Diff: common/CAN.cpp

Revision:

15:4892fe388435

Parent:

13:0645d8841f51

--- a/common/CAN.cpp	Mon Aug 05 14:54:27 2013 +0000
+++ b/common/CAN.cpp	Wed Aug 07 16:43:59 2013 +0300
@@ -23,10 +23,12 @@
 
 CAN::CAN(PinName rd, PinName td) {
     can_init(&_can, rd, td);
+    can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
 }
 
 CAN::~CAN() {
     can_free(&_can);
+    can_irq_free(&_can);
 }
 
 int CAN::frequency(int f) {
@@ -57,62 +59,23 @@
     can_monitor(&_can, (silent) ? 1 : 0);
 }
 
-static FunctionPointer* can_obj[2] = { NULL };
-
-// Have to check that the CAN block is active before reading the Interrupt
-// Control Register, or the mbed hangs
-void can_irq(void) {
-    uint32_t icr;
-
-    if(LPC_SC->PCONP & (1 << 13)) {
-        icr = LPC_CAN1->ICR;
+int CAN::mode(Mode mode) {
+    return can_mode(&_can, (CanMode)mode);
+}
 
-        if(icr && (can_obj[0] != NULL)) {
-            can_obj[0]->call();
-        }
-    }
-
-    if(LPC_SC->PCONP & (1 << 14)) {
-        icr = LPC_CAN2->ICR;
-        if(icr && (can_obj[1] != NULL)) {
-            can_obj[1]->call();
+    void CAN::attach(void (*fptr)(void), IrqType type) {
+        if (fptr) {
+            _irq[(CanIrqType)type].attach(fptr);
+            can_irq_set(&_can, (CanIrqType)type, 1);
+        } else {
+            can_irq_set(&_can, (CanIrqType)type, 0);
         }
     }
 
-}
-
-void CAN::setup_interrupt(void) {
-    switch ((int)_can.dev) {
-        case CAN_1: can_obj[0] = &_rxirq; break;
-        case CAN_2: can_obj[1] = &_rxirq; break;
+    void CAN::_irq_handler(uint32_t id, CanIrqType type) {
+        CAN *handler = (CAN*)id;
+        handler->_irq[type].call();
     }
-    _can.dev->MOD |= 1;
-    _can.dev->IER |= 1;
-    _can.dev->MOD &= ~1;
-    NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq);
-    NVIC_EnableIRQ(CAN_IRQn);
-}
-
-void CAN::remove_interrupt(void) {
-    switch ((int)_can.dev) {
-        case CAN_1: can_obj[0] = NULL; break;
-        case CAN_2: can_obj[1] = NULL; break;
-    }
-
-    _can.dev->IER &= ~(1);
-    if ((can_obj[0] == NULL) && (can_obj[1] == NULL)) {
-        NVIC_DisableIRQ(CAN_IRQn);
-    }
-}
-
-void CAN::attach(void (*fptr)(void)) {
-    if (fptr != NULL) {
-        _rxirq.attach(fptr);
-        setup_interrupt();
-    } else {
-        remove_interrupt();
-    }
-}
 
 } // namespace mbed