CAN.cpp

00001 /* mbed Microcontroller Library
00002  * Copyright (c) 2006-2013 ARM Limited
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 #include "drivers/CAN.h"
00017 
00018 #if DEVICE_CAN
00019 
00020 #include "cmsis.h"
00021 
00022 namespace mbed {
00023 
00024 static void donothing() {}
00025 
00026 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
00027     // No lock needed in constructor
00028 
00029     for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
00030         _irq[i] = callback(donothing);
00031     }
00032 
00033     can_init(&_can, rd, td);
00034     can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
00035 }
00036 
00037 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
00038     // No lock needed in constructor
00039 
00040     for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
00041         _irq[i].attach(donothing);
00042     }
00043 
00044     can_init_freq(&_can, rd, td, hz);
00045     can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
00046 }
00047 
00048 CAN::~CAN() {
00049     // No lock needed in destructor
00050     can_irq_free(&_can);
00051     can_free(&_can);
00052 }
00053 
00054 int CAN::frequency(int f) {
00055     lock();
00056     int ret = can_frequency(&_can, f);
00057     unlock();
00058     return ret;
00059 }
00060 
00061 int CAN::write(CANMessage msg) {
00062     lock();
00063     int ret = can_write(&_can, msg, 0);
00064     unlock();
00065     return ret;
00066 }
00067 
00068 int CAN::read(CANMessage &msg, int handle) {
00069     lock();
00070     int ret = can_read(&_can, &msg, handle);
00071     unlock();
00072     return ret;
00073 }
00074 
00075 void CAN::reset() {
00076     lock();
00077     can_reset(&_can);
00078     unlock();
00079 }
00080 
00081 unsigned char CAN::rderror() {
00082     lock();
00083     int ret = can_rderror(&_can);
00084     unlock();
00085     return ret;
00086 }
00087 
00088 unsigned char CAN::tderror() {
00089     lock();
00090     int ret = can_tderror(&_can);
00091     unlock();
00092     return ret;
00093 }
00094 
00095 void CAN::monitor(bool silent) {
00096     lock();
00097     can_monitor(&_can, (silent) ? 1 : 0);
00098     unlock();
00099 }
00100 
00101 int CAN::mode(Mode mode) {
00102     lock();
00103     int ret = can_mode(&_can, (CanMode)mode);
00104     unlock();
00105     return ret;
00106 }
00107 
00108 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
00109     lock();
00110     int ret = can_filter(&_can, id, mask, format, handle);
00111     unlock();
00112     return ret;
00113 }
00114 
00115 void CAN::attach(Callback<void()> func, IrqType type) {
00116     lock();
00117     if (func) {
00118         _irq[(CanIrqType)type] = func;
00119         can_irq_set(&_can, (CanIrqType)type, 1);
00120     } else {
00121         _irq[(CanIrqType)type] = callback(donothing);
00122         can_irq_set(&_can, (CanIrqType)type, 0);
00123     }
00124     unlock();
00125 }
00126 
00127 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
00128     CAN *handler = (CAN*)id;
00129     handler->_irq[type].call();
00130 }
00131 
00132 void CAN::lock() {
00133     _mutex.lock();
00134 }
00135 
00136 void CAN::unlock() {
00137     _mutex.unlock();
00138 }
00139 
00140 } // namespace mbed
00141 
00142 #endif