Daiki Kato / mbed-os-lychee

mbed-os for GR-LYCHEE

Dependents:   mbed-os-example-blinky-gr-lychee GR-Boads_Camera_sample GR-Boards_Audio_Recoder GR-Boads_Camera_DisplayApp ... more

drivers/CAN.cpp@0:f782d9c66c49, 2018-02-02 (annotated)

Committer:
dkato
Date:
Fri Feb 02 05:42:23 2018 +0000
Revision:
0:f782d9c66c49
mbed-os for GR-LYCHEE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dkato 0:f782d9c66c49 1 /* mbed Microcontroller Library
dkato 0:f782d9c66c49 2 * Copyright (c) 2006-2013 ARM Limited
dkato 0:f782d9c66c49 3 *
dkato 0:f782d9c66c49 4 * Licensed under the Apache License, Version 2.0 (the "License");
dkato 0:f782d9c66c49 5 * you may not use this file except in compliance with the License.
dkato 0:f782d9c66c49 6 * You may obtain a copy of the License at
dkato 0:f782d9c66c49 7 *
dkato 0:f782d9c66c49 8 * http://www.apache.org/licenses/LICENSE-2.0
dkato 0:f782d9c66c49 9 *
dkato 0:f782d9c66c49 10 * Unless required by applicable law or agreed to in writing, software
dkato 0:f782d9c66c49 11 * distributed under the License is distributed on an "AS IS" BASIS,
dkato 0:f782d9c66c49 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
dkato 0:f782d9c66c49 13 * See the License for the specific language governing permissions and
dkato 0:f782d9c66c49 14 * limitations under the License.
dkato 0:f782d9c66c49 15 */
dkato 0:f782d9c66c49 16 #include "drivers/CAN.h"
dkato 0:f782d9c66c49 17
dkato 0:f782d9c66c49 18 #if DEVICE_CAN
dkato 0:f782d9c66c49 19
dkato 0:f782d9c66c49 20 #include "cmsis.h"
dkato 0:f782d9c66c49 21
dkato 0:f782d9c66c49 22 namespace mbed {
dkato 0:f782d9c66c49 23
dkato 0:f782d9c66c49 24 static void donothing() {}
dkato 0:f782d9c66c49 25
dkato 0:f782d9c66c49 26 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
dkato 0:f782d9c66c49 27 // No lock needed in constructor
dkato 0:f782d9c66c49 28
dkato 0:f782d9c66c49 29 for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
dkato 0:f782d9c66c49 30 _irq[i].attach(donothing);
dkato 0:f782d9c66c49 31 }
dkato 0:f782d9c66c49 32
dkato 0:f782d9c66c49 33 can_init(&_can, rd, td);
dkato 0:f782d9c66c49 34 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
dkato 0:f782d9c66c49 35 }
dkato 0:f782d9c66c49 36
dkato 0:f782d9c66c49 37 CAN::~CAN() {
dkato 0:f782d9c66c49 38 // No lock needed in destructor
dkato 0:f782d9c66c49 39 can_irq_free(&_can);
dkato 0:f782d9c66c49 40 can_free(&_can);
dkato 0:f782d9c66c49 41 }
dkato 0:f782d9c66c49 42
dkato 0:f782d9c66c49 43 int CAN::frequency(int f) {
dkato 0:f782d9c66c49 44 lock();
dkato 0:f782d9c66c49 45 int ret = can_frequency(&_can, f);
dkato 0:f782d9c66c49 46 unlock();
dkato 0:f782d9c66c49 47 return ret;
dkato 0:f782d9c66c49 48 }
dkato 0:f782d9c66c49 49
dkato 0:f782d9c66c49 50 int CAN::write(CANMessage msg) {
dkato 0:f782d9c66c49 51 lock();
dkato 0:f782d9c66c49 52 int ret = can_write(&_can, msg, 0);
dkato 0:f782d9c66c49 53 unlock();
dkato 0:f782d9c66c49 54 return ret;
dkato 0:f782d9c66c49 55 }
dkato 0:f782d9c66c49 56
dkato 0:f782d9c66c49 57 int CAN::read(CANMessage &msg, int handle) {
dkato 0:f782d9c66c49 58 lock();
dkato 0:f782d9c66c49 59 int ret = can_read(&_can, &msg, handle);
dkato 0:f782d9c66c49 60 unlock();
dkato 0:f782d9c66c49 61 return ret;
dkato 0:f782d9c66c49 62 }
dkato 0:f782d9c66c49 63
dkato 0:f782d9c66c49 64 void CAN::reset() {
dkato 0:f782d9c66c49 65 lock();
dkato 0:f782d9c66c49 66 can_reset(&_can);
dkato 0:f782d9c66c49 67 unlock();
dkato 0:f782d9c66c49 68 }
dkato 0:f782d9c66c49 69
dkato 0:f782d9c66c49 70 unsigned char CAN::rderror() {
dkato 0:f782d9c66c49 71 lock();
dkato 0:f782d9c66c49 72 int ret = can_rderror(&_can);
dkato 0:f782d9c66c49 73 unlock();
dkato 0:f782d9c66c49 74 return ret;
dkato 0:f782d9c66c49 75 }
dkato 0:f782d9c66c49 76
dkato 0:f782d9c66c49 77 unsigned char CAN::tderror() {
dkato 0:f782d9c66c49 78 lock();
dkato 0:f782d9c66c49 79 int ret = can_tderror(&_can);
dkato 0:f782d9c66c49 80 unlock();
dkato 0:f782d9c66c49 81 return ret;
dkato 0:f782d9c66c49 82 }
dkato 0:f782d9c66c49 83
dkato 0:f782d9c66c49 84 void CAN::monitor(bool silent) {
dkato 0:f782d9c66c49 85 lock();
dkato 0:f782d9c66c49 86 can_monitor(&_can, (silent) ? 1 : 0);
dkato 0:f782d9c66c49 87 unlock();
dkato 0:f782d9c66c49 88 }
dkato 0:f782d9c66c49 89
dkato 0:f782d9c66c49 90 int CAN::mode(Mode mode) {
dkato 0:f782d9c66c49 91 lock();
dkato 0:f782d9c66c49 92 int ret = can_mode(&_can, (CanMode)mode);
dkato 0:f782d9c66c49 93 unlock();
dkato 0:f782d9c66c49 94 return ret;
dkato 0:f782d9c66c49 95 }
dkato 0:f782d9c66c49 96
dkato 0:f782d9c66c49 97 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
dkato 0:f782d9c66c49 98 lock();
dkato 0:f782d9c66c49 99 int ret = can_filter(&_can, id, mask, format, handle);
dkato 0:f782d9c66c49 100 unlock();
dkato 0:f782d9c66c49 101 return ret;
dkato 0:f782d9c66c49 102 }
dkato 0:f782d9c66c49 103
dkato 0:f782d9c66c49 104 void CAN::attach(Callback<void()> func, IrqType type) {
dkato 0:f782d9c66c49 105 lock();
dkato 0:f782d9c66c49 106 if (func) {
dkato 0:f782d9c66c49 107 _irq[(CanIrqType)type].attach(func);
dkato 0:f782d9c66c49 108 can_irq_set(&_can, (CanIrqType)type, 1);
dkato 0:f782d9c66c49 109 } else {
dkato 0:f782d9c66c49 110 _irq[(CanIrqType)type].attach(donothing);
dkato 0:f782d9c66c49 111 can_irq_set(&_can, (CanIrqType)type, 0);
dkato 0:f782d9c66c49 112 }
dkato 0:f782d9c66c49 113 unlock();
dkato 0:f782d9c66c49 114 }
dkato 0:f782d9c66c49 115
dkato 0:f782d9c66c49 116 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
dkato 0:f782d9c66c49 117 CAN *handler = (CAN*)id;
dkato 0:f782d9c66c49 118 handler->_irq[type].call();
dkato 0:f782d9c66c49 119 }
dkato 0:f782d9c66c49 120
dkato 0:f782d9c66c49 121 void CAN::lock() {
dkato 0:f782d9c66c49 122 _mutex.lock();
dkato 0:f782d9c66c49 123 }
dkato 0:f782d9c66c49 124
dkato 0:f782d9c66c49 125 void CAN::unlock() {
dkato 0:f782d9c66c49 126 _mutex.unlock();
dkato 0:f782d9c66c49 127 }
dkato 0:f782d9c66c49 128
dkato 0:f782d9c66c49 129 } // namespace mbed
dkato 0:f782d9c66c49 130
dkato 0:f782d9c66c49 131 #endif