Nicolas Borla / Mbed OS ROME2_Robot_Firmware

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mbed-os/drivers/CAN.cpp@0:4beb2ea291ec, 2020-03-16 (annotated)

Committer:
boro
Date:
Mon Mar 16 13:12:31 2020 +0000
Revision:
0:4beb2ea291ec
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
boro 0:4beb2ea291ec 1 /* mbed Microcontroller Library
boro 0:4beb2ea291ec 2 * Copyright (c) 2006-2013 ARM Limited
boro 0:4beb2ea291ec 3 *
boro 0:4beb2ea291ec 4 * Licensed under the Apache License, Version 2.0 (the "License");
boro 0:4beb2ea291ec 5 * you may not use this file except in compliance with the License.
boro 0:4beb2ea291ec 6 * You may obtain a copy of the License at
boro 0:4beb2ea291ec 7 *
boro 0:4beb2ea291ec 8 * http://www.apache.org/licenses/LICENSE-2.0
boro 0:4beb2ea291ec 9 *
boro 0:4beb2ea291ec 10 * Unless required by applicable law or agreed to in writing, software
boro 0:4beb2ea291ec 11 * distributed under the License is distributed on an "AS IS" BASIS,
boro 0:4beb2ea291ec 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
boro 0:4beb2ea291ec 13 * See the License for the specific language governing permissions and
boro 0:4beb2ea291ec 14 * limitations under the License.
boro 0:4beb2ea291ec 15 */
boro 0:4beb2ea291ec 16 #include "drivers/CAN.h"
boro 0:4beb2ea291ec 17
boro 0:4beb2ea291ec 18 #if DEVICE_CAN
boro 0:4beb2ea291ec 19
boro 0:4beb2ea291ec 20 #include "cmsis.h"
boro 0:4beb2ea291ec 21 #include "platform/mbed_sleep.h"
boro 0:4beb2ea291ec 22
boro 0:4beb2ea291ec 23 namespace mbed {
boro 0:4beb2ea291ec 24
boro 0:4beb2ea291ec 25 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
boro 0:4beb2ea291ec 26 // No lock needed in constructor
boro 0:4beb2ea291ec 27
boro 0:4beb2ea291ec 28 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
boro 0:4beb2ea291ec 29 _irq[i] = NULL;
boro 0:4beb2ea291ec 30 }
boro 0:4beb2ea291ec 31
boro 0:4beb2ea291ec 32 can_init(&_can, rd, td);
boro 0:4beb2ea291ec 33 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
boro 0:4beb2ea291ec 34 }
boro 0:4beb2ea291ec 35
boro 0:4beb2ea291ec 36 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
boro 0:4beb2ea291ec 37 // No lock needed in constructor
boro 0:4beb2ea291ec 38
boro 0:4beb2ea291ec 39 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
boro 0:4beb2ea291ec 40 _irq[i] = NULL;
boro 0:4beb2ea291ec 41 }
boro 0:4beb2ea291ec 42
boro 0:4beb2ea291ec 43 can_init_freq(&_can, rd, td, hz);
boro 0:4beb2ea291ec 44 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
boro 0:4beb2ea291ec 45 }
boro 0:4beb2ea291ec 46
boro 0:4beb2ea291ec 47 CAN::~CAN() {
boro 0:4beb2ea291ec 48 // No lock needed in destructor
boro 0:4beb2ea291ec 49
boro 0:4beb2ea291ec 50 // Detaching interrupts releases the sleep lock if it was locked
boro 0:4beb2ea291ec 51 for (int irq = 0; irq < IrqCnt; irq++) {
boro 0:4beb2ea291ec 52 attach(NULL, (IrqType)irq);
boro 0:4beb2ea291ec 53 }
boro 0:4beb2ea291ec 54 can_irq_free(&_can);
boro 0:4beb2ea291ec 55 can_free(&_can);
boro 0:4beb2ea291ec 56 }
boro 0:4beb2ea291ec 57
boro 0:4beb2ea291ec 58 int CAN::frequency(int f) {
boro 0:4beb2ea291ec 59 lock();
boro 0:4beb2ea291ec 60 int ret = can_frequency(&_can, f);
boro 0:4beb2ea291ec 61 unlock();
boro 0:4beb2ea291ec 62 return ret;
boro 0:4beb2ea291ec 63 }
boro 0:4beb2ea291ec 64
boro 0:4beb2ea291ec 65 int CAN::write(CANMessage msg) {
boro 0:4beb2ea291ec 66 lock();
boro 0:4beb2ea291ec 67 int ret = can_write(&_can, msg, 0);
boro 0:4beb2ea291ec 68 unlock();
boro 0:4beb2ea291ec 69 return ret;
boro 0:4beb2ea291ec 70 }
boro 0:4beb2ea291ec 71
boro 0:4beb2ea291ec 72 int CAN::read(CANMessage &msg, int handle) {
boro 0:4beb2ea291ec 73 lock();
boro 0:4beb2ea291ec 74 int ret = can_read(&_can, &msg, handle);
boro 0:4beb2ea291ec 75 unlock();
boro 0:4beb2ea291ec 76 return ret;
boro 0:4beb2ea291ec 77 }
boro 0:4beb2ea291ec 78
boro 0:4beb2ea291ec 79 void CAN::reset() {
boro 0:4beb2ea291ec 80 lock();
boro 0:4beb2ea291ec 81 can_reset(&_can);
boro 0:4beb2ea291ec 82 unlock();
boro 0:4beb2ea291ec 83 }
boro 0:4beb2ea291ec 84
boro 0:4beb2ea291ec 85 unsigned char CAN::rderror() {
boro 0:4beb2ea291ec 86 lock();
boro 0:4beb2ea291ec 87 int ret = can_rderror(&_can);
boro 0:4beb2ea291ec 88 unlock();
boro 0:4beb2ea291ec 89 return ret;
boro 0:4beb2ea291ec 90 }
boro 0:4beb2ea291ec 91
boro 0:4beb2ea291ec 92 unsigned char CAN::tderror() {
boro 0:4beb2ea291ec 93 lock();
boro 0:4beb2ea291ec 94 int ret = can_tderror(&_can);
boro 0:4beb2ea291ec 95 unlock();
boro 0:4beb2ea291ec 96 return ret;
boro 0:4beb2ea291ec 97 }
boro 0:4beb2ea291ec 98
boro 0:4beb2ea291ec 99 void CAN::monitor(bool silent) {
boro 0:4beb2ea291ec 100 lock();
boro 0:4beb2ea291ec 101 can_monitor(&_can, (silent) ? 1 : 0);
boro 0:4beb2ea291ec 102 unlock();
boro 0:4beb2ea291ec 103 }
boro 0:4beb2ea291ec 104
boro 0:4beb2ea291ec 105 int CAN::mode(Mode mode) {
boro 0:4beb2ea291ec 106 lock();
boro 0:4beb2ea291ec 107 int ret = can_mode(&_can, (CanMode)mode);
boro 0:4beb2ea291ec 108 unlock();
boro 0:4beb2ea291ec 109 return ret;
boro 0:4beb2ea291ec 110 }
boro 0:4beb2ea291ec 111
boro 0:4beb2ea291ec 112 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
boro 0:4beb2ea291ec 113 lock();
boro 0:4beb2ea291ec 114 int ret = can_filter(&_can, id, mask, format, handle);
boro 0:4beb2ea291ec 115 unlock();
boro 0:4beb2ea291ec 116 return ret;
boro 0:4beb2ea291ec 117 }
boro 0:4beb2ea291ec 118
boro 0:4beb2ea291ec 119 void CAN::attach(Callback<void()> func, IrqType type) {
boro 0:4beb2ea291ec 120 lock();
boro 0:4beb2ea291ec 121 if (func) {
boro 0:4beb2ea291ec 122 // lock deep sleep only the first time
boro 0:4beb2ea291ec 123 if (!_irq[(CanIrqType)type]) {
boro 0:4beb2ea291ec 124 sleep_manager_lock_deep_sleep();
boro 0:4beb2ea291ec 125 }
boro 0:4beb2ea291ec 126 _irq[(CanIrqType)type] = func;
boro 0:4beb2ea291ec 127 can_irq_set(&_can, (CanIrqType)type, 1);
boro 0:4beb2ea291ec 128 } else {
boro 0:4beb2ea291ec 129 // unlock deep sleep only the first time
boro 0:4beb2ea291ec 130 if (_irq[(CanIrqType)type]) {
boro 0:4beb2ea291ec 131 sleep_manager_unlock_deep_sleep();
boro 0:4beb2ea291ec 132 }
boro 0:4beb2ea291ec 133 _irq[(CanIrqType)type] = NULL;
boro 0:4beb2ea291ec 134 can_irq_set(&_can, (CanIrqType)type, 0);
boro 0:4beb2ea291ec 135 }
boro 0:4beb2ea291ec 136 unlock();
boro 0:4beb2ea291ec 137 }
boro 0:4beb2ea291ec 138
boro 0:4beb2ea291ec 139 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
boro 0:4beb2ea291ec 140 CAN *handler = (CAN*)id;
boro 0:4beb2ea291ec 141 if (handler->_irq[type]) {
boro 0:4beb2ea291ec 142 handler->_irq[type].call();
boro 0:4beb2ea291ec 143 }
boro 0:4beb2ea291ec 144 }
boro 0:4beb2ea291ec 145
boro 0:4beb2ea291ec 146 void CAN::lock() {
boro 0:4beb2ea291ec 147 _mutex.lock();
boro 0:4beb2ea291ec 148 }
boro 0:4beb2ea291ec 149
boro 0:4beb2ea291ec 150 void CAN::unlock() {
boro 0:4beb2ea291ec 151 _mutex.unlock();
boro 0:4beb2ea291ec 152 }
boro 0:4beb2ea291ec 153
boro 0:4beb2ea291ec 154 } // namespace mbed
boro 0:4beb2ea291ec 155
boro 0:4beb2ea291ec 156 #endif