Aditya Mehrotra / mbed-dev

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Dependents:   CAN_TEST SPIne_Plus_DYNO_SENSORS SPIne_Plus_v2 SPIne_Plus_Dyno_v2

drivers/CAN.cpp@0:083111ae2a11, 2020-11-26 (annotated)

Committer:
saloutos
Date:
Thu Nov 26 04:08:56 2020 +0000
Revision:
0:083111ae2a11
first commit of leaned mbed dev lib

Who changed what in which revision?

UserRevisionLine numberNew contents of line
saloutos 0:083111ae2a11 1 /* mbed Microcontroller Library
saloutos 0:083111ae2a11 2 * Copyright (c) 2006-2013 ARM Limited
saloutos 0:083111ae2a11 3 *
saloutos 0:083111ae2a11 4 * Licensed under the Apache License, Version 2.0 (the "License");
saloutos 0:083111ae2a11 5 * you may not use this file except in compliance with the License.
saloutos 0:083111ae2a11 6 * You may obtain a copy of the License at
saloutos 0:083111ae2a11 7 *
saloutos 0:083111ae2a11 8 * http://www.apache.org/licenses/LICENSE-2.0
saloutos 0:083111ae2a11 9 *
saloutos 0:083111ae2a11 10 * Unless required by applicable law or agreed to in writing, software
saloutos 0:083111ae2a11 11 * distributed under the License is distributed on an "AS IS" BASIS,
saloutos 0:083111ae2a11 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
saloutos 0:083111ae2a11 13 * See the License for the specific language governing permissions and
saloutos 0:083111ae2a11 14 * limitations under the License.
saloutos 0:083111ae2a11 15 */
saloutos 0:083111ae2a11 16 #include "drivers/CAN.h"
saloutos 0:083111ae2a11 17
saloutos 0:083111ae2a11 18 #if DEVICE_CAN
saloutos 0:083111ae2a11 19
saloutos 0:083111ae2a11 20 #include "cmsis.h"
saloutos 0:083111ae2a11 21 #include "platform/mbed_sleep.h"
saloutos 0:083111ae2a11 22
saloutos 0:083111ae2a11 23 namespace mbed {
saloutos 0:083111ae2a11 24
saloutos 0:083111ae2a11 25 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
saloutos 0:083111ae2a11 26 // No lock needed in constructor
saloutos 0:083111ae2a11 27
saloutos 0:083111ae2a11 28 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
saloutos 0:083111ae2a11 29 _irq[i] = NULL;
saloutos 0:083111ae2a11 30 }
saloutos 0:083111ae2a11 31
saloutos 0:083111ae2a11 32 can_init(&_can, rd, td);
saloutos 0:083111ae2a11 33 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
saloutos 0:083111ae2a11 34 }
saloutos 0:083111ae2a11 35
saloutos 0:083111ae2a11 36 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
saloutos 0:083111ae2a11 37 // No lock needed in constructor
saloutos 0:083111ae2a11 38
saloutos 0:083111ae2a11 39 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
saloutos 0:083111ae2a11 40 _irq[i] = NULL;
saloutos 0:083111ae2a11 41 }
saloutos 0:083111ae2a11 42
saloutos 0:083111ae2a11 43 can_init_freq(&_can, rd, td, hz);
saloutos 0:083111ae2a11 44 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
saloutos 0:083111ae2a11 45 }
saloutos 0:083111ae2a11 46
saloutos 0:083111ae2a11 47 CAN::~CAN() {
saloutos 0:083111ae2a11 48 // No lock needed in destructor
saloutos 0:083111ae2a11 49
saloutos 0:083111ae2a11 50 // Detaching interrupts releases the sleep lock if it was locked
saloutos 0:083111ae2a11 51 for (int irq = 0; irq < IrqCnt; irq++) {
saloutos 0:083111ae2a11 52 attach(NULL, (IrqType)irq);
saloutos 0:083111ae2a11 53 }
saloutos 0:083111ae2a11 54 can_irq_free(&_can);
saloutos 0:083111ae2a11 55 can_free(&_can);
saloutos 0:083111ae2a11 56 }
saloutos 0:083111ae2a11 57
saloutos 0:083111ae2a11 58 int CAN::frequency(int f) {
saloutos 0:083111ae2a11 59 lock();
saloutos 0:083111ae2a11 60 int ret = can_frequency(&_can, f);
saloutos 0:083111ae2a11 61 unlock();
saloutos 0:083111ae2a11 62 return ret;
saloutos 0:083111ae2a11 63 }
saloutos 0:083111ae2a11 64
saloutos 0:083111ae2a11 65 int CAN::write(CANMessage msg) {
saloutos 0:083111ae2a11 66 lock();
saloutos 0:083111ae2a11 67 int ret = can_write(&_can, msg, 0);
saloutos 0:083111ae2a11 68 unlock();
saloutos 0:083111ae2a11 69 return ret;
saloutos 0:083111ae2a11 70 }
saloutos 0:083111ae2a11 71
saloutos 0:083111ae2a11 72 int CAN::read(CANMessage &msg, int handle) {
saloutos 0:083111ae2a11 73 lock();
saloutos 0:083111ae2a11 74 int ret = can_read(&_can, &msg, handle);
saloutos 0:083111ae2a11 75 unlock();
saloutos 0:083111ae2a11 76 return ret;
saloutos 0:083111ae2a11 77 }
saloutos 0:083111ae2a11 78
saloutos 0:083111ae2a11 79 void CAN::reset() {
saloutos 0:083111ae2a11 80 lock();
saloutos 0:083111ae2a11 81 can_reset(&_can);
saloutos 0:083111ae2a11 82 unlock();
saloutos 0:083111ae2a11 83 }
saloutos 0:083111ae2a11 84
saloutos 0:083111ae2a11 85 unsigned char CAN::rderror() {
saloutos 0:083111ae2a11 86 lock();
saloutos 0:083111ae2a11 87 int ret = can_rderror(&_can);
saloutos 0:083111ae2a11 88 unlock();
saloutos 0:083111ae2a11 89 return ret;
saloutos 0:083111ae2a11 90 }
saloutos 0:083111ae2a11 91
saloutos 0:083111ae2a11 92 unsigned char CAN::tderror() {
saloutos 0:083111ae2a11 93 lock();
saloutos 0:083111ae2a11 94 int ret = can_tderror(&_can);
saloutos 0:083111ae2a11 95 unlock();
saloutos 0:083111ae2a11 96 return ret;
saloutos 0:083111ae2a11 97 }
saloutos 0:083111ae2a11 98
saloutos 0:083111ae2a11 99 void CAN::monitor(bool silent) {
saloutos 0:083111ae2a11 100 lock();
saloutos 0:083111ae2a11 101 can_monitor(&_can, (silent) ? 1 : 0);
saloutos 0:083111ae2a11 102 unlock();
saloutos 0:083111ae2a11 103 }
saloutos 0:083111ae2a11 104
saloutos 0:083111ae2a11 105 int CAN::mode(Mode mode) {
saloutos 0:083111ae2a11 106 lock();
saloutos 0:083111ae2a11 107 int ret = can_mode(&_can, (CanMode)mode);
saloutos 0:083111ae2a11 108 unlock();
saloutos 0:083111ae2a11 109 return ret;
saloutos 0:083111ae2a11 110 }
saloutos 0:083111ae2a11 111
saloutos 0:083111ae2a11 112 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
saloutos 0:083111ae2a11 113 lock();
saloutos 0:083111ae2a11 114 int ret = can_filter(&_can, id, mask, format, handle);
saloutos 0:083111ae2a11 115 unlock();
saloutos 0:083111ae2a11 116 return ret;
saloutos 0:083111ae2a11 117 }
saloutos 0:083111ae2a11 118
saloutos 0:083111ae2a11 119 void CAN::attach(Callback<void()> func, IrqType type) {
saloutos 0:083111ae2a11 120 lock();
saloutos 0:083111ae2a11 121 if (func) {
saloutos 0:083111ae2a11 122 // lock deep sleep only the first time
saloutos 0:083111ae2a11 123 if (!_irq[(CanIrqType)type]) {
saloutos 0:083111ae2a11 124 sleep_manager_lock_deep_sleep();
saloutos 0:083111ae2a11 125 }
saloutos 0:083111ae2a11 126 _irq[(CanIrqType)type] = func;
saloutos 0:083111ae2a11 127 can_irq_set(&_can, (CanIrqType)type, 1);
saloutos 0:083111ae2a11 128 } else {
saloutos 0:083111ae2a11 129 // unlock deep sleep only the first time
saloutos 0:083111ae2a11 130 if (_irq[(CanIrqType)type]) {
saloutos 0:083111ae2a11 131 sleep_manager_unlock_deep_sleep();
saloutos 0:083111ae2a11 132 }
saloutos 0:083111ae2a11 133 _irq[(CanIrqType)type] = NULL;
saloutos 0:083111ae2a11 134 can_irq_set(&_can, (CanIrqType)type, 0);
saloutos 0:083111ae2a11 135 }
saloutos 0:083111ae2a11 136 unlock();
saloutos 0:083111ae2a11 137 }
saloutos 0:083111ae2a11 138
saloutos 0:083111ae2a11 139 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
saloutos 0:083111ae2a11 140 CAN *handler = (CAN*)id;
saloutos 0:083111ae2a11 141 if (handler->_irq[type]) {
saloutos 0:083111ae2a11 142 handler->_irq[type].call();
saloutos 0:083111ae2a11 143 }
saloutos 0:083111ae2a11 144 }
saloutos 0:083111ae2a11 145
saloutos 0:083111ae2a11 146 void CAN::lock() {
saloutos 0:083111ae2a11 147 _mutex.lock();
saloutos 0:083111ae2a11 148 }
saloutos 0:083111ae2a11 149
saloutos 0:083111ae2a11 150 void CAN::unlock() {
saloutos 0:083111ae2a11 151 _mutex.unlock();
saloutos 0:083111ae2a11 152 }
saloutos 0:083111ae2a11 153
saloutos 0:083111ae2a11 154 } // namespace mbed
saloutos 0:083111ae2a11 155
saloutos 0:083111ae2a11 156 #endif