Gan likun / mbed1-dev

001

drivers/CAN.cpp@0:13413ea9a877, 2022-06-12 (annotated)

Committer:
ganlikun
Date:
Sun Jun 12 14:02:44 2022 +0000
Revision:
0:13413ea9a877
00

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ganlikun 0:13413ea9a877 1 /* mbed Microcontroller Library
ganlikun 0:13413ea9a877 2 * Copyright (c) 2006-2013 ARM Limited
ganlikun 0:13413ea9a877 3 *
ganlikun 0:13413ea9a877 4 * Licensed under the Apache License, Version 2.0 (the "License");
ganlikun 0:13413ea9a877 5 * you may not use this file except in compliance with the License.
ganlikun 0:13413ea9a877 6 * You may obtain a copy of the License at
ganlikun 0:13413ea9a877 7 *
ganlikun 0:13413ea9a877 8 * http://www.apache.org/licenses/LICENSE-2.0
ganlikun 0:13413ea9a877 9 *
ganlikun 0:13413ea9a877 10 * Unless required by applicable law or agreed to in writing, software
ganlikun 0:13413ea9a877 11 * distributed under the License is distributed on an "AS IS" BASIS,
ganlikun 0:13413ea9a877 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ganlikun 0:13413ea9a877 13 * See the License for the specific language governing permissions and
ganlikun 0:13413ea9a877 14 * limitations under the License.
ganlikun 0:13413ea9a877 15 */
ganlikun 0:13413ea9a877 16 #include "drivers/CAN.h"
ganlikun 0:13413ea9a877 17
ganlikun 0:13413ea9a877 18 #if DEVICE_CAN
ganlikun 0:13413ea9a877 19
ganlikun 0:13413ea9a877 20 #include "cmsis.h"
ganlikun 0:13413ea9a877 21 #include "platform/mbed_sleep.h"
ganlikun 0:13413ea9a877 22
ganlikun 0:13413ea9a877 23 namespace mbed {
ganlikun 0:13413ea9a877 24
ganlikun 0:13413ea9a877 25 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
ganlikun 0:13413ea9a877 26 // No lock needed in constructor
ganlikun 0:13413ea9a877 27
ganlikun 0:13413ea9a877 28 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
ganlikun 0:13413ea9a877 29 _irq[i] = NULL;
ganlikun 0:13413ea9a877 30 }
ganlikun 0:13413ea9a877 31
ganlikun 0:13413ea9a877 32 can_init(&_can, rd, td);
ganlikun 0:13413ea9a877 33 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
ganlikun 0:13413ea9a877 34 }
ganlikun 0:13413ea9a877 35
ganlikun 0:13413ea9a877 36 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
ganlikun 0:13413ea9a877 37 // No lock needed in constructor
ganlikun 0:13413ea9a877 38
ganlikun 0:13413ea9a877 39 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
ganlikun 0:13413ea9a877 40 _irq[i] = NULL;
ganlikun 0:13413ea9a877 41 }
ganlikun 0:13413ea9a877 42
ganlikun 0:13413ea9a877 43 can_init_freq(&_can, rd, td, hz);
ganlikun 0:13413ea9a877 44 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
ganlikun 0:13413ea9a877 45 }
ganlikun 0:13413ea9a877 46
ganlikun 0:13413ea9a877 47 CAN::~CAN() {
ganlikun 0:13413ea9a877 48 // No lock needed in destructor
ganlikun 0:13413ea9a877 49
ganlikun 0:13413ea9a877 50 // Detaching interrupts releases the sleep lock if it was locked
ganlikun 0:13413ea9a877 51 for (int irq = 0; irq < IrqCnt; irq++) {
ganlikun 0:13413ea9a877 52 attach(NULL, (IrqType)irq);
ganlikun 0:13413ea9a877 53 }
ganlikun 0:13413ea9a877 54 can_irq_free(&_can);
ganlikun 0:13413ea9a877 55 can_free(&_can);
ganlikun 0:13413ea9a877 56 }
ganlikun 0:13413ea9a877 57
ganlikun 0:13413ea9a877 58 int CAN::frequency(int f) {
ganlikun 0:13413ea9a877 59 lock();
ganlikun 0:13413ea9a877 60 int ret = can_frequency(&_can, f);
ganlikun 0:13413ea9a877 61 unlock();
ganlikun 0:13413ea9a877 62 return ret;
ganlikun 0:13413ea9a877 63 }
ganlikun 0:13413ea9a877 64
ganlikun 0:13413ea9a877 65 int CAN::write(CANMessage msg) {
ganlikun 0:13413ea9a877 66 lock();
ganlikun 0:13413ea9a877 67 int ret = can_write(&_can, msg, 0);
ganlikun 0:13413ea9a877 68 unlock();
ganlikun 0:13413ea9a877 69 return ret;
ganlikun 0:13413ea9a877 70 }
ganlikun 0:13413ea9a877 71
ganlikun 0:13413ea9a877 72 int CAN::read(CANMessage &msg, int handle) {
ganlikun 0:13413ea9a877 73 lock();
ganlikun 0:13413ea9a877 74 int ret = can_read(&_can, &msg, handle);
ganlikun 0:13413ea9a877 75 unlock();
ganlikun 0:13413ea9a877 76 return ret;
ganlikun 0:13413ea9a877 77 }
ganlikun 0:13413ea9a877 78
ganlikun 0:13413ea9a877 79 void CAN::reset() {
ganlikun 0:13413ea9a877 80 lock();
ganlikun 0:13413ea9a877 81 can_reset(&_can);
ganlikun 0:13413ea9a877 82 unlock();
ganlikun 0:13413ea9a877 83 }
ganlikun 0:13413ea9a877 84
ganlikun 0:13413ea9a877 85 unsigned char CAN::rderror() {
ganlikun 0:13413ea9a877 86 lock();
ganlikun 0:13413ea9a877 87 int ret = can_rderror(&_can);
ganlikun 0:13413ea9a877 88 unlock();
ganlikun 0:13413ea9a877 89 return ret;
ganlikun 0:13413ea9a877 90 }
ganlikun 0:13413ea9a877 91
ganlikun 0:13413ea9a877 92 unsigned char CAN::tderror() {
ganlikun 0:13413ea9a877 93 lock();
ganlikun 0:13413ea9a877 94 int ret = can_tderror(&_can);
ganlikun 0:13413ea9a877 95 unlock();
ganlikun 0:13413ea9a877 96 return ret;
ganlikun 0:13413ea9a877 97 }
ganlikun 0:13413ea9a877 98
ganlikun 0:13413ea9a877 99 void CAN::monitor(bool silent) {
ganlikun 0:13413ea9a877 100 lock();
ganlikun 0:13413ea9a877 101 can_monitor(&_can, (silent) ? 1 : 0);
ganlikun 0:13413ea9a877 102 unlock();
ganlikun 0:13413ea9a877 103 }
ganlikun 0:13413ea9a877 104
ganlikun 0:13413ea9a877 105 int CAN::mode(Mode mode) {
ganlikun 0:13413ea9a877 106 lock();
ganlikun 0:13413ea9a877 107 int ret = can_mode(&_can, (CanMode)mode);
ganlikun 0:13413ea9a877 108 unlock();
ganlikun 0:13413ea9a877 109 return ret;
ganlikun 0:13413ea9a877 110 }
ganlikun 0:13413ea9a877 111
ganlikun 0:13413ea9a877 112 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
ganlikun 0:13413ea9a877 113 lock();
ganlikun 0:13413ea9a877 114 int ret = can_filter(&_can, id, mask, format, handle);
ganlikun 0:13413ea9a877 115 unlock();
ganlikun 0:13413ea9a877 116 return ret;
ganlikun 0:13413ea9a877 117 }
ganlikun 0:13413ea9a877 118
ganlikun 0:13413ea9a877 119 void CAN::attach(Callback<void()> func, IrqType type) {
ganlikun 0:13413ea9a877 120 lock();
ganlikun 0:13413ea9a877 121 if (func) {
ganlikun 0:13413ea9a877 122 // lock deep sleep only the first time
ganlikun 0:13413ea9a877 123 if (!_irq[(CanIrqType)type]) {
ganlikun 0:13413ea9a877 124 sleep_manager_lock_deep_sleep();
ganlikun 0:13413ea9a877 125 }
ganlikun 0:13413ea9a877 126 _irq[(CanIrqType)type] = func;
ganlikun 0:13413ea9a877 127 can_irq_set(&_can, (CanIrqType)type, 1);
ganlikun 0:13413ea9a877 128 } else {
ganlikun 0:13413ea9a877 129 // unlock deep sleep only the first time
ganlikun 0:13413ea9a877 130 if (_irq[(CanIrqType)type]) {
ganlikun 0:13413ea9a877 131 sleep_manager_unlock_deep_sleep();
ganlikun 0:13413ea9a877 132 }
ganlikun 0:13413ea9a877 133 _irq[(CanIrqType)type] = NULL;
ganlikun 0:13413ea9a877 134 can_irq_set(&_can, (CanIrqType)type, 0);
ganlikun 0:13413ea9a877 135 }
ganlikun 0:13413ea9a877 136 unlock();
ganlikun 0:13413ea9a877 137 }
ganlikun 0:13413ea9a877 138
ganlikun 0:13413ea9a877 139 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
ganlikun 0:13413ea9a877 140 CAN *handler = (CAN*)id;
ganlikun 0:13413ea9a877 141 if (handler->_irq[type]) {
ganlikun 0:13413ea9a877 142 handler->_irq[type].call();
ganlikun 0:13413ea9a877 143 }
ganlikun 0:13413ea9a877 144 }
ganlikun 0:13413ea9a877 145
ganlikun 0:13413ea9a877 146 void CAN::lock() {
ganlikun 0:13413ea9a877 147 _mutex.lock();
ganlikun 0:13413ea9a877 148 }
ganlikun 0:13413ea9a877 149
ganlikun 0:13413ea9a877 150 void CAN::unlock() {
ganlikun 0:13413ea9a877 151 _mutex.unlock();
ganlikun 0:13413ea9a877 152 }
ganlikun 0:13413ea9a877 153
ganlikun 0:13413ea9a877 154 } // namespace mbed
ganlikun 0:13413ea9a877 155
ganlikun 0:13413ea9a877 156 #endif
ganlikun 0:13413ea9a877 157