joey shelton / LED_Demo2

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Dependencies:   MAX44000 PWM_Tone_Library nexpaq_mdk

Fork of LED_Demo by joey shelton

mbd_os/hal/common/CAN.cpp@9:6bb35cef007d, 2016-10-22 (annotated)

Committer:
cyberjoey
Date:
Sat Oct 22 01:31:58 2016 +0000
Revision:
9:6bb35cef007d
Parent:
1:55a6170b404f 
WORKING

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nexpaq 1:55a6170b404f 1 /* mbed Microcontroller Library
nexpaq 1:55a6170b404f 2 * Copyright (c) 2006-2013 ARM Limited
nexpaq 1:55a6170b404f 3 *
nexpaq 1:55a6170b404f 4 * Licensed under the Apache License, Version 2.0 (the "License");
nexpaq 1:55a6170b404f 5 * you may not use this file except in compliance with the License.
nexpaq 1:55a6170b404f 6 * You may obtain a copy of the License at
nexpaq 1:55a6170b404f 7 *
nexpaq 1:55a6170b404f 8 * http://www.apache.org/licenses/LICENSE-2.0
nexpaq 1:55a6170b404f 9 *
nexpaq 1:55a6170b404f 10 * Unless required by applicable law or agreed to in writing, software
nexpaq 1:55a6170b404f 11 * distributed under the License is distributed on an "AS IS" BASIS,
nexpaq 1:55a6170b404f 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
nexpaq 1:55a6170b404f 13 * See the License for the specific language governing permissions and
nexpaq 1:55a6170b404f 14 * limitations under the License.
nexpaq 1:55a6170b404f 15 */
nexpaq 1:55a6170b404f 16 #include "CAN.h"
nexpaq 1:55a6170b404f 17
nexpaq 1:55a6170b404f 18 #if DEVICE_CAN
nexpaq 1:55a6170b404f 19
nexpaq 1:55a6170b404f 20 #include "cmsis.h"
nexpaq 1:55a6170b404f 21
nexpaq 1:55a6170b404f 22 namespace mbed {
nexpaq 1:55a6170b404f 23
nexpaq 1:55a6170b404f 24 static void donothing() {}
nexpaq 1:55a6170b404f 25
nexpaq 1:55a6170b404f 26 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
nexpaq 1:55a6170b404f 27 // No lock needed in constructor
nexpaq 1:55a6170b404f 28
nexpaq 1:55a6170b404f 29 for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
nexpaq 1:55a6170b404f 30 _irq[i].attach(donothing);
nexpaq 1:55a6170b404f 31 }
nexpaq 1:55a6170b404f 32
nexpaq 1:55a6170b404f 33 can_init(&_can, rd, td);
nexpaq 1:55a6170b404f 34 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
nexpaq 1:55a6170b404f 35 }
nexpaq 1:55a6170b404f 36
nexpaq 1:55a6170b404f 37 CAN::~CAN() {
nexpaq 1:55a6170b404f 38 // No lock needed in destructor
nexpaq 1:55a6170b404f 39 can_irq_free(&_can);
nexpaq 1:55a6170b404f 40 can_free(&_can);
nexpaq 1:55a6170b404f 41 }
nexpaq 1:55a6170b404f 42
nexpaq 1:55a6170b404f 43 int CAN::frequency(int f) {
nexpaq 1:55a6170b404f 44 lock();
nexpaq 1:55a6170b404f 45 int ret = can_frequency(&_can, f);
nexpaq 1:55a6170b404f 46 unlock();
nexpaq 1:55a6170b404f 47 return ret;
nexpaq 1:55a6170b404f 48 }
nexpaq 1:55a6170b404f 49
nexpaq 1:55a6170b404f 50 int CAN::write(CANMessage msg) {
nexpaq 1:55a6170b404f 51 lock();
nexpaq 1:55a6170b404f 52 int ret = can_write(&_can, msg, 0);
nexpaq 1:55a6170b404f 53 unlock();
nexpaq 1:55a6170b404f 54 return ret;
nexpaq 1:55a6170b404f 55 }
nexpaq 1:55a6170b404f 56
nexpaq 1:55a6170b404f 57 int CAN::read(CANMessage &msg, int handle) {
nexpaq 1:55a6170b404f 58 lock();
nexpaq 1:55a6170b404f 59 int ret = can_read(&_can, &msg, handle);
nexpaq 1:55a6170b404f 60 unlock();
nexpaq 1:55a6170b404f 61 return ret;
nexpaq 1:55a6170b404f 62 }
nexpaq 1:55a6170b404f 63
nexpaq 1:55a6170b404f 64 void CAN::reset() {
nexpaq 1:55a6170b404f 65 lock();
nexpaq 1:55a6170b404f 66 can_reset(&_can);
nexpaq 1:55a6170b404f 67 unlock();
nexpaq 1:55a6170b404f 68 }
nexpaq 1:55a6170b404f 69
nexpaq 1:55a6170b404f 70 unsigned char CAN::rderror() {
nexpaq 1:55a6170b404f 71 lock();
nexpaq 1:55a6170b404f 72 int ret = can_rderror(&_can);
nexpaq 1:55a6170b404f 73 unlock();
nexpaq 1:55a6170b404f 74 return ret;
nexpaq 1:55a6170b404f 75 }
nexpaq 1:55a6170b404f 76
nexpaq 1:55a6170b404f 77 unsigned char CAN::tderror() {
nexpaq 1:55a6170b404f 78 lock();
nexpaq 1:55a6170b404f 79 int ret = can_tderror(&_can);
nexpaq 1:55a6170b404f 80 unlock();
nexpaq 1:55a6170b404f 81 return ret;
nexpaq 1:55a6170b404f 82 }
nexpaq 1:55a6170b404f 83
nexpaq 1:55a6170b404f 84 void CAN::monitor(bool silent) {
nexpaq 1:55a6170b404f 85 lock();
nexpaq 1:55a6170b404f 86 can_monitor(&_can, (silent) ? 1 : 0);
nexpaq 1:55a6170b404f 87 unlock();
nexpaq 1:55a6170b404f 88 }
nexpaq 1:55a6170b404f 89
nexpaq 1:55a6170b404f 90 int CAN::mode(Mode mode) {
nexpaq 1:55a6170b404f 91 lock();
nexpaq 1:55a6170b404f 92 int ret = can_mode(&_can, (CanMode)mode);
nexpaq 1:55a6170b404f 93 unlock();
nexpaq 1:55a6170b404f 94 return ret;
nexpaq 1:55a6170b404f 95 }
nexpaq 1:55a6170b404f 96
nexpaq 1:55a6170b404f 97 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
nexpaq 1:55a6170b404f 98 lock();
nexpaq 1:55a6170b404f 99 int ret = can_filter(&_can, id, mask, format, handle);
nexpaq 1:55a6170b404f 100 unlock();
nexpaq 1:55a6170b404f 101 return ret;
nexpaq 1:55a6170b404f 102 }
nexpaq 1:55a6170b404f 103
nexpaq 1:55a6170b404f 104 void CAN::attach(Callback<void()> func, IrqType type) {
nexpaq 1:55a6170b404f 105 lock();
nexpaq 1:55a6170b404f 106 if (func) {
nexpaq 1:55a6170b404f 107 _irq[(CanIrqType)type].attach(func);
nexpaq 1:55a6170b404f 108 can_irq_set(&_can, (CanIrqType)type, 1);
nexpaq 1:55a6170b404f 109 } else {
nexpaq 1:55a6170b404f 110 _irq[(CanIrqType)type].attach(donothing);
nexpaq 1:55a6170b404f 111 can_irq_set(&_can, (CanIrqType)type, 0);
nexpaq 1:55a6170b404f 112 }
nexpaq 1:55a6170b404f 113 unlock();
nexpaq 1:55a6170b404f 114 }
nexpaq 1:55a6170b404f 115
nexpaq 1:55a6170b404f 116 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
nexpaq 1:55a6170b404f 117 CAN *handler = (CAN*)id;
nexpaq 1:55a6170b404f 118 handler->_irq[type].call();
nexpaq 1:55a6170b404f 119 }
nexpaq 1:55a6170b404f 120
nexpaq 1:55a6170b404f 121 void CAN::lock() {
nexpaq 1:55a6170b404f 122 _mutex.lock();
nexpaq 1:55a6170b404f 123 }
nexpaq 1:55a6170b404f 124
nexpaq 1:55a6170b404f 125 void CAN::unlock() {
nexpaq 1:55a6170b404f 126 _mutex.unlock();
nexpaq 1:55a6170b404f 127 }
nexpaq 1:55a6170b404f 128
nexpaq 1:55a6170b404f 129 } // namespace mbed
nexpaq 1:55a6170b404f 130
nexpaq 1:55a6170b404f 131 #endif