Diff: drivers/CAN.cpp

Revision:

0:bdf663c61a82

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/CAN.cpp	Tue Jun 14 09:21:18 2022 +0000
@@ -0,0 +1,157 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "drivers/CAN.h"
+
+#if DEVICE_CAN
+
+#include "cmsis.h"
+#include "platform/mbed_sleep.h"
+
+namespace mbed {
+
+CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
+    // No lock needed in constructor
+
+    for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
+        _irq[i] = NULL;
+    }
+
+    can_init(&_can, rd, td);
+    can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
+}
+
+CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
+    // No lock needed in constructor
+
+    for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
+        _irq[i] = NULL;
+    }
+
+    can_init_freq(&_can, rd, td, hz);
+    can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
+}
+
+CAN::~CAN() {
+    // No lock needed in destructor
+
+    // Detaching interrupts releases the sleep lock if it was locked
+    for (int irq = 0; irq < IrqCnt; irq++) {
+        attach(NULL, (IrqType)irq);
+    }
+    can_irq_free(&_can);
+    can_free(&_can);
+}
+
+int CAN::frequency(int f) {
+    lock();
+    int ret = can_frequency(&_can, f);
+    unlock();
+    return ret;
+}
+
+int CAN::write(CANMessage msg) {
+    lock();
+    int ret = can_write(&_can, msg, 0);
+    unlock();
+    return ret;
+}
+
+int CAN::read(CANMessage &msg, int handle) {
+    lock();
+    int ret = can_read(&_can, &msg, handle);
+    unlock();
+    return ret;
+}
+
+void CAN::reset() {
+    lock();
+    can_reset(&_can);
+    unlock();
+}
+
+unsigned char CAN::rderror() {
+    lock();
+    int ret = can_rderror(&_can);
+    unlock();
+    return ret;
+}
+
+unsigned char CAN::tderror() {
+    lock();
+    int ret = can_tderror(&_can);
+    unlock();
+    return ret;
+}
+
+void CAN::monitor(bool silent) {
+    lock();
+    can_monitor(&_can, (silent) ? 1 : 0);
+    unlock();
+}
+
+int CAN::mode(Mode mode) {
+    lock();
+    int ret = can_mode(&_can, (CanMode)mode);
+    unlock();
+    return ret;
+}
+
+int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
+    lock();
+    int ret = can_filter(&_can, id, mask, format, handle);
+    unlock();
+    return ret;
+}
+
+void CAN::attach(Callback<void()> func, IrqType type) {
+    lock();
+    if (func) {
+        // lock deep sleep only the first time
+        if (!_irq[(CanIrqType)type]) {
+            sleep_manager_lock_deep_sleep();
+        }
+        _irq[(CanIrqType)type] = func;
+        can_irq_set(&_can, (CanIrqType)type, 1);
+    } else {
+        // unlock deep sleep only the first time
+        if (_irq[(CanIrqType)type]) {
+            sleep_manager_unlock_deep_sleep();
+        }
+        _irq[(CanIrqType)type] = NULL;
+        can_irq_set(&_can, (CanIrqType)type, 0);
+    }
+    unlock();
+}
+
+void CAN::_irq_handler(uint32_t id, CanIrqType type) {
+    CAN *handler = (CAN*)id;
+    if (handler->_irq[type]) {
+        handler->_irq[type].call();
+    }
+}
+
+void CAN::lock() {
+    _mutex.lock();
+}
+
+void CAN::unlock() {
+    _mutex.unlock();
+}
+
+} // namespace mbed
+
+#endif
+