_t *obj, CAN_Message *msg, int handle);
-int           can_mode     (can_t *obj, CanMode mode);
-int           can_filter   (can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle);
-void          can_reset    (can_t *obj);
-unsigned char can_rderror  (can_t *obj);
-unsigned char can_tderror  (can_t *obj);
-void          can_monitor  (can_t *obj, int silent);
+void          can_init     (PinName rd, PinName td, FunctionalState abom);
+void          can_free     (void);
+int           can_frequency(int hz);
+void          can_irq_init (uint32_t id, can_irq_handler handler);
+void          can_irq_free (void);
+int           can_write    (CAN_Message, int cc);
+int           can_read     (CAN_Message *msg, int handle);
+int           can_mode     (CanMode mode);
+int           can_filter   (uint32_t id, uint32_t mask, CANFormat format, int32_t handle);
+void          can_reset    (void);
+unsigned char can_rderror  (void);
+unsigned char can_tderror  (void);
+void          can_monitor  (int silent);
+void          can_callback (void);
 
 #ifdef __cplusplus
 };

--- a/stm32f0xx_hal_msp.c	Sat Mar 19 21:16:10 2016 +0000
+++ b/stm32f0xx_hal_msp.c	Thu May 19 17:16:59 2016 +0000
@@ -50,7 +50,7 @@
 PinName             _rxPin;
 PinName             _txPin;
 
-void (*rxCompleteCallback) (void);
+void (*rxCompleteCallback)(void);
 
 /**
   * @brief  CAN initialization.
@@ -60,7 +60,7 @@
   * @param  abom: Automatic recovery from bus-off state
   * @retval None
   */
-void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom) {
+void initCAN(PinName rxPin, PinName txPin, FunctionalState abom) {
     _rxPin = rxPin;
     _txPin = txPin;
 
@@ -250,3 +250,4 @@
     __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_FMP0);
 }
 #endif
+

--- a/stm32f0xx_hal_msp.h	Sat Mar 19 21:16:10 2016 +0000
+++ b/stm32f0xx_hal_msp.h	Thu May 19 17:16:59 2016 +0000
@@ -40,8 +40,6 @@
 
 #include "pinmap.h"
 
-typedef struct can_s    can_t;
-
 #ifdef __cplusplus
 extern "C"
 {
@@ -55,7 +53,7 @@
   * @param  abom: Automatic recovery from bus-off state
   * @retval None
   */
-void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom);
+void initCAN( PinName rxPin, PinName txPin, FunctionalState abom);
 
 /**
   * @brief  CAN MSP Initialization
@@ -94,4 +92,4 @@
 
 #endif
 
-#endif
\ No newline at end of file
+#endif

--- a/stm32f1xx_hal_msp.c	Sat Mar 19 21:16:10 2016 +0000
+++ b/stm32f1xx_hal_msp.c	Thu May 19 17:16:59 2016 +0000
@@ -49,7 +49,7 @@
 PinName             _rxPin;
 PinName             _txPin;
 
-void (*rxCompleteCallback) (void);
+void (*rxCompleteCallback)(void);
 
 /**
   * @brief  CAN initialization.
@@ -59,7 +59,7 @@
   * @param  abom: Automatic recovery from bus-off state
   * @retval None
   */
-void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom) {
+void initCAN(PinName rxPin, PinName txPin, FunctionalState abom) {
     _rxPin = rxPin;
     _txPin = txPin;
 
@@ -251,3 +251,4 @@
 #endif
 
 
+

--- a/stm32f1xx_hal_msp.h	Sat Mar 19 21:16:10 2016 +0000
+++ b/stm32f1xx_hal_msp.h	Thu May 19 17:16:59 2016 +0000
@@ -40,8 +40,6 @@
 
 #include "pinmap.h"
 
-typedef struct can_s    can_t;
-
 #ifdef __cplusplus
 extern "C"
 {
@@ -55,7 +53,7 @@
   * @param  abom: Automatic recovery from bus-off state
   * @retval None
   */
-void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom);
+void initCAN(PinName rxPin, PinName txPin, FunctionalState abom);
 
 /**
   * @brief  CAN MSP Initialization
@@ -95,3 +93,5 @@
 #endif
 
 #endif
+
+

--- a/stm32f3xx_hal_msp.c	Sat Mar 19 21:16:10 2016 +0000
+++ b/stm32f3xx_hal_msp.c	Thu May 19 17:16:59 2016 +0000
@@ -53,7 +53,7 @@
 PinName             _rxPin;
 PinName             _txPin;
 
-void (*rxCompleteCallback) (void);
+void (*rxCompleteCallback)(void);
 
 /**
   * @brief  CAN initialization.
@@ -63,7 +63,7 @@
   * @param  abom: Automatic recovery from bus-off state
   * @retval None
   */
-void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom) {
+void initCAN(PinName rxPin, PinName txPin, FunctionalState abom) {
     _rxPin = rxPin;
     _txPin = txPin;
 
@@ -258,3 +258,5 @@
     __HAL_CAN_ENABLE_IT(_canHandle, CAN_IT_FMP0);
 }
 #endif
+
+

--- a/stm32f3xx_hal_msp.h	Sat Mar 19 21:16:10 2016 +0000
+++ b/stm32f3xx_hal_msp.h	Thu May 19 17:16:59 2016 +0000
@@ -40,8 +40,6 @@
 
 #include "pinmap.h"
 
-typedef struct can_s    can_t;
-
 #ifdef __cplusplus
 extern "C"
 {
@@ -55,7 +53,7 @@
   * @param  abom: Automatic recovery from bus-off state
   * @retval None
   */
-void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom);
+void initCAN(PinName rxPin, PinName txPin, FunctionalState abom);
 
 /**
   * @brief  CAN MSP Initialization
@@ -94,4 +92,4 @@
 
 #endif
 
-#endif
\ No newline at end of file
+#endif

--- a/stm32f4xx_hal_msp.c	Sat Mar 19 21:16:10 2016 +0000
+++ b/stm32f4xx_hal_msp.c	Thu May 19 17:16:59 2016 +0000
@@ -49,7 +49,7 @@
 PinName             _rxPin;
 PinName             _txPin;
 
-void (*rxCompleteCallback) (void);
+void (*rxCompleteCallback)(void);
 
 /**
   * @brief  CAN initialization.
@@ -59,7 +59,7 @@
   * @param  abom: Automatic recovery from bus-off state
   * @retval None
   */
-void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom) {
+void initCAN(PinName rxPin, PinName txPin, FunctionalState abom) {
     _rxPin = rxPin;
     _txPin = txPin;
 
@@ -250,3 +250,5 @@
 }
 #endif
 
+
+

--- a/stm32f4xx_hal_msp.h	Sat Mar 19 21:16:10 2016 +0000
+++ b/stm32f4xx_hal_msp.h	Thu May 19 17:16:59 2016 +0000
@@ -40,8 +40,6 @@
 
 #include "pinmap.h"
 
-typedef struct can_s    can_t;
-
 #ifdef __cplusplus
 extern "C"
 {
@@ -55,7 +53,7 @@
   * @param  abom: Automatic recovery from bus-off state
   * @retval None
   */
-void initCAN(can_t* obj, PinName rxPin, PinName txPin, FunctionalState abom);
+void initCAN(PinName rxPin, PinName txPin, FunctionalState abom);
 
 /**
   * @brief  CAN MSP Initialization