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Dependents: TYBLE16_simple_data_logger TYBLE16_MP3_Air
CAN.cpp
00001 /* mbed Microcontroller Library 00002 * Copyright (c) 2006-2019 ARM Limited 00003 * SPDX-License-Identifier: Apache-2.0 00004 * 00005 * Licensed under the Apache License, Version 2.0 (the "License"); 00006 * you may not use this file except in compliance with the License. 00007 * You may obtain a copy of the License at 00008 * 00009 * http://www.apache.org/licenses/LICENSE-2.0 00010 * 00011 * Unless required by applicable law or agreed to in writing, software 00012 * distributed under the License is distributed on an "AS IS" BASIS, 00013 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00014 * See the License for the specific language governing permissions and 00015 * limitations under the License. 00016 */ 00017 #include "drivers/CAN.h" 00018 00019 #if DEVICE_CAN 00020 00021 #include "platform/mbed_power_mgmt.h" 00022 00023 namespace mbed { 00024 00025 CAN::CAN(PinName rd, PinName td) : _can(), _irq() 00026 { 00027 // No lock needed in constructor 00028 can_init(&_can, rd, td); 00029 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this); 00030 } 00031 00032 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() 00033 { 00034 // No lock needed in constructor 00035 can_init_freq(&_can, rd, td, hz); 00036 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this); 00037 } 00038 00039 CAN::CAN(const can_pinmap_t &pinmap) : _can(), _irq() 00040 { 00041 // No lock needed in constructor 00042 can_init_direct(&_can, &pinmap); 00043 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this); 00044 } 00045 00046 CAN::CAN(const can_pinmap_t &pinmap, int hz) : _can(), _irq() 00047 { 00048 // No lock needed in constructor 00049 can_init_freq_direct(&_can, &pinmap, hz); 00050 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this); 00051 } 00052 00053 CAN::~CAN() 00054 { 00055 // No lock needed in destructor 00056 00057 // Detaching interrupts releases the sleep lock if it was locked 00058 for (int irq = 0; irq < IrqCnt; irq++) { 00059 attach(NULL, (IrqType)irq); 00060 } 00061 can_irq_free(&_can); 00062 can_free(&_can); 00063 } 00064 00065 int CAN::frequency(int f) 00066 { 00067 lock(); 00068 int ret = can_frequency(&_can, f); 00069 unlock(); 00070 return ret; 00071 } 00072 00073 int CAN::write(CANMessage msg) 00074 { 00075 lock(); 00076 int ret = can_write(&_can, msg, 0); 00077 unlock(); 00078 return ret; 00079 } 00080 00081 int CAN::read(CANMessage &msg, int handle) 00082 { 00083 lock(); 00084 int ret = can_read(&_can, &msg, handle); 00085 unlock(); 00086 return ret; 00087 } 00088 00089 void CAN::reset() 00090 { 00091 lock(); 00092 can_reset(&_can); 00093 unlock(); 00094 } 00095 00096 unsigned char CAN::rderror() 00097 { 00098 lock(); 00099 int ret = can_rderror(&_can); 00100 unlock(); 00101 return ret; 00102 } 00103 00104 unsigned char CAN::tderror() 00105 { 00106 lock(); 00107 int ret = can_tderror(&_can); 00108 unlock(); 00109 return ret; 00110 } 00111 00112 void CAN::monitor(bool silent) 00113 { 00114 lock(); 00115 can_monitor(&_can, (silent) ? 1 : 0); 00116 unlock(); 00117 } 00118 00119 int CAN::mode(Mode mode) 00120 { 00121 lock(); 00122 int ret = can_mode(&_can, (CanMode)mode); 00123 unlock(); 00124 return ret; 00125 } 00126 00127 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) 00128 { 00129 lock(); 00130 int ret = can_filter(&_can, id, mask, format, handle); 00131 unlock(); 00132 return ret; 00133 } 00134 00135 void CAN::attach(Callback<void()> func, IrqType type) 00136 { 00137 lock(); 00138 if (func) { 00139 // lock deep sleep only the first time 00140 if (!_irq[(CanIrqType)type]) { 00141 sleep_manager_lock_deep_sleep(); 00142 } 00143 _irq[(CanIrqType)type] = func; 00144 can_irq_set(&_can, (CanIrqType)type, 1); 00145 } else { 00146 // unlock deep sleep only the first time 00147 if (_irq[(CanIrqType)type]) { 00148 sleep_manager_unlock_deep_sleep(); 00149 } 00150 _irq[(CanIrqType)type] = NULL; 00151 can_irq_set(&_can, (CanIrqType)type, 0); 00152 } 00153 unlock(); 00154 } 00155 00156 void CAN::_irq_handler(uint32_t id, CanIrqType type) 00157 { 00158 CAN *handler = (CAN *)id; 00159 if (handler->_irq[type]) { 00160 handler->_irq[type].call(); 00161 } 00162 } 00163 00164 void CAN::lock() 00165 { 00166 _mutex.lock(); 00167 } 00168 00169 void CAN::unlock() 00170 { 00171 _mutex.unlock(); 00172 } 00173 00174 } // namespace mbed 00175 00176 #endif
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