Gan likun / mbed-dev11

1232

drivers/CAN.cpp@0:06036f8bee2d, 2022-10-24 (annotated)

Committer:
ganlikun
Date:
Mon Oct 24 15:19:39 2022 +0000
Revision:
0:06036f8bee2d
11

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ganlikun 0:06036f8bee2d 1 /* mbed Microcontroller Library
ganlikun 0:06036f8bee2d 2 * Copyright (c) 2006-2013 ARM Limited
ganlikun 0:06036f8bee2d 3 *
ganlikun 0:06036f8bee2d 4 * Licensed under the Apache License, Version 2.0 (the "License");
ganlikun 0:06036f8bee2d 5 * you may not use this file except in compliance with the License.
ganlikun 0:06036f8bee2d 6 * You may obtain a copy of the License at
ganlikun 0:06036f8bee2d 7 *
ganlikun 0:06036f8bee2d 8 * http://www.apache.org/licenses/LICENSE-2.0
ganlikun 0:06036f8bee2d 9 *
ganlikun 0:06036f8bee2d 10 * Unless required by applicable law or agreed to in writing, software
ganlikun 0:06036f8bee2d 11 * distributed under the License is distributed on an "AS IS" BASIS,
ganlikun 0:06036f8bee2d 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ganlikun 0:06036f8bee2d 13 * See the License for the specific language governing permissions and
ganlikun 0:06036f8bee2d 14 * limitations under the License.
ganlikun 0:06036f8bee2d 15 */
ganlikun 0:06036f8bee2d 16 #include "drivers/CAN.h"
ganlikun 0:06036f8bee2d 17
ganlikun 0:06036f8bee2d 18 #if DEVICE_CAN
ganlikun 0:06036f8bee2d 19
ganlikun 0:06036f8bee2d 20 #include "cmsis.h"
ganlikun 0:06036f8bee2d 21 #include "platform/mbed_sleep.h"
ganlikun 0:06036f8bee2d 22
ganlikun 0:06036f8bee2d 23 namespace mbed {
ganlikun 0:06036f8bee2d 24
ganlikun 0:06036f8bee2d 25 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
ganlikun 0:06036f8bee2d 26 // No lock needed in constructor
ganlikun 0:06036f8bee2d 27
ganlikun 0:06036f8bee2d 28 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
ganlikun 0:06036f8bee2d 29 _irq[i] = NULL;
ganlikun 0:06036f8bee2d 30 }
ganlikun 0:06036f8bee2d 31
ganlikun 0:06036f8bee2d 32 can_init(&_can, rd, td);
ganlikun 0:06036f8bee2d 33 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
ganlikun 0:06036f8bee2d 34 }
ganlikun 0:06036f8bee2d 35
ganlikun 0:06036f8bee2d 36 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
ganlikun 0:06036f8bee2d 37 // No lock needed in constructor
ganlikun 0:06036f8bee2d 38
ganlikun 0:06036f8bee2d 39 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
ganlikun 0:06036f8bee2d 40 _irq[i] = NULL;
ganlikun 0:06036f8bee2d 41 }
ganlikun 0:06036f8bee2d 42
ganlikun 0:06036f8bee2d 43 can_init_freq(&_can, rd, td, hz);
ganlikun 0:06036f8bee2d 44 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
ganlikun 0:06036f8bee2d 45 }
ganlikun 0:06036f8bee2d 46
ganlikun 0:06036f8bee2d 47 CAN::~CAN() {
ganlikun 0:06036f8bee2d 48 // No lock needed in destructor
ganlikun 0:06036f8bee2d 49
ganlikun 0:06036f8bee2d 50 // Detaching interrupts releases the sleep lock if it was locked
ganlikun 0:06036f8bee2d 51 for (int irq = 0; irq < IrqCnt; irq++) {
ganlikun 0:06036f8bee2d 52 attach(NULL, (IrqType)irq);
ganlikun 0:06036f8bee2d 53 }
ganlikun 0:06036f8bee2d 54 can_irq_free(&_can);
ganlikun 0:06036f8bee2d 55 can_free(&_can);
ganlikun 0:06036f8bee2d 56 }
ganlikun 0:06036f8bee2d 57
ganlikun 0:06036f8bee2d 58 int CAN::frequency(int f) {
ganlikun 0:06036f8bee2d 59 lock();
ganlikun 0:06036f8bee2d 60 int ret = can_frequency(&_can, f);
ganlikun 0:06036f8bee2d 61 unlock();
ganlikun 0:06036f8bee2d 62 return ret;
ganlikun 0:06036f8bee2d 63 }
ganlikun 0:06036f8bee2d 64
ganlikun 0:06036f8bee2d 65 int CAN::write(CANMessage msg) {
ganlikun 0:06036f8bee2d 66 lock();
ganlikun 0:06036f8bee2d 67 int ret = can_write(&_can, msg, 0);
ganlikun 0:06036f8bee2d 68 unlock();
ganlikun 0:06036f8bee2d 69 return ret;
ganlikun 0:06036f8bee2d 70 }
ganlikun 0:06036f8bee2d 71
ganlikun 0:06036f8bee2d 72 int CAN::read(CANMessage &msg, int handle) {
ganlikun 0:06036f8bee2d 73 lock();
ganlikun 0:06036f8bee2d 74 int ret = can_read(&_can, &msg, handle);
ganlikun 0:06036f8bee2d 75 unlock();
ganlikun 0:06036f8bee2d 76 return ret;
ganlikun 0:06036f8bee2d 77 }
ganlikun 0:06036f8bee2d 78
ganlikun 0:06036f8bee2d 79 void CAN::reset() {
ganlikun 0:06036f8bee2d 80 lock();
ganlikun 0:06036f8bee2d 81 can_reset(&_can);
ganlikun 0:06036f8bee2d 82 unlock();
ganlikun 0:06036f8bee2d 83 }
ganlikun 0:06036f8bee2d 84
ganlikun 0:06036f8bee2d 85 unsigned char CAN::rderror() {
ganlikun 0:06036f8bee2d 86 lock();
ganlikun 0:06036f8bee2d 87 int ret = can_rderror(&_can);
ganlikun 0:06036f8bee2d 88 unlock();
ganlikun 0:06036f8bee2d 89 return ret;
ganlikun 0:06036f8bee2d 90 }
ganlikun 0:06036f8bee2d 91
ganlikun 0:06036f8bee2d 92 unsigned char CAN::tderror() {
ganlikun 0:06036f8bee2d 93 lock();
ganlikun 0:06036f8bee2d 94 int ret = can_tderror(&_can);
ganlikun 0:06036f8bee2d 95 unlock();
ganlikun 0:06036f8bee2d 96 return ret;
ganlikun 0:06036f8bee2d 97 }
ganlikun 0:06036f8bee2d 98
ganlikun 0:06036f8bee2d 99 void CAN::monitor(bool silent) {
ganlikun 0:06036f8bee2d 100 lock();
ganlikun 0:06036f8bee2d 101 can_monitor(&_can, (silent) ? 1 : 0);
ganlikun 0:06036f8bee2d 102 unlock();
ganlikun 0:06036f8bee2d 103 }
ganlikun 0:06036f8bee2d 104
ganlikun 0:06036f8bee2d 105 int CAN::mode(Mode mode) {
ganlikun 0:06036f8bee2d 106 lock();
ganlikun 0:06036f8bee2d 107 int ret = can_mode(&_can, (CanMode)mode);
ganlikun 0:06036f8bee2d 108 unlock();
ganlikun 0:06036f8bee2d 109 return ret;
ganlikun 0:06036f8bee2d 110 }
ganlikun 0:06036f8bee2d 111
ganlikun 0:06036f8bee2d 112 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
ganlikun 0:06036f8bee2d 113 lock();
ganlikun 0:06036f8bee2d 114 int ret = can_filter(&_can, id, mask, format, handle);
ganlikun 0:06036f8bee2d 115 unlock();
ganlikun 0:06036f8bee2d 116 return ret;
ganlikun 0:06036f8bee2d 117 }
ganlikun 0:06036f8bee2d 118
ganlikun 0:06036f8bee2d 119 void CAN::attach(Callback<void()> func, IrqType type) {
ganlikun 0:06036f8bee2d 120 lock();
ganlikun 0:06036f8bee2d 121 if (func) {
ganlikun 0:06036f8bee2d 122 // lock deep sleep only the first time
ganlikun 0:06036f8bee2d 123 if (!_irq[(CanIrqType)type]) {
ganlikun 0:06036f8bee2d 124 sleep_manager_lock_deep_sleep();
ganlikun 0:06036f8bee2d 125 }
ganlikun 0:06036f8bee2d 126 _irq[(CanIrqType)type] = func;
ganlikun 0:06036f8bee2d 127 can_irq_set(&_can, (CanIrqType)type, 1);
ganlikun 0:06036f8bee2d 128 } else {
ganlikun 0:06036f8bee2d 129 // unlock deep sleep only the first time
ganlikun 0:06036f8bee2d 130 if (_irq[(CanIrqType)type]) {
ganlikun 0:06036f8bee2d 131 sleep_manager_unlock_deep_sleep();
ganlikun 0:06036f8bee2d 132 }
ganlikun 0:06036f8bee2d 133 _irq[(CanIrqType)type] = NULL;
ganlikun 0:06036f8bee2d 134 can_irq_set(&_can, (CanIrqType)type, 0);
ganlikun 0:06036f8bee2d 135 }
ganlikun 0:06036f8bee2d 136 unlock();
ganlikun 0:06036f8bee2d 137 }
ganlikun 0:06036f8bee2d 138
ganlikun 0:06036f8bee2d 139 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
ganlikun 0:06036f8bee2d 140 CAN *handler = (CAN*)id;
ganlikun 0:06036f8bee2d 141 if (handler->_irq[type]) {
ganlikun 0:06036f8bee2d 142 handler->_irq[type].call();
ganlikun 0:06036f8bee2d 143 }
ganlikun 0:06036f8bee2d 144 }
ganlikun 0:06036f8bee2d 145
ganlikun 0:06036f8bee2d 146 void CAN::lock() {
ganlikun 0:06036f8bee2d 147 _mutex.lock();
ganlikun 0:06036f8bee2d 148 }
ganlikun 0:06036f8bee2d 149
ganlikun 0:06036f8bee2d 150 void CAN::unlock() {
ganlikun 0:06036f8bee2d 151 _mutex.unlock();
ganlikun 0:06036f8bee2d 152 }
ganlikun 0:06036f8bee2d 153
ganlikun 0:06036f8bee2d 154 } // namespace mbed
ganlikun 0:06036f8bee2d 155
ganlikun 0:06036f8bee2d 156 #endif
ganlikun 0:06036f8bee2d 157