zhang boie / mbed-dev-f30333

mbed-dev-f303

drivers/CAN.cpp@0:bdf663c61a82, 2022-06-14 (annotated)

Committer:
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4
Date:
Tue Jun 14 09:21:18 2022 +0000
Revision:
0:bdf663c61a82
lib

Who changed what in which revision?

UserRevisionLine numberNew contents of line
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 1 /* mbed Microcontroller Library
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 2 * Copyright (c) 2006-2013 ARM Limited
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 3 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 4 * Licensed under the Apache License, Version 2.0 (the "License");
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 5 * you may not use this file except in compliance with the License.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 6 * You may obtain a copy of the License at
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 7 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 8 * http://www.apache.org/licenses/LICENSE-2.0
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 9 *
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 10 * Unless required by applicable law or agreed to in writing, software
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 11 * distributed under the License is distributed on an "AS IS" BASIS,
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 13 * See the License for the specific language governing permissions and
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 14 * limitations under the License.
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 15 */
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 16 #include "drivers/CAN.h"
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 17
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 18 #if DEVICE_CAN
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 19
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 20 #include "cmsis.h"
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 21 #include "platform/mbed_sleep.h"
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 22
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 23 namespace mbed {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 24
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 25 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 26 // No lock needed in constructor
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 27
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 28 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 29 _irq[i] = NULL;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 30 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 31
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 32 can_init(&_can, rd, td);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 33 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 34 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 35
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 36 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 37 // No lock needed in constructor
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 38
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 39 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 40 _irq[i] = NULL;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 41 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 42
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 43 can_init_freq(&_can, rd, td, hz);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 44 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 45 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 46
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 47 CAN::~CAN() {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 48 // No lock needed in destructor
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 49
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 50 // Detaching interrupts releases the sleep lock if it was locked
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 51 for (int irq = 0; irq < IrqCnt; irq++) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 52 attach(NULL, (IrqType)irq);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 53 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 54 can_irq_free(&_can);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 55 can_free(&_can);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 56 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 57
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 58 int CAN::frequency(int f) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 59 lock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 60 int ret = can_frequency(&_can, f);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 61 unlock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 62 return ret;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 63 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 64
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 65 int CAN::write(CANMessage msg) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 66 lock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 67 int ret = can_write(&_can, msg, 0);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 68 unlock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 69 return ret;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 70 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 71
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 72 int CAN::read(CANMessage &msg, int handle) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 73 lock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 74 int ret = can_read(&_can, &msg, handle);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 75 unlock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 76 return ret;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 77 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 78
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 79 void CAN::reset() {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 80 lock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 81 can_reset(&_can);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 82 unlock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 83 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 84
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 85 unsigned char CAN::rderror() {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 86 lock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 87 int ret = can_rderror(&_can);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 88 unlock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 89 return ret;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 90 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 91
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 92 unsigned char CAN::tderror() {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 93 lock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 94 int ret = can_tderror(&_can);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 95 unlock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 96 return ret;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 97 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 98
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 99 void CAN::monitor(bool silent) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 100 lock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 101 can_monitor(&_can, (silent) ? 1 : 0);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 102 unlock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 103 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 104
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 105 int CAN::mode(Mode mode) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 106 lock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 107 int ret = can_mode(&_can, (CanMode)mode);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 108 unlock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 109 return ret;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 110 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 111
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 112 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 113 lock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 114 int ret = can_filter(&_can, id, mask, format, handle);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 115 unlock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 116 return ret;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 117 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 118
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 119 void CAN::attach(Callback<void()> func, IrqType type) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 120 lock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 121 if (func) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 122 // lock deep sleep only the first time
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 123 if (!_irq[(CanIrqType)type]) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 124 sleep_manager_lock_deep_sleep();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 125 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 126 _irq[(CanIrqType)type] = func;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 127 can_irq_set(&_can, (CanIrqType)type, 1);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 128 } else {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 129 // unlock deep sleep only the first time
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 130 if (_irq[(CanIrqType)type]) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 131 sleep_manager_unlock_deep_sleep();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 132 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 133 _irq[(CanIrqType)type] = NULL;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 134 can_irq_set(&_can, (CanIrqType)type, 0);
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 135 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 136 unlock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 137 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 138
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 139 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 140 CAN *handler = (CAN*)id;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 141 if (handler->_irq[type]) {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 142 handler->_irq[type].call();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 143 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 144 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 145
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 146 void CAN::lock() {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 147 _mutex.lock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 148 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 149
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 150 void CAN::unlock() {
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 151 _mutex.unlock();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 152 }
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 153
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 154 } // namespace mbed
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 155
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 156 #endif
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 0:bdf663c61a82 157