Fawwaz Nadzmy / mbed-dev

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drivers/CAN.cpp@153:da99e106a1c2, 2016-12-21 (annotated)

Committer:
fwndz
Date:
Wed Dec 21 13:29:33 2016 +0000
Revision:
153:da99e106a1c2
Parent:
149:156823d33999 
init

Who changed what in which revision?

UserRevisionLine numberNew contents of line
<> 149:156823d33999 1 /* mbed Microcontroller Library
<> 149:156823d33999 2 * Copyright (c) 2006-2013 ARM Limited
<> 149:156823d33999 3 *
<> 149:156823d33999 4 * Licensed under the Apache License, Version 2.0 (the "License");
<> 149:156823d33999 5 * you may not use this file except in compliance with the License.
<> 149:156823d33999 6 * You may obtain a copy of the License at
<> 149:156823d33999 7 *
<> 149:156823d33999 8 * http://www.apache.org/licenses/LICENSE-2.0
<> 149:156823d33999 9 *
<> 149:156823d33999 10 * Unless required by applicable law or agreed to in writing, software
<> 149:156823d33999 11 * distributed under the License is distributed on an "AS IS" BASIS,
<> 149:156823d33999 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
<> 149:156823d33999 13 * See the License for the specific language governing permissions and
<> 149:156823d33999 14 * limitations under the License.
<> 149:156823d33999 15 */
<> 149:156823d33999 16 #include "drivers/CAN.h"
<> 149:156823d33999 17
<> 149:156823d33999 18 #if DEVICE_CAN
<> 149:156823d33999 19
<> 149:156823d33999 20 #include "cmsis.h"
<> 149:156823d33999 21
<> 149:156823d33999 22 namespace mbed {
<> 149:156823d33999 23
<> 149:156823d33999 24 static void donothing() {}
<> 149:156823d33999 25
<> 149:156823d33999 26 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
<> 149:156823d33999 27 // No lock needed in constructor
<> 149:156823d33999 28
<> 149:156823d33999 29 for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
<> 149:156823d33999 30 _irq[i].attach(donothing);
<> 149:156823d33999 31 }
<> 149:156823d33999 32
<> 149:156823d33999 33 can_init(&_can, rd, td);
<> 149:156823d33999 34 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
<> 149:156823d33999 35 }
<> 149:156823d33999 36
<> 149:156823d33999 37 CAN::~CAN() {
<> 149:156823d33999 38 // No lock needed in destructor
<> 149:156823d33999 39 can_irq_free(&_can);
<> 149:156823d33999 40 can_free(&_can);
<> 149:156823d33999 41 }
<> 149:156823d33999 42
<> 149:156823d33999 43 int CAN::frequency(int f) {
<> 149:156823d33999 44 lock();
<> 149:156823d33999 45 int ret = can_frequency(&_can, f);
<> 149:156823d33999 46 unlock();
<> 149:156823d33999 47 return ret;
<> 149:156823d33999 48 }
<> 149:156823d33999 49
<> 149:156823d33999 50 int CAN::write(CANMessage msg) {
<> 149:156823d33999 51 lock();
<> 149:156823d33999 52 int ret = can_write(&_can, msg, 0);
<> 149:156823d33999 53 unlock();
<> 149:156823d33999 54 return ret;
<> 149:156823d33999 55 }
<> 149:156823d33999 56
<> 149:156823d33999 57 int CAN::read(CANMessage &msg, int handle) {
<> 149:156823d33999 58 lock();
<> 149:156823d33999 59 int ret = can_read(&_can, &msg, handle);
<> 149:156823d33999 60 unlock();
<> 149:156823d33999 61 return ret;
<> 149:156823d33999 62 }
<> 149:156823d33999 63
<> 149:156823d33999 64 void CAN::reset() {
<> 149:156823d33999 65 lock();
<> 149:156823d33999 66 can_reset(&_can);
<> 149:156823d33999 67 unlock();
<> 149:156823d33999 68 }
<> 149:156823d33999 69
<> 149:156823d33999 70 unsigned char CAN::rderror() {
<> 149:156823d33999 71 lock();
<> 149:156823d33999 72 int ret = can_rderror(&_can);
<> 149:156823d33999 73 unlock();
<> 149:156823d33999 74 return ret;
<> 149:156823d33999 75 }
<> 149:156823d33999 76
<> 149:156823d33999 77 unsigned char CAN::tderror() {
<> 149:156823d33999 78 lock();
<> 149:156823d33999 79 int ret = can_tderror(&_can);
<> 149:156823d33999 80 unlock();
<> 149:156823d33999 81 return ret;
<> 149:156823d33999 82 }
<> 149:156823d33999 83
<> 149:156823d33999 84 void CAN::monitor(bool silent) {
<> 149:156823d33999 85 lock();
<> 149:156823d33999 86 can_monitor(&_can, (silent) ? 1 : 0);
<> 149:156823d33999 87 unlock();
<> 149:156823d33999 88 }
<> 149:156823d33999 89
<> 149:156823d33999 90 int CAN::mode(Mode mode) {
<> 149:156823d33999 91 lock();
<> 149:156823d33999 92 int ret = can_mode(&_can, (CanMode)mode);
<> 149:156823d33999 93 unlock();
<> 149:156823d33999 94 return ret;
<> 149:156823d33999 95 }
<> 149:156823d33999 96
<> 149:156823d33999 97 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
<> 149:156823d33999 98 lock();
<> 149:156823d33999 99 int ret = can_filter(&_can, id, mask, format, handle);
<> 149:156823d33999 100 unlock();
<> 149:156823d33999 101 return ret;
<> 149:156823d33999 102 }
<> 149:156823d33999 103
<> 149:156823d33999 104 void CAN::attach(Callback<void()> func, IrqType type) {
<> 149:156823d33999 105 lock();
<> 149:156823d33999 106 if (func) {
<> 149:156823d33999 107 _irq[(CanIrqType)type].attach(func);
<> 149:156823d33999 108 can_irq_set(&_can, (CanIrqType)type, 1);
<> 149:156823d33999 109 } else {
<> 149:156823d33999 110 _irq[(CanIrqType)type].attach(donothing);
<> 149:156823d33999 111 can_irq_set(&_can, (CanIrqType)type, 0);
<> 149:156823d33999 112 }
<> 149:156823d33999 113 unlock();
<> 149:156823d33999 114 }
<> 149:156823d33999 115
<> 149:156823d33999 116 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
<> 149:156823d33999 117 CAN *handler = (CAN*)id;
<> 149:156823d33999 118 handler->_irq[type].call();
<> 149:156823d33999 119 }
<> 149:156823d33999 120
<> 149:156823d33999 121 void CAN::lock() {
<> 149:156823d33999 122 _mutex.lock();
<> 149:156823d33999 123 }
<> 149:156823d33999 124
<> 149:156823d33999 125 void CAN::unlock() {
<> 149:156823d33999 126 _mutex.unlock();
<> 149:156823d33999 127 }
<> 149:156823d33999 128
<> 149:156823d33999 129 } // namespace mbed
<> 149:156823d33999 130
<> 149:156823d33999 131 #endif