Diff: cpp/CAN.cpp

Revision:

0:fd0d7bdfcdc2

Child:

2:143cac498751

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/cpp/CAN.cpp	Tue Nov 20 17:24:08 2012 +0000
@@ -0,0 +1,125 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include "CAN.h"
+
+#if DEVICE_CAN
+
+#include "cmsis.h"
+
+namespace mbed {
+
+CAN::CAN(PinName rd, PinName td) {
+    can_init(&_can, rd, td);
+}
+
+CAN::~CAN() {
+    can_free(&_can);
+}
+  
+int CAN::frequency(int f) {
+    return can_frequency(&_can, f);
+}
+
+int CAN::write(CANMessage msg) {
+    return can_write(&_can, msg, 0);
+}
+    
+int CAN::read(CANMessage &msg) {
+    return can_read(&_can, &msg);
+}
+
+void CAN::reset() {
+    can_reset(&_can);
+}
+
+unsigned char CAN::rderror() {
+    return can_rderror(&_can);
+}
+
+unsigned char CAN::tderror() {
+    return can_tderror(&_can);
+}
+
+void CAN::monitor(bool silent) {
+    can_monitor(&_can, (silent) ? 1 : 0);
+}
+
+static FunctionPointer* can_obj[2] = { NULL };
+
+// Have to check that the CAN block is active before reading the Interrupt
+// Control Register, or the mbed hangs
+void can_irq(void) {
+    uint32_t icr;
+    
+    if(LPC_SC->PCONP & (1 << 13)) {
+        icr = LPC_CAN1->ICR;
+        
+        if(icr && (can_obj[0] != NULL)) {
+            can_obj[0]->call();
+        }
+    }
+    
+    if(LPC_SC->PCONP & (1 << 14)) {
+        icr = LPC_CAN2->ICR;
+        if(icr && (can_obj[1] != NULL)) {
+            can_obj[1]->call();
+        }
+    }
+
+}
+
+void CAN::setup_interrupt(void) {
+    switch ((int)_can.dev) {
+        case CAN_1: can_obj[0] = &_rxirq; break;
+        case CAN_2: can_obj[1] = &_rxirq; break;
+    }
+    _can.dev->MOD |= 1;
+    _can.dev->IER |= 1;
+    _can.dev->MOD &= ~1;
+    NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq);
+    NVIC_EnableIRQ(CAN_IRQn);
+}
+
+void CAN::remove_interrupt(void) {
+    switch ((int)_can.dev) {
+        case CAN_1: can_obj[0] = NULL; break;
+        case CAN_2: can_obj[1] = NULL; break;
+    }
+    
+    _can.dev->IER &= ~(1);
+    if ((can_obj[0] == NULL) && (can_obj[1] == NULL)) {
+        NVIC_DisableIRQ(CAN_IRQn);
+    }
+}
+
+void CAN::attach(void (*fptr)(void)) {
+    if (fptr != NULL) {
+        _rxirq.attach(fptr);
+        setup_interrupt();
+    } else {
+        remove_interrupt();
+    }
+}
+
+} // namespace mbed
+
+#endif