Diff: common/CAN.cpp

Revision:

9:0ce32e54c9a7

Parent:

2:143cac498751

Child:

10:3bc89ef62ce7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/common/CAN.cpp	Mon Jun 10 16:03:00 2013 +0100
@@ -0,0 +1,119 @@
+/* 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.
+ */
+#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