Alessandro Angelino / mbed-hal

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Dependencies:   target-freescale

Fork of mbed-hal by Morpheus

common/CAN.cpp@0:9c59db1fbc9e, 2016-03-23 (annotated)

Committer:
screamer
Date:
Wed Mar 23 21:36:09 2016 +0000
Revision:
0:9c59db1fbc9e
Initial revision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
screamer 0:9c59db1fbc9e 1 /* mbed Microcontroller Library
screamer 0:9c59db1fbc9e 2 * Copyright (c) 2006-2013 ARM Limited
screamer 0:9c59db1fbc9e 3 *
screamer 0:9c59db1fbc9e 4 * Licensed under the Apache License, Version 2.0 (the "License");
screamer 0:9c59db1fbc9e 5 * you may not use this file except in compliance with the License.
screamer 0:9c59db1fbc9e 6 * You may obtain a copy of the License at
screamer 0:9c59db1fbc9e 7 *
screamer 0:9c59db1fbc9e 8 * http://www.apache.org/licenses/LICENSE-2.0
screamer 0:9c59db1fbc9e 9 *
screamer 0:9c59db1fbc9e 10 * Unless required by applicable law or agreed to in writing, software
screamer 0:9c59db1fbc9e 11 * distributed under the License is distributed on an "AS IS" BASIS,
screamer 0:9c59db1fbc9e 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
screamer 0:9c59db1fbc9e 13 * See the License for the specific language governing permissions and
screamer 0:9c59db1fbc9e 14 * limitations under the License.
screamer 0:9c59db1fbc9e 15 */
screamer 0:9c59db1fbc9e 16 #include "CAN.h"
screamer 0:9c59db1fbc9e 17
screamer 0:9c59db1fbc9e 18 #if DEVICE_CAN
screamer 0:9c59db1fbc9e 19
screamer 0:9c59db1fbc9e 20 #include "cmsis.h"
screamer 0:9c59db1fbc9e 21
screamer 0:9c59db1fbc9e 22 namespace mbed {
screamer 0:9c59db1fbc9e 23
screamer 0:9c59db1fbc9e 24 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
screamer 0:9c59db1fbc9e 25 can_init(&_can, rd, td);
screamer 0:9c59db1fbc9e 26 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
screamer 0:9c59db1fbc9e 27 }
screamer 0:9c59db1fbc9e 28
screamer 0:9c59db1fbc9e 29 CAN::~CAN() {
screamer 0:9c59db1fbc9e 30 can_irq_free(&_can);
screamer 0:9c59db1fbc9e 31 can_free(&_can);
screamer 0:9c59db1fbc9e 32 }
screamer 0:9c59db1fbc9e 33
screamer 0:9c59db1fbc9e 34 int CAN::frequency(int f) {
screamer 0:9c59db1fbc9e 35 return can_frequency(&_can, f);
screamer 0:9c59db1fbc9e 36 }
screamer 0:9c59db1fbc9e 37
screamer 0:9c59db1fbc9e 38 int CAN::write(CANMessage msg) {
screamer 0:9c59db1fbc9e 39 return can_write(&_can, msg, 0);
screamer 0:9c59db1fbc9e 40 }
screamer 0:9c59db1fbc9e 41
screamer 0:9c59db1fbc9e 42 int CAN::read(CANMessage &msg, int handle) {
screamer 0:9c59db1fbc9e 43 return can_read(&_can, &msg, handle);
screamer 0:9c59db1fbc9e 44 }
screamer 0:9c59db1fbc9e 45
screamer 0:9c59db1fbc9e 46 void CAN::reset() {
screamer 0:9c59db1fbc9e 47 can_reset(&_can);
screamer 0:9c59db1fbc9e 48 }
screamer 0:9c59db1fbc9e 49
screamer 0:9c59db1fbc9e 50 unsigned char CAN::rderror() {
screamer 0:9c59db1fbc9e 51 return can_rderror(&_can);
screamer 0:9c59db1fbc9e 52 }
screamer 0:9c59db1fbc9e 53
screamer 0:9c59db1fbc9e 54 unsigned char CAN::tderror() {
screamer 0:9c59db1fbc9e 55 return can_tderror(&_can);
screamer 0:9c59db1fbc9e 56 }
screamer 0:9c59db1fbc9e 57
screamer 0:9c59db1fbc9e 58 void CAN::monitor(bool silent) {
screamer 0:9c59db1fbc9e 59 can_monitor(&_can, (silent) ? 1 : 0);
screamer 0:9c59db1fbc9e 60 }
screamer 0:9c59db1fbc9e 61
screamer 0:9c59db1fbc9e 62 int CAN::mode(Mode mode) {
screamer 0:9c59db1fbc9e 63 return can_mode(&_can, (CanMode)mode);
screamer 0:9c59db1fbc9e 64 }
screamer 0:9c59db1fbc9e 65
screamer 0:9c59db1fbc9e 66 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
screamer 0:9c59db1fbc9e 67 return can_filter(&_can, id, mask, format, handle);
screamer 0:9c59db1fbc9e 68 }
screamer 0:9c59db1fbc9e 69
screamer 0:9c59db1fbc9e 70 void CAN::attach(void (*fptr)(void), IrqType type) {
screamer 0:9c59db1fbc9e 71 if (fptr) {
screamer 0:9c59db1fbc9e 72 _irq[(CanIrqType)type].attach(fptr);
screamer 0:9c59db1fbc9e 73 can_irq_set(&_can, (CanIrqType)type, 1);
screamer 0:9c59db1fbc9e 74 } else {
screamer 0:9c59db1fbc9e 75 can_irq_set(&_can, (CanIrqType)type, 0);
screamer 0:9c59db1fbc9e 76 }
screamer 0:9c59db1fbc9e 77 }
screamer 0:9c59db1fbc9e 78
screamer 0:9c59db1fbc9e 79 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
screamer 0:9c59db1fbc9e 80 CAN *handler = (CAN*)id;
screamer 0:9c59db1fbc9e 81 handler->_irq[type].call();
screamer 0:9c59db1fbc9e 82 }
screamer 0:9c59db1fbc9e 83
screamer 0:9c59db1fbc9e 84 } // namespace mbed
screamer 0:9c59db1fbc9e 85
screamer 0:9c59db1fbc9e 86 #endif
screamer 0:9c59db1fbc9e 87