Takaaki Numai / mbed-dev

inport from local

Dependents:   Hobbyking_Cheetah_0511

drivers/CAN.cpp@0:85b3fd62ea1a, 2020-03-16 (annotated)

Committer:
NYX
Date:
Mon Mar 16 06:35:48 2020 +0000
Revision:
0:85b3fd62ea1a
reinport to mbed;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NYX 0:85b3fd62ea1a 1 /* mbed Microcontroller Library
NYX 0:85b3fd62ea1a 2 * Copyright (c) 2006-2013 ARM Limited
NYX 0:85b3fd62ea1a 3 *
NYX 0:85b3fd62ea1a 4 * Licensed under the Apache License, Version 2.0 (the "License");
NYX 0:85b3fd62ea1a 5 * you may not use this file except in compliance with the License.
NYX 0:85b3fd62ea1a 6 * You may obtain a copy of the License at
NYX 0:85b3fd62ea1a 7 *
NYX 0:85b3fd62ea1a 8 * http://www.apache.org/licenses/LICENSE-2.0
NYX 0:85b3fd62ea1a 9 *
NYX 0:85b3fd62ea1a 10 * Unless required by applicable law or agreed to in writing, software
NYX 0:85b3fd62ea1a 11 * distributed under the License is distributed on an "AS IS" BASIS,
NYX 0:85b3fd62ea1a 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
NYX 0:85b3fd62ea1a 13 * See the License for the specific language governing permissions and
NYX 0:85b3fd62ea1a 14 * limitations under the License.
NYX 0:85b3fd62ea1a 15 */
NYX 0:85b3fd62ea1a 16 #include "drivers/CAN.h"
NYX 0:85b3fd62ea1a 17
NYX 0:85b3fd62ea1a 18 #if DEVICE_CAN
NYX 0:85b3fd62ea1a 19
NYX 0:85b3fd62ea1a 20 #include "cmsis.h"
NYX 0:85b3fd62ea1a 21 #include "platform/mbed_sleep.h"
NYX 0:85b3fd62ea1a 22
NYX 0:85b3fd62ea1a 23 namespace mbed {
NYX 0:85b3fd62ea1a 24
NYX 0:85b3fd62ea1a 25 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
NYX 0:85b3fd62ea1a 26 // No lock needed in constructor
NYX 0:85b3fd62ea1a 27
NYX 0:85b3fd62ea1a 28 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
NYX 0:85b3fd62ea1a 29 _irq[i] = NULL;
NYX 0:85b3fd62ea1a 30 }
NYX 0:85b3fd62ea1a 31
NYX 0:85b3fd62ea1a 32 can_init(&_can, rd, td);
NYX 0:85b3fd62ea1a 33 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
NYX 0:85b3fd62ea1a 34 }
NYX 0:85b3fd62ea1a 35
NYX 0:85b3fd62ea1a 36 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
NYX 0:85b3fd62ea1a 37 // No lock needed in constructor
NYX 0:85b3fd62ea1a 38
NYX 0:85b3fd62ea1a 39 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
NYX 0:85b3fd62ea1a 40 _irq[i] = NULL;
NYX 0:85b3fd62ea1a 41 }
NYX 0:85b3fd62ea1a 42
NYX 0:85b3fd62ea1a 43 can_init_freq(&_can, rd, td, hz);
NYX 0:85b3fd62ea1a 44 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
NYX 0:85b3fd62ea1a 45 }
NYX 0:85b3fd62ea1a 46
NYX 0:85b3fd62ea1a 47 CAN::~CAN() {
NYX 0:85b3fd62ea1a 48 // No lock needed in destructor
NYX 0:85b3fd62ea1a 49
NYX 0:85b3fd62ea1a 50 // Detaching interrupts releases the sleep lock if it was locked
NYX 0:85b3fd62ea1a 51 for (int irq = 0; irq < IrqCnt; irq++) {
NYX 0:85b3fd62ea1a 52 attach(NULL, (IrqType)irq);
NYX 0:85b3fd62ea1a 53 }
NYX 0:85b3fd62ea1a 54 can_irq_free(&_can);
NYX 0:85b3fd62ea1a 55 can_free(&_can);
NYX 0:85b3fd62ea1a 56 }
NYX 0:85b3fd62ea1a 57
NYX 0:85b3fd62ea1a 58 int CAN::frequency(int f) {
NYX 0:85b3fd62ea1a 59 lock();
NYX 0:85b3fd62ea1a 60 int ret = can_frequency(&_can, f);
NYX 0:85b3fd62ea1a 61 unlock();
NYX 0:85b3fd62ea1a 62 return ret;
NYX 0:85b3fd62ea1a 63 }
NYX 0:85b3fd62ea1a 64
NYX 0:85b3fd62ea1a 65 int CAN::write(CANMessage msg) {
NYX 0:85b3fd62ea1a 66 lock();
NYX 0:85b3fd62ea1a 67 int ret = can_write(&_can, msg, 0);
NYX 0:85b3fd62ea1a 68 unlock();
NYX 0:85b3fd62ea1a 69 return ret;
NYX 0:85b3fd62ea1a 70 }
NYX 0:85b3fd62ea1a 71
NYX 0:85b3fd62ea1a 72 int CAN::read(CANMessage &msg, int handle) {
NYX 0:85b3fd62ea1a 73 lock();
NYX 0:85b3fd62ea1a 74 int ret = can_read(&_can, &msg, handle);
NYX 0:85b3fd62ea1a 75 unlock();
NYX 0:85b3fd62ea1a 76 return ret;
NYX 0:85b3fd62ea1a 77 }
NYX 0:85b3fd62ea1a 78
NYX 0:85b3fd62ea1a 79 void CAN::reset() {
NYX 0:85b3fd62ea1a 80 lock();
NYX 0:85b3fd62ea1a 81 can_reset(&_can);
NYX 0:85b3fd62ea1a 82 unlock();
NYX 0:85b3fd62ea1a 83 }
NYX 0:85b3fd62ea1a 84
NYX 0:85b3fd62ea1a 85 unsigned char CAN::rderror() {
NYX 0:85b3fd62ea1a 86 lock();
NYX 0:85b3fd62ea1a 87 int ret = can_rderror(&_can);
NYX 0:85b3fd62ea1a 88 unlock();
NYX 0:85b3fd62ea1a 89 return ret;
NYX 0:85b3fd62ea1a 90 }
NYX 0:85b3fd62ea1a 91
NYX 0:85b3fd62ea1a 92 unsigned char CAN::tderror() {
NYX 0:85b3fd62ea1a 93 lock();
NYX 0:85b3fd62ea1a 94 int ret = can_tderror(&_can);
NYX 0:85b3fd62ea1a 95 unlock();
NYX 0:85b3fd62ea1a 96 return ret;
NYX 0:85b3fd62ea1a 97 }
NYX 0:85b3fd62ea1a 98
NYX 0:85b3fd62ea1a 99 void CAN::monitor(bool silent) {
NYX 0:85b3fd62ea1a 100 lock();
NYX 0:85b3fd62ea1a 101 can_monitor(&_can, (silent) ? 1 : 0);
NYX 0:85b3fd62ea1a 102 unlock();
NYX 0:85b3fd62ea1a 103 }
NYX 0:85b3fd62ea1a 104
NYX 0:85b3fd62ea1a 105 int CAN::mode(Mode mode) {
NYX 0:85b3fd62ea1a 106 lock();
NYX 0:85b3fd62ea1a 107 int ret = can_mode(&_can, (CanMode)mode);
NYX 0:85b3fd62ea1a 108 unlock();
NYX 0:85b3fd62ea1a 109 return ret;
NYX 0:85b3fd62ea1a 110 }
NYX 0:85b3fd62ea1a 111
NYX 0:85b3fd62ea1a 112 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
NYX 0:85b3fd62ea1a 113 lock();
NYX 0:85b3fd62ea1a 114 int ret = can_filter(&_can, id, mask, format, handle);
NYX 0:85b3fd62ea1a 115 unlock();
NYX 0:85b3fd62ea1a 116 return ret;
NYX 0:85b3fd62ea1a 117 }
NYX 0:85b3fd62ea1a 118
NYX 0:85b3fd62ea1a 119 void CAN::attach(Callback<void()> func, IrqType type) {
NYX 0:85b3fd62ea1a 120 lock();
NYX 0:85b3fd62ea1a 121 if (func) {
NYX 0:85b3fd62ea1a 122 // lock deep sleep only the first time
NYX 0:85b3fd62ea1a 123 if (!_irq[(CanIrqType)type]) {
NYX 0:85b3fd62ea1a 124 sleep_manager_lock_deep_sleep();
NYX 0:85b3fd62ea1a 125 }
NYX 0:85b3fd62ea1a 126 _irq[(CanIrqType)type] = func;
NYX 0:85b3fd62ea1a 127 can_irq_set(&_can, (CanIrqType)type, 1);
NYX 0:85b3fd62ea1a 128 } else {
NYX 0:85b3fd62ea1a 129 // unlock deep sleep only the first time
NYX 0:85b3fd62ea1a 130 if (_irq[(CanIrqType)type]) {
NYX 0:85b3fd62ea1a 131 sleep_manager_unlock_deep_sleep();
NYX 0:85b3fd62ea1a 132 }
NYX 0:85b3fd62ea1a 133 _irq[(CanIrqType)type] = NULL;
NYX 0:85b3fd62ea1a 134 can_irq_set(&_can, (CanIrqType)type, 0);
NYX 0:85b3fd62ea1a 135 }
NYX 0:85b3fd62ea1a 136 unlock();
NYX 0:85b3fd62ea1a 137 }
NYX 0:85b3fd62ea1a 138
NYX 0:85b3fd62ea1a 139 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
NYX 0:85b3fd62ea1a 140 CAN *handler = (CAN*)id;
NYX 0:85b3fd62ea1a 141 if (handler->_irq[type]) {
NYX 0:85b3fd62ea1a 142 handler->_irq[type].call();
NYX 0:85b3fd62ea1a 143 }
NYX 0:85b3fd62ea1a 144 }
NYX 0:85b3fd62ea1a 145
NYX 0:85b3fd62ea1a 146 void CAN::lock() {
NYX 0:85b3fd62ea1a 147 _mutex.lock();
NYX 0:85b3fd62ea1a 148 }
NYX 0:85b3fd62ea1a 149
NYX 0:85b3fd62ea1a 150 void CAN::unlock() {
NYX 0:85b3fd62ea1a 151 _mutex.unlock();
NYX 0:85b3fd62ea1a 152 }
NYX 0:85b3fd62ea1a 153
NYX 0:85b3fd62ea1a 154 } // namespace mbed
NYX 0:85b3fd62ea1a 155
NYX 0:85b3fd62ea1a 156 #endif