Simon Cooksey / mbed-os

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drivers/CAN.cpp@0:fb7af294d5d9, 2016-11-17 (annotated)

Committer:
Simon Cooksey
Date:
Thu Nov 17 16:43:53 2016 +0000
Revision:
0:fb7af294d5d9
Initial commit

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Simon Cooksey 0:fb7af294d5d9 1 /* mbed Microcontroller Library
Simon Cooksey 0:fb7af294d5d9 2 * Copyright (c) 2006-2013 ARM Limited
Simon Cooksey 0:fb7af294d5d9 3 *
Simon Cooksey 0:fb7af294d5d9 4 * Licensed under the Apache License, Version 2.0 (the "License");
Simon Cooksey 0:fb7af294d5d9 5 * you may not use this file except in compliance with the License.
Simon Cooksey 0:fb7af294d5d9 6 * You may obtain a copy of the License at
Simon Cooksey 0:fb7af294d5d9 7 *
Simon Cooksey 0:fb7af294d5d9 8 * http://www.apache.org/licenses/LICENSE-2.0
Simon Cooksey 0:fb7af294d5d9 9 *
Simon Cooksey 0:fb7af294d5d9 10 * Unless required by applicable law or agreed to in writing, software
Simon Cooksey 0:fb7af294d5d9 11 * distributed under the License is distributed on an "AS IS" BASIS,
Simon Cooksey 0:fb7af294d5d9 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
Simon Cooksey 0:fb7af294d5d9 13 * See the License for the specific language governing permissions and
Simon Cooksey 0:fb7af294d5d9 14 * limitations under the License.
Simon Cooksey 0:fb7af294d5d9 15 */
Simon Cooksey 0:fb7af294d5d9 16 #include "drivers/CAN.h"
Simon Cooksey 0:fb7af294d5d9 17
Simon Cooksey 0:fb7af294d5d9 18 #if DEVICE_CAN
Simon Cooksey 0:fb7af294d5d9 19
Simon Cooksey 0:fb7af294d5d9 20 #include "cmsis.h"
Simon Cooksey 0:fb7af294d5d9 21
Simon Cooksey 0:fb7af294d5d9 22 namespace mbed {
Simon Cooksey 0:fb7af294d5d9 23
Simon Cooksey 0:fb7af294d5d9 24 static void donothing() {}
Simon Cooksey 0:fb7af294d5d9 25
Simon Cooksey 0:fb7af294d5d9 26 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
Simon Cooksey 0:fb7af294d5d9 27 // No lock needed in constructor
Simon Cooksey 0:fb7af294d5d9 28
Simon Cooksey 0:fb7af294d5d9 29 for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
Simon Cooksey 0:fb7af294d5d9 30 _irq[i].attach(donothing);
Simon Cooksey 0:fb7af294d5d9 31 }
Simon Cooksey 0:fb7af294d5d9 32
Simon Cooksey 0:fb7af294d5d9 33 can_init(&_can, rd, td);
Simon Cooksey 0:fb7af294d5d9 34 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
Simon Cooksey 0:fb7af294d5d9 35 }
Simon Cooksey 0:fb7af294d5d9 36
Simon Cooksey 0:fb7af294d5d9 37 CAN::~CAN() {
Simon Cooksey 0:fb7af294d5d9 38 // No lock needed in destructor
Simon Cooksey 0:fb7af294d5d9 39 can_irq_free(&_can);
Simon Cooksey 0:fb7af294d5d9 40 can_free(&_can);
Simon Cooksey 0:fb7af294d5d9 41 }
Simon Cooksey 0:fb7af294d5d9 42
Simon Cooksey 0:fb7af294d5d9 43 int CAN::frequency(int f) {
Simon Cooksey 0:fb7af294d5d9 44 lock();
Simon Cooksey 0:fb7af294d5d9 45 int ret = can_frequency(&_can, f);
Simon Cooksey 0:fb7af294d5d9 46 unlock();
Simon Cooksey 0:fb7af294d5d9 47 return ret;
Simon Cooksey 0:fb7af294d5d9 48 }
Simon Cooksey 0:fb7af294d5d9 49
Simon Cooksey 0:fb7af294d5d9 50 int CAN::write(CANMessage msg) {
Simon Cooksey 0:fb7af294d5d9 51 lock();
Simon Cooksey 0:fb7af294d5d9 52 int ret = can_write(&_can, msg, 0);
Simon Cooksey 0:fb7af294d5d9 53 unlock();
Simon Cooksey 0:fb7af294d5d9 54 return ret;
Simon Cooksey 0:fb7af294d5d9 55 }
Simon Cooksey 0:fb7af294d5d9 56
Simon Cooksey 0:fb7af294d5d9 57 int CAN::read(CANMessage &msg, int handle) {
Simon Cooksey 0:fb7af294d5d9 58 lock();
Simon Cooksey 0:fb7af294d5d9 59 int ret = can_read(&_can, &msg, handle);
Simon Cooksey 0:fb7af294d5d9 60 unlock();
Simon Cooksey 0:fb7af294d5d9 61 return ret;
Simon Cooksey 0:fb7af294d5d9 62 }
Simon Cooksey 0:fb7af294d5d9 63
Simon Cooksey 0:fb7af294d5d9 64 void CAN::reset() {
Simon Cooksey 0:fb7af294d5d9 65 lock();
Simon Cooksey 0:fb7af294d5d9 66 can_reset(&_can);
Simon Cooksey 0:fb7af294d5d9 67 unlock();
Simon Cooksey 0:fb7af294d5d9 68 }
Simon Cooksey 0:fb7af294d5d9 69
Simon Cooksey 0:fb7af294d5d9 70 unsigned char CAN::rderror() {
Simon Cooksey 0:fb7af294d5d9 71 lock();
Simon Cooksey 0:fb7af294d5d9 72 int ret = can_rderror(&_can);
Simon Cooksey 0:fb7af294d5d9 73 unlock();
Simon Cooksey 0:fb7af294d5d9 74 return ret;
Simon Cooksey 0:fb7af294d5d9 75 }
Simon Cooksey 0:fb7af294d5d9 76
Simon Cooksey 0:fb7af294d5d9 77 unsigned char CAN::tderror() {
Simon Cooksey 0:fb7af294d5d9 78 lock();
Simon Cooksey 0:fb7af294d5d9 79 int ret = can_tderror(&_can);
Simon Cooksey 0:fb7af294d5d9 80 unlock();
Simon Cooksey 0:fb7af294d5d9 81 return ret;
Simon Cooksey 0:fb7af294d5d9 82 }
Simon Cooksey 0:fb7af294d5d9 83
Simon Cooksey 0:fb7af294d5d9 84 void CAN::monitor(bool silent) {
Simon Cooksey 0:fb7af294d5d9 85 lock();
Simon Cooksey 0:fb7af294d5d9 86 can_monitor(&_can, (silent) ? 1 : 0);
Simon Cooksey 0:fb7af294d5d9 87 unlock();
Simon Cooksey 0:fb7af294d5d9 88 }
Simon Cooksey 0:fb7af294d5d9 89
Simon Cooksey 0:fb7af294d5d9 90 int CAN::mode(Mode mode) {
Simon Cooksey 0:fb7af294d5d9 91 lock();
Simon Cooksey 0:fb7af294d5d9 92 int ret = can_mode(&_can, (CanMode)mode);
Simon Cooksey 0:fb7af294d5d9 93 unlock();
Simon Cooksey 0:fb7af294d5d9 94 return ret;
Simon Cooksey 0:fb7af294d5d9 95 }
Simon Cooksey 0:fb7af294d5d9 96
Simon Cooksey 0:fb7af294d5d9 97 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
Simon Cooksey 0:fb7af294d5d9 98 lock();
Simon Cooksey 0:fb7af294d5d9 99 int ret = can_filter(&_can, id, mask, format, handle);
Simon Cooksey 0:fb7af294d5d9 100 unlock();
Simon Cooksey 0:fb7af294d5d9 101 return ret;
Simon Cooksey 0:fb7af294d5d9 102 }
Simon Cooksey 0:fb7af294d5d9 103
Simon Cooksey 0:fb7af294d5d9 104 void CAN::attach(Callback<void()> func, IrqType type) {
Simon Cooksey 0:fb7af294d5d9 105 lock();
Simon Cooksey 0:fb7af294d5d9 106 if (func) {
Simon Cooksey 0:fb7af294d5d9 107 _irq[(CanIrqType)type].attach(func);
Simon Cooksey 0:fb7af294d5d9 108 can_irq_set(&_can, (CanIrqType)type, 1);
Simon Cooksey 0:fb7af294d5d9 109 } else {
Simon Cooksey 0:fb7af294d5d9 110 _irq[(CanIrqType)type].attach(donothing);
Simon Cooksey 0:fb7af294d5d9 111 can_irq_set(&_can, (CanIrqType)type, 0);
Simon Cooksey 0:fb7af294d5d9 112 }
Simon Cooksey 0:fb7af294d5d9 113 unlock();
Simon Cooksey 0:fb7af294d5d9 114 }
Simon Cooksey 0:fb7af294d5d9 115
Simon Cooksey 0:fb7af294d5d9 116 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
Simon Cooksey 0:fb7af294d5d9 117 CAN *handler = (CAN*)id;
Simon Cooksey 0:fb7af294d5d9 118 handler->_irq[type].call();
Simon Cooksey 0:fb7af294d5d9 119 }
Simon Cooksey 0:fb7af294d5d9 120
Simon Cooksey 0:fb7af294d5d9 121 void CAN::lock() {
Simon Cooksey 0:fb7af294d5d9 122 _mutex.lock();
Simon Cooksey 0:fb7af294d5d9 123 }
Simon Cooksey 0:fb7af294d5d9 124
Simon Cooksey 0:fb7af294d5d9 125 void CAN::unlock() {
Simon Cooksey 0:fb7af294d5d9 126 _mutex.unlock();
Simon Cooksey 0:fb7af294d5d9 127 }
Simon Cooksey 0:fb7af294d5d9 128
Simon Cooksey 0:fb7af294d5d9 129 } // namespace mbed
Simon Cooksey 0:fb7af294d5d9 130
Simon Cooksey 0:fb7af294d5d9 131 #endif