Gan likun / The prosthetic control

The prosthetic control（MIT）

drivers/CAN.cpp@0:20e0c61e0684, 2022-06-23 (annotated)

Committer:
ganlikun
Date:
Thu Jun 23 05:23:34 2022 +0000
Revision:
0:20e0c61e0684
01

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ganlikun 0:20e0c61e0684 1 /* mbed Microcontroller Library
ganlikun 0:20e0c61e0684 2 * Copyright (c) 2006-2013 ARM Limited
ganlikun 0:20e0c61e0684 3 *
ganlikun 0:20e0c61e0684 4 * Licensed under the Apache License, Version 2.0 (the "License");
ganlikun 0:20e0c61e0684 5 * you may not use this file except in compliance with the License.
ganlikun 0:20e0c61e0684 6 * You may obtain a copy of the License at
ganlikun 0:20e0c61e0684 7 *
ganlikun 0:20e0c61e0684 8 * http://www.apache.org/licenses/LICENSE-2.0
ganlikun 0:20e0c61e0684 9 *
ganlikun 0:20e0c61e0684 10 * Unless required by applicable law or agreed to in writing, software
ganlikun 0:20e0c61e0684 11 * distributed under the License is distributed on an "AS IS" BASIS,
ganlikun 0:20e0c61e0684 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ganlikun 0:20e0c61e0684 13 * See the License for the specific language governing permissions and
ganlikun 0:20e0c61e0684 14 * limitations under the License.
ganlikun 0:20e0c61e0684 15 */
ganlikun 0:20e0c61e0684 16 #include "drivers/CAN.h"
ganlikun 0:20e0c61e0684 17
ganlikun 0:20e0c61e0684 18 #if DEVICE_CAN
ganlikun 0:20e0c61e0684 19
ganlikun 0:20e0c61e0684 20 #include "cmsis.h"
ganlikun 0:20e0c61e0684 21 #include "platform/mbed_sleep.h"
ganlikun 0:20e0c61e0684 22
ganlikun 0:20e0c61e0684 23 namespace mbed {
ganlikun 0:20e0c61e0684 24
ganlikun 0:20e0c61e0684 25 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
ganlikun 0:20e0c61e0684 26 // No lock needed in constructor
ganlikun 0:20e0c61e0684 27
ganlikun 0:20e0c61e0684 28 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
ganlikun 0:20e0c61e0684 29 _irq[i] = NULL;
ganlikun 0:20e0c61e0684 30 }
ganlikun 0:20e0c61e0684 31
ganlikun 0:20e0c61e0684 32 can_init(&_can, rd, td);
ganlikun 0:20e0c61e0684 33 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
ganlikun 0:20e0c61e0684 34 }
ganlikun 0:20e0c61e0684 35
ganlikun 0:20e0c61e0684 36 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
ganlikun 0:20e0c61e0684 37 // No lock needed in constructor
ganlikun 0:20e0c61e0684 38
ganlikun 0:20e0c61e0684 39 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
ganlikun 0:20e0c61e0684 40 _irq[i] = NULL;
ganlikun 0:20e0c61e0684 41 }
ganlikun 0:20e0c61e0684 42
ganlikun 0:20e0c61e0684 43 can_init_freq(&_can, rd, td, hz);
ganlikun 0:20e0c61e0684 44 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
ganlikun 0:20e0c61e0684 45 }
ganlikun 0:20e0c61e0684 46
ganlikun 0:20e0c61e0684 47 CAN::~CAN() {
ganlikun 0:20e0c61e0684 48 // No lock needed in destructor
ganlikun 0:20e0c61e0684 49
ganlikun 0:20e0c61e0684 50 // Detaching interrupts releases the sleep lock if it was locked
ganlikun 0:20e0c61e0684 51 for (int irq = 0; irq < IrqCnt; irq++) {
ganlikun 0:20e0c61e0684 52 attach(NULL, (IrqType)irq);
ganlikun 0:20e0c61e0684 53 }
ganlikun 0:20e0c61e0684 54 can_irq_free(&_can);
ganlikun 0:20e0c61e0684 55 can_free(&_can);
ganlikun 0:20e0c61e0684 56 }
ganlikun 0:20e0c61e0684 57
ganlikun 0:20e0c61e0684 58 int CAN::frequency(int f) {
ganlikun 0:20e0c61e0684 59 lock();
ganlikun 0:20e0c61e0684 60 int ret = can_frequency(&_can, f);
ganlikun 0:20e0c61e0684 61 unlock();
ganlikun 0:20e0c61e0684 62 return ret;
ganlikun 0:20e0c61e0684 63 }
ganlikun 0:20e0c61e0684 64
ganlikun 0:20e0c61e0684 65 int CAN::write(CANMessage msg) {
ganlikun 0:20e0c61e0684 66 lock();
ganlikun 0:20e0c61e0684 67 int ret = can_write(&_can, msg, 0);
ganlikun 0:20e0c61e0684 68 unlock();
ganlikun 0:20e0c61e0684 69 return ret;
ganlikun 0:20e0c61e0684 70 }
ganlikun 0:20e0c61e0684 71
ganlikun 0:20e0c61e0684 72 int CAN::read(CANMessage &msg, int handle) {
ganlikun 0:20e0c61e0684 73 lock();
ganlikun 0:20e0c61e0684 74 int ret = can_read(&_can, &msg, handle);
ganlikun 0:20e0c61e0684 75 unlock();
ganlikun 0:20e0c61e0684 76 return ret;
ganlikun 0:20e0c61e0684 77 }
ganlikun 0:20e0c61e0684 78
ganlikun 0:20e0c61e0684 79 void CAN::reset() {
ganlikun 0:20e0c61e0684 80 lock();
ganlikun 0:20e0c61e0684 81 can_reset(&_can);
ganlikun 0:20e0c61e0684 82 unlock();
ganlikun 0:20e0c61e0684 83 }
ganlikun 0:20e0c61e0684 84
ganlikun 0:20e0c61e0684 85 unsigned char CAN::rderror() {
ganlikun 0:20e0c61e0684 86 lock();
ganlikun 0:20e0c61e0684 87 int ret = can_rderror(&_can);
ganlikun 0:20e0c61e0684 88 unlock();
ganlikun 0:20e0c61e0684 89 return ret;
ganlikun 0:20e0c61e0684 90 }
ganlikun 0:20e0c61e0684 91
ganlikun 0:20e0c61e0684 92 unsigned char CAN::tderror() {
ganlikun 0:20e0c61e0684 93 lock();
ganlikun 0:20e0c61e0684 94 int ret = can_tderror(&_can);
ganlikun 0:20e0c61e0684 95 unlock();
ganlikun 0:20e0c61e0684 96 return ret;
ganlikun 0:20e0c61e0684 97 }
ganlikun 0:20e0c61e0684 98
ganlikun 0:20e0c61e0684 99 void CAN::monitor(bool silent) {
ganlikun 0:20e0c61e0684 100 lock();
ganlikun 0:20e0c61e0684 101 can_monitor(&_can, (silent) ? 1 : 0);
ganlikun 0:20e0c61e0684 102 unlock();
ganlikun 0:20e0c61e0684 103 }
ganlikun 0:20e0c61e0684 104
ganlikun 0:20e0c61e0684 105 int CAN::mode(Mode mode) {
ganlikun 0:20e0c61e0684 106 lock();
ganlikun 0:20e0c61e0684 107 int ret = can_mode(&_can, (CanMode)mode);
ganlikun 0:20e0c61e0684 108 unlock();
ganlikun 0:20e0c61e0684 109 return ret;
ganlikun 0:20e0c61e0684 110 }
ganlikun 0:20e0c61e0684 111
ganlikun 0:20e0c61e0684 112 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
ganlikun 0:20e0c61e0684 113 lock();
ganlikun 0:20e0c61e0684 114 int ret = can_filter(&_can, id, mask, format, handle);
ganlikun 0:20e0c61e0684 115 unlock();
ganlikun 0:20e0c61e0684 116 return ret;
ganlikun 0:20e0c61e0684 117 }
ganlikun 0:20e0c61e0684 118
ganlikun 0:20e0c61e0684 119 void CAN::attach(Callback<void()> func, IrqType type) {
ganlikun 0:20e0c61e0684 120 lock();
ganlikun 0:20e0c61e0684 121 if (func) {
ganlikun 0:20e0c61e0684 122 // lock deep sleep only the first time
ganlikun 0:20e0c61e0684 123 if (!_irq[(CanIrqType)type]) {
ganlikun 0:20e0c61e0684 124 sleep_manager_lock_deep_sleep();
ganlikun 0:20e0c61e0684 125 }
ganlikun 0:20e0c61e0684 126 _irq[(CanIrqType)type] = func;
ganlikun 0:20e0c61e0684 127 can_irq_set(&_can, (CanIrqType)type, 1);
ganlikun 0:20e0c61e0684 128 } else {
ganlikun 0:20e0c61e0684 129 // unlock deep sleep only the first time
ganlikun 0:20e0c61e0684 130 if (_irq[(CanIrqType)type]) {
ganlikun 0:20e0c61e0684 131 sleep_manager_unlock_deep_sleep();
ganlikun 0:20e0c61e0684 132 }
ganlikun 0:20e0c61e0684 133 _irq[(CanIrqType)type] = NULL;
ganlikun 0:20e0c61e0684 134 can_irq_set(&_can, (CanIrqType)type, 0);
ganlikun 0:20e0c61e0684 135 }
ganlikun 0:20e0c61e0684 136 unlock();
ganlikun 0:20e0c61e0684 137 }
ganlikun 0:20e0c61e0684 138
ganlikun 0:20e0c61e0684 139 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
ganlikun 0:20e0c61e0684 140 CAN *handler = (CAN*)id;
ganlikun 0:20e0c61e0684 141 if (handler->_irq[type]) {
ganlikun 0:20e0c61e0684 142 handler->_irq[type].call();
ganlikun 0:20e0c61e0684 143 }
ganlikun 0:20e0c61e0684 144 }
ganlikun 0:20e0c61e0684 145
ganlikun 0:20e0c61e0684 146 void CAN::lock() {
ganlikun 0:20e0c61e0684 147 _mutex.lock();
ganlikun 0:20e0c61e0684 148 }
ganlikun 0:20e0c61e0684 149
ganlikun 0:20e0c61e0684 150 void CAN::unlock() {
ganlikun 0:20e0c61e0684 151 _mutex.unlock();
ganlikun 0:20e0c61e0684 152 }
ganlikun 0:20e0c61e0684 153
ganlikun 0:20e0c61e0684 154 } // namespace mbed
ganlikun 0:20e0c61e0684 155
ganlikun 0:20e0c61e0684 156 #endif
ganlikun 0:20e0c61e0684 157