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mbed-dev/drivers/CAN.cpp@1:d0dfbce63a89, 2017-02-24 (annotated)

Committer:
elmot
Date:
Fri Feb 24 21:13:56 2017 +0000
Revision:
1:d0dfbce63a89
Ready-to-copy

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elmot 1:d0dfbce63a89 1 /* mbed Microcontroller Library
elmot 1:d0dfbce63a89 2 * Copyright (c) 2006-2013 ARM Limited
elmot 1:d0dfbce63a89 3 *
elmot 1:d0dfbce63a89 4 * Licensed under the Apache License, Version 2.0 (the "License");
elmot 1:d0dfbce63a89 5 * you may not use this file except in compliance with the License.
elmot 1:d0dfbce63a89 6 * You may obtain a copy of the License at
elmot 1:d0dfbce63a89 7 *
elmot 1:d0dfbce63a89 8 * http://www.apache.org/licenses/LICENSE-2.0
elmot 1:d0dfbce63a89 9 *
elmot 1:d0dfbce63a89 10 * Unless required by applicable law or agreed to in writing, software
elmot 1:d0dfbce63a89 11 * distributed under the License is distributed on an "AS IS" BASIS,
elmot 1:d0dfbce63a89 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
elmot 1:d0dfbce63a89 13 * See the License for the specific language governing permissions and
elmot 1:d0dfbce63a89 14 * limitations under the License.
elmot 1:d0dfbce63a89 15 */
elmot 1:d0dfbce63a89 16 #include "drivers/CAN.h"
elmot 1:d0dfbce63a89 17
elmot 1:d0dfbce63a89 18 #if DEVICE_CAN
elmot 1:d0dfbce63a89 19
elmot 1:d0dfbce63a89 20 #include "cmsis.h"
elmot 1:d0dfbce63a89 21
elmot 1:d0dfbce63a89 22 namespace mbed {
elmot 1:d0dfbce63a89 23
elmot 1:d0dfbce63a89 24 static void donothing() {}
elmot 1:d0dfbce63a89 25
elmot 1:d0dfbce63a89 26 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
elmot 1:d0dfbce63a89 27 // No lock needed in constructor
elmot 1:d0dfbce63a89 28
elmot 1:d0dfbce63a89 29 for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
elmot 1:d0dfbce63a89 30 _irq[i].attach(donothing);
elmot 1:d0dfbce63a89 31 }
elmot 1:d0dfbce63a89 32
elmot 1:d0dfbce63a89 33 can_init(&_can, rd, td);
elmot 1:d0dfbce63a89 34 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
elmot 1:d0dfbce63a89 35 }
elmot 1:d0dfbce63a89 36
elmot 1:d0dfbce63a89 37 CAN::~CAN() {
elmot 1:d0dfbce63a89 38 // No lock needed in destructor
elmot 1:d0dfbce63a89 39 can_irq_free(&_can);
elmot 1:d0dfbce63a89 40 can_free(&_can);
elmot 1:d0dfbce63a89 41 }
elmot 1:d0dfbce63a89 42
elmot 1:d0dfbce63a89 43 int CAN::frequency(int f) {
elmot 1:d0dfbce63a89 44 lock();
elmot 1:d0dfbce63a89 45 int ret = can_frequency(&_can, f);
elmot 1:d0dfbce63a89 46 unlock();
elmot 1:d0dfbce63a89 47 return ret;
elmot 1:d0dfbce63a89 48 }
elmot 1:d0dfbce63a89 49
elmot 1:d0dfbce63a89 50 int CAN::write(CANMessage msg) {
elmot 1:d0dfbce63a89 51 lock();
elmot 1:d0dfbce63a89 52 int ret = can_write(&_can, msg, 0);
elmot 1:d0dfbce63a89 53 unlock();
elmot 1:d0dfbce63a89 54 return ret;
elmot 1:d0dfbce63a89 55 }
elmot 1:d0dfbce63a89 56
elmot 1:d0dfbce63a89 57 int CAN::read(CANMessage &msg, int handle) {
elmot 1:d0dfbce63a89 58 lock();
elmot 1:d0dfbce63a89 59 int ret = can_read(&_can, &msg, handle);
elmot 1:d0dfbce63a89 60 unlock();
elmot 1:d0dfbce63a89 61 return ret;
elmot 1:d0dfbce63a89 62 }
elmot 1:d0dfbce63a89 63
elmot 1:d0dfbce63a89 64 void CAN::reset() {
elmot 1:d0dfbce63a89 65 lock();
elmot 1:d0dfbce63a89 66 can_reset(&_can);
elmot 1:d0dfbce63a89 67 unlock();
elmot 1:d0dfbce63a89 68 }
elmot 1:d0dfbce63a89 69
elmot 1:d0dfbce63a89 70 unsigned char CAN::rderror() {
elmot 1:d0dfbce63a89 71 lock();
elmot 1:d0dfbce63a89 72 int ret = can_rderror(&_can);
elmot 1:d0dfbce63a89 73 unlock();
elmot 1:d0dfbce63a89 74 return ret;
elmot 1:d0dfbce63a89 75 }
elmot 1:d0dfbce63a89 76
elmot 1:d0dfbce63a89 77 unsigned char CAN::tderror() {
elmot 1:d0dfbce63a89 78 lock();
elmot 1:d0dfbce63a89 79 int ret = can_tderror(&_can);
elmot 1:d0dfbce63a89 80 unlock();
elmot 1:d0dfbce63a89 81 return ret;
elmot 1:d0dfbce63a89 82 }
elmot 1:d0dfbce63a89 83
elmot 1:d0dfbce63a89 84 void CAN::monitor(bool silent) {
elmot 1:d0dfbce63a89 85 lock();
elmot 1:d0dfbce63a89 86 can_monitor(&_can, (silent) ? 1 : 0);
elmot 1:d0dfbce63a89 87 unlock();
elmot 1:d0dfbce63a89 88 }
elmot 1:d0dfbce63a89 89
elmot 1:d0dfbce63a89 90 int CAN::mode(Mode mode) {
elmot 1:d0dfbce63a89 91 lock();
elmot 1:d0dfbce63a89 92 int ret = can_mode(&_can, (CanMode)mode);
elmot 1:d0dfbce63a89 93 unlock();
elmot 1:d0dfbce63a89 94 return ret;
elmot 1:d0dfbce63a89 95 }
elmot 1:d0dfbce63a89 96
elmot 1:d0dfbce63a89 97 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
elmot 1:d0dfbce63a89 98 lock();
elmot 1:d0dfbce63a89 99 int ret = can_filter(&_can, id, mask, format, handle);
elmot 1:d0dfbce63a89 100 unlock();
elmot 1:d0dfbce63a89 101 return ret;
elmot 1:d0dfbce63a89 102 }
elmot 1:d0dfbce63a89 103
elmot 1:d0dfbce63a89 104 void CAN::attach(Callback<void()> func, IrqType type) {
elmot 1:d0dfbce63a89 105 lock();
elmot 1:d0dfbce63a89 106 if (func) {
elmot 1:d0dfbce63a89 107 _irq[(CanIrqType)type].attach(func);
elmot 1:d0dfbce63a89 108 can_irq_set(&_can, (CanIrqType)type, 1);
elmot 1:d0dfbce63a89 109 } else {
elmot 1:d0dfbce63a89 110 _irq[(CanIrqType)type].attach(donothing);
elmot 1:d0dfbce63a89 111 can_irq_set(&_can, (CanIrqType)type, 0);
elmot 1:d0dfbce63a89 112 }
elmot 1:d0dfbce63a89 113 unlock();
elmot 1:d0dfbce63a89 114 }
elmot 1:d0dfbce63a89 115
elmot 1:d0dfbce63a89 116 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
elmot 1:d0dfbce63a89 117 CAN *handler = (CAN*)id;
elmot 1:d0dfbce63a89 118 handler->_irq[type].call();
elmot 1:d0dfbce63a89 119 }
elmot 1:d0dfbce63a89 120
elmot 1:d0dfbce63a89 121 void CAN::lock() {
elmot 1:d0dfbce63a89 122 _mutex.lock();
elmot 1:d0dfbce63a89 123 }
elmot 1:d0dfbce63a89 124
elmot 1:d0dfbce63a89 125 void CAN::unlock() {
elmot 1:d0dfbce63a89 126 _mutex.unlock();
elmot 1:d0dfbce63a89 127 }
elmot 1:d0dfbce63a89 128
elmot 1:d0dfbce63a89 129 } // namespace mbed
elmot 1:d0dfbce63a89 130
elmot 1:d0dfbce63a89 131 #endif