John Karatka / mbed

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drivers/CAN.cpp@167:e84263d55307, 2017-06-21 (annotated)

Committer:
AnnaBridge
Date:
Wed Jun 21 17:46:44 2017 +0100
Revision:
167:e84263d55307
Parent:
163:74e0ce7f98e8
Child:
169:e3b6fe271b81
This updates the lib to the mbed lib v 145

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 149:156823d33999 1 /* mbed Microcontroller Library
<> 149:156823d33999 2 * Copyright (c) 2006-2013 ARM Limited
<> 149:156823d33999 3 *
<> 149:156823d33999 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 149:156823d33999 5 * you may not use this file except in compliance with the License.
<> 149:156823d33999 6 * You may obtain a copy of the License at
<> 149:156823d33999 7 *
<> 149:156823d33999 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 149:156823d33999 9 *
<> 149:156823d33999 10 * Unless required by applicable law or agreed to in writing, software
<> 149:156823d33999 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 149:156823d33999 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 149:156823d33999 13 * See the License for the specific language governing permissions and
<> 149:156823d33999 14 * limitations under the License.
<> 149:156823d33999 15 */
<> 149:156823d33999 16 #include "drivers/CAN.h"
<> 149:156823d33999 17
<> 149:156823d33999 18 #if DEVICE_CAN
<> 149:156823d33999 19
<> 149:156823d33999 20 #include "cmsis.h"
<> 149:156823d33999 21
<> 149:156823d33999 22 namespace mbed {
<> 149:156823d33999 23
<> 149:156823d33999 24 static void donothing() {}
<> 149:156823d33999 25
<> 149:156823d33999 26 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
<> 149:156823d33999 27 // No lock needed in constructor
<> 149:156823d33999 28
<> 149:156823d33999 29 for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
Anna Bridge 163:74e0ce7f98e8 30 _irq[i] = callback(donothing);
<> 149:156823d33999 31 }
<> 149:156823d33999 32
<> 149:156823d33999 33 can_init(&_can, rd, td);
<> 149:156823d33999 34 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
<> 149:156823d33999 35 }
<> 149:156823d33999 36
AnnaBridge 167:e84263d55307 37 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
AnnaBridge 167:e84263d55307 38 // No lock needed in constructor
AnnaBridge 167:e84263d55307 39
AnnaBridge 167:e84263d55307 40 for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
AnnaBridge 167:e84263d55307 41 _irq[i].attach(donothing);
AnnaBridge 167:e84263d55307 42 }
AnnaBridge 167:e84263d55307 43
AnnaBridge 167:e84263d55307 44 can_init_freq(&_can, rd, td, hz);
AnnaBridge 167:e84263d55307 45 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
AnnaBridge 167:e84263d55307 46 }
AnnaBridge 167:e84263d55307 47
<> 149:156823d33999 48 CAN::~CAN() {
<> 149:156823d33999 49 // No lock needed in destructor
<> 149:156823d33999 50 can_irq_free(&_can);
<> 149:156823d33999 51 can_free(&_can);
<> 149:156823d33999 52 }
<> 149:156823d33999 53
<> 149:156823d33999 54 int CAN::frequency(int f) {
<> 149:156823d33999 55 lock();
<> 149:156823d33999 56 int ret = can_frequency(&_can, f);
<> 149:156823d33999 57 unlock();
<> 149:156823d33999 58 return ret;
<> 149:156823d33999 59 }
<> 149:156823d33999 60
<> 149:156823d33999 61 int CAN::write(CANMessage msg) {
<> 149:156823d33999 62 lock();
<> 149:156823d33999 63 int ret = can_write(&_can, msg, 0);
<> 149:156823d33999 64 unlock();
<> 149:156823d33999 65 return ret;
<> 149:156823d33999 66 }
<> 149:156823d33999 67
<> 149:156823d33999 68 int CAN::read(CANMessage &msg, int handle) {
<> 149:156823d33999 69 lock();
<> 149:156823d33999 70 int ret = can_read(&_can, &msg, handle);
<> 149:156823d33999 71 unlock();
<> 149:156823d33999 72 return ret;
<> 149:156823d33999 73 }
<> 149:156823d33999 74
<> 149:156823d33999 75 void CAN::reset() {
<> 149:156823d33999 76 lock();
<> 149:156823d33999 77 can_reset(&_can);
<> 149:156823d33999 78 unlock();
<> 149:156823d33999 79 }
<> 149:156823d33999 80
<> 149:156823d33999 81 unsigned char CAN::rderror() {
<> 149:156823d33999 82 lock();
<> 149:156823d33999 83 int ret = can_rderror(&_can);
<> 149:156823d33999 84 unlock();
<> 149:156823d33999 85 return ret;
<> 149:156823d33999 86 }
<> 149:156823d33999 87
<> 149:156823d33999 88 unsigned char CAN::tderror() {
<> 149:156823d33999 89 lock();
<> 149:156823d33999 90 int ret = can_tderror(&_can);
<> 149:156823d33999 91 unlock();
<> 149:156823d33999 92 return ret;
<> 149:156823d33999 93 }
<> 149:156823d33999 94
<> 149:156823d33999 95 void CAN::monitor(bool silent) {
<> 149:156823d33999 96 lock();
<> 149:156823d33999 97 can_monitor(&_can, (silent) ? 1 : 0);
<> 149:156823d33999 98 unlock();
<> 149:156823d33999 99 }
<> 149:156823d33999 100
<> 149:156823d33999 101 int CAN::mode(Mode mode) {
<> 149:156823d33999 102 lock();
<> 149:156823d33999 103 int ret = can_mode(&_can, (CanMode)mode);
<> 149:156823d33999 104 unlock();
<> 149:156823d33999 105 return ret;
<> 149:156823d33999 106 }
<> 149:156823d33999 107
<> 149:156823d33999 108 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
<> 149:156823d33999 109 lock();
<> 149:156823d33999 110 int ret = can_filter(&_can, id, mask, format, handle);
<> 149:156823d33999 111 unlock();
<> 149:156823d33999 112 return ret;
<> 149:156823d33999 113 }
<> 149:156823d33999 114
<> 149:156823d33999 115 void CAN::attach(Callback<void()> func, IrqType type) {
<> 149:156823d33999 116 lock();
<> 149:156823d33999 117 if (func) {
Anna Bridge 163:74e0ce7f98e8 118 _irq[(CanIrqType)type] = func;
<> 149:156823d33999 119 can_irq_set(&_can, (CanIrqType)type, 1);
<> 149:156823d33999 120 } else {
Anna Bridge 163:74e0ce7f98e8 121 _irq[(CanIrqType)type] = callback(donothing);
<> 149:156823d33999 122 can_irq_set(&_can, (CanIrqType)type, 0);
<> 149:156823d33999 123 }
<> 149:156823d33999 124 unlock();
<> 149:156823d33999 125 }
<> 149:156823d33999 126
<> 149:156823d33999 127 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
<> 149:156823d33999 128 CAN *handler = (CAN*)id;
<> 149:156823d33999 129 handler->_irq[type].call();
<> 149:156823d33999 130 }
<> 149:156823d33999 131
<> 149:156823d33999 132 void CAN::lock() {
<> 149:156823d33999 133 _mutex.lock();
<> 149:156823d33999 134 }
<> 149:156823d33999 135
<> 149:156823d33999 136 void CAN::unlock() {
<> 149:156823d33999 137 _mutex.unlock();
<> 149:156823d33999 138 }
<> 149:156823d33999 139
<> 149:156823d33999 140 } // namespace mbed
<> 149:156823d33999 141
<> 149:156823d33999 142 #endif