RTC auf true
drivers/CAN.cpp@0:38ceb79fef03, 2018-11-28 (annotated)
- Committer:
- kevman
- Date:
- Wed Nov 28 15:10:15 2018 +0000
- Revision:
- 0:38ceb79fef03
RTC modified
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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kevman | 0:38ceb79fef03 | 1 | /* mbed Microcontroller Library |
kevman | 0:38ceb79fef03 | 2 | * Copyright (c) 2006-2013 ARM Limited |
kevman | 0:38ceb79fef03 | 3 | * |
kevman | 0:38ceb79fef03 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
kevman | 0:38ceb79fef03 | 5 | * you may not use this file except in compliance with the License. |
kevman | 0:38ceb79fef03 | 6 | * You may obtain a copy of the License at |
kevman | 0:38ceb79fef03 | 7 | * |
kevman | 0:38ceb79fef03 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
kevman | 0:38ceb79fef03 | 9 | * |
kevman | 0:38ceb79fef03 | 10 | * Unless required by applicable law or agreed to in writing, software |
kevman | 0:38ceb79fef03 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
kevman | 0:38ceb79fef03 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
kevman | 0:38ceb79fef03 | 13 | * See the License for the specific language governing permissions and |
kevman | 0:38ceb79fef03 | 14 | * limitations under the License. |
kevman | 0:38ceb79fef03 | 15 | */ |
kevman | 0:38ceb79fef03 | 16 | #include "drivers/CAN.h" |
kevman | 0:38ceb79fef03 | 17 | |
kevman | 0:38ceb79fef03 | 18 | #if DEVICE_CAN |
kevman | 0:38ceb79fef03 | 19 | |
kevman | 0:38ceb79fef03 | 20 | #include "platform/mbed_power_mgmt.h" |
kevman | 0:38ceb79fef03 | 21 | |
kevman | 0:38ceb79fef03 | 22 | namespace mbed { |
kevman | 0:38ceb79fef03 | 23 | |
kevman | 0:38ceb79fef03 | 24 | CAN::CAN(PinName rd, PinName td) : _can(), _irq() |
kevman | 0:38ceb79fef03 | 25 | { |
kevman | 0:38ceb79fef03 | 26 | // No lock needed in constructor |
kevman | 0:38ceb79fef03 | 27 | |
kevman | 0:38ceb79fef03 | 28 | for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) { |
kevman | 0:38ceb79fef03 | 29 | _irq[i] = NULL; |
kevman | 0:38ceb79fef03 | 30 | } |
kevman | 0:38ceb79fef03 | 31 | |
kevman | 0:38ceb79fef03 | 32 | can_init(&_can, rd, td); |
kevman | 0:38ceb79fef03 | 33 | can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this); |
kevman | 0:38ceb79fef03 | 34 | } |
kevman | 0:38ceb79fef03 | 35 | |
kevman | 0:38ceb79fef03 | 36 | CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() |
kevman | 0:38ceb79fef03 | 37 | { |
kevman | 0:38ceb79fef03 | 38 | // No lock needed in constructor |
kevman | 0:38ceb79fef03 | 39 | |
kevman | 0:38ceb79fef03 | 40 | for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) { |
kevman | 0:38ceb79fef03 | 41 | _irq[i] = NULL; |
kevman | 0:38ceb79fef03 | 42 | } |
kevman | 0:38ceb79fef03 | 43 | |
kevman | 0:38ceb79fef03 | 44 | can_init_freq(&_can, rd, td, hz); |
kevman | 0:38ceb79fef03 | 45 | can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this); |
kevman | 0:38ceb79fef03 | 46 | } |
kevman | 0:38ceb79fef03 | 47 | |
kevman | 0:38ceb79fef03 | 48 | CAN::~CAN() |
kevman | 0:38ceb79fef03 | 49 | { |
kevman | 0:38ceb79fef03 | 50 | // No lock needed in destructor |
kevman | 0:38ceb79fef03 | 51 | |
kevman | 0:38ceb79fef03 | 52 | // Detaching interrupts releases the sleep lock if it was locked |
kevman | 0:38ceb79fef03 | 53 | for (int irq = 0; irq < IrqCnt; irq++) { |
kevman | 0:38ceb79fef03 | 54 | attach(NULL, (IrqType)irq); |
kevman | 0:38ceb79fef03 | 55 | } |
kevman | 0:38ceb79fef03 | 56 | can_irq_free(&_can); |
kevman | 0:38ceb79fef03 | 57 | can_free(&_can); |
kevman | 0:38ceb79fef03 | 58 | } |
kevman | 0:38ceb79fef03 | 59 | |
kevman | 0:38ceb79fef03 | 60 | int CAN::frequency(int f) |
kevman | 0:38ceb79fef03 | 61 | { |
kevman | 0:38ceb79fef03 | 62 | lock(); |
kevman | 0:38ceb79fef03 | 63 | int ret = can_frequency(&_can, f); |
kevman | 0:38ceb79fef03 | 64 | unlock(); |
kevman | 0:38ceb79fef03 | 65 | return ret; |
kevman | 0:38ceb79fef03 | 66 | } |
kevman | 0:38ceb79fef03 | 67 | |
kevman | 0:38ceb79fef03 | 68 | int CAN::write(CANMessage msg) |
kevman | 0:38ceb79fef03 | 69 | { |
kevman | 0:38ceb79fef03 | 70 | lock(); |
kevman | 0:38ceb79fef03 | 71 | int ret = can_write(&_can, msg, 0); |
kevman | 0:38ceb79fef03 | 72 | unlock(); |
kevman | 0:38ceb79fef03 | 73 | return ret; |
kevman | 0:38ceb79fef03 | 74 | } |
kevman | 0:38ceb79fef03 | 75 | |
kevman | 0:38ceb79fef03 | 76 | int CAN::read(CANMessage &msg, int handle) |
kevman | 0:38ceb79fef03 | 77 | { |
kevman | 0:38ceb79fef03 | 78 | lock(); |
kevman | 0:38ceb79fef03 | 79 | int ret = can_read(&_can, &msg, handle); |
kevman | 0:38ceb79fef03 | 80 | unlock(); |
kevman | 0:38ceb79fef03 | 81 | return ret; |
kevman | 0:38ceb79fef03 | 82 | } |
kevman | 0:38ceb79fef03 | 83 | |
kevman | 0:38ceb79fef03 | 84 | void CAN::reset() |
kevman | 0:38ceb79fef03 | 85 | { |
kevman | 0:38ceb79fef03 | 86 | lock(); |
kevman | 0:38ceb79fef03 | 87 | can_reset(&_can); |
kevman | 0:38ceb79fef03 | 88 | unlock(); |
kevman | 0:38ceb79fef03 | 89 | } |
kevman | 0:38ceb79fef03 | 90 | |
kevman | 0:38ceb79fef03 | 91 | unsigned char CAN::rderror() |
kevman | 0:38ceb79fef03 | 92 | { |
kevman | 0:38ceb79fef03 | 93 | lock(); |
kevman | 0:38ceb79fef03 | 94 | int ret = can_rderror(&_can); |
kevman | 0:38ceb79fef03 | 95 | unlock(); |
kevman | 0:38ceb79fef03 | 96 | return ret; |
kevman | 0:38ceb79fef03 | 97 | } |
kevman | 0:38ceb79fef03 | 98 | |
kevman | 0:38ceb79fef03 | 99 | unsigned char CAN::tderror() |
kevman | 0:38ceb79fef03 | 100 | { |
kevman | 0:38ceb79fef03 | 101 | lock(); |
kevman | 0:38ceb79fef03 | 102 | int ret = can_tderror(&_can); |
kevman | 0:38ceb79fef03 | 103 | unlock(); |
kevman | 0:38ceb79fef03 | 104 | return ret; |
kevman | 0:38ceb79fef03 | 105 | } |
kevman | 0:38ceb79fef03 | 106 | |
kevman | 0:38ceb79fef03 | 107 | void CAN::monitor(bool silent) |
kevman | 0:38ceb79fef03 | 108 | { |
kevman | 0:38ceb79fef03 | 109 | lock(); |
kevman | 0:38ceb79fef03 | 110 | can_monitor(&_can, (silent) ? 1 : 0); |
kevman | 0:38ceb79fef03 | 111 | unlock(); |
kevman | 0:38ceb79fef03 | 112 | } |
kevman | 0:38ceb79fef03 | 113 | |
kevman | 0:38ceb79fef03 | 114 | int CAN::mode(Mode mode) |
kevman | 0:38ceb79fef03 | 115 | { |
kevman | 0:38ceb79fef03 | 116 | lock(); |
kevman | 0:38ceb79fef03 | 117 | int ret = can_mode(&_can, (CanMode)mode); |
kevman | 0:38ceb79fef03 | 118 | unlock(); |
kevman | 0:38ceb79fef03 | 119 | return ret; |
kevman | 0:38ceb79fef03 | 120 | } |
kevman | 0:38ceb79fef03 | 121 | |
kevman | 0:38ceb79fef03 | 122 | int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) |
kevman | 0:38ceb79fef03 | 123 | { |
kevman | 0:38ceb79fef03 | 124 | lock(); |
kevman | 0:38ceb79fef03 | 125 | int ret = can_filter(&_can, id, mask, format, handle); |
kevman | 0:38ceb79fef03 | 126 | unlock(); |
kevman | 0:38ceb79fef03 | 127 | return ret; |
kevman | 0:38ceb79fef03 | 128 | } |
kevman | 0:38ceb79fef03 | 129 | |
kevman | 0:38ceb79fef03 | 130 | void CAN::attach(Callback<void()> func, IrqType type) |
kevman | 0:38ceb79fef03 | 131 | { |
kevman | 0:38ceb79fef03 | 132 | lock(); |
kevman | 0:38ceb79fef03 | 133 | if (func) { |
kevman | 0:38ceb79fef03 | 134 | // lock deep sleep only the first time |
kevman | 0:38ceb79fef03 | 135 | if (!_irq[(CanIrqType)type]) { |
kevman | 0:38ceb79fef03 | 136 | sleep_manager_lock_deep_sleep(); |
kevman | 0:38ceb79fef03 | 137 | } |
kevman | 0:38ceb79fef03 | 138 | _irq[(CanIrqType)type] = func; |
kevman | 0:38ceb79fef03 | 139 | can_irq_set(&_can, (CanIrqType)type, 1); |
kevman | 0:38ceb79fef03 | 140 | } else { |
kevman | 0:38ceb79fef03 | 141 | // unlock deep sleep only the first time |
kevman | 0:38ceb79fef03 | 142 | if (_irq[(CanIrqType)type]) { |
kevman | 0:38ceb79fef03 | 143 | sleep_manager_unlock_deep_sleep(); |
kevman | 0:38ceb79fef03 | 144 | } |
kevman | 0:38ceb79fef03 | 145 | _irq[(CanIrqType)type] = NULL; |
kevman | 0:38ceb79fef03 | 146 | can_irq_set(&_can, (CanIrqType)type, 0); |
kevman | 0:38ceb79fef03 | 147 | } |
kevman | 0:38ceb79fef03 | 148 | unlock(); |
kevman | 0:38ceb79fef03 | 149 | } |
kevman | 0:38ceb79fef03 | 150 | |
kevman | 0:38ceb79fef03 | 151 | void CAN::_irq_handler(uint32_t id, CanIrqType type) |
kevman | 0:38ceb79fef03 | 152 | { |
kevman | 0:38ceb79fef03 | 153 | CAN *handler = (CAN *)id; |
kevman | 0:38ceb79fef03 | 154 | if (handler->_irq[type]) { |
kevman | 0:38ceb79fef03 | 155 | handler->_irq[type].call(); |
kevman | 0:38ceb79fef03 | 156 | } |
kevman | 0:38ceb79fef03 | 157 | } |
kevman | 0:38ceb79fef03 | 158 | |
kevman | 0:38ceb79fef03 | 159 | void CAN::lock() |
kevman | 0:38ceb79fef03 | 160 | { |
kevman | 0:38ceb79fef03 | 161 | _mutex.lock(); |
kevman | 0:38ceb79fef03 | 162 | } |
kevman | 0:38ceb79fef03 | 163 | |
kevman | 0:38ceb79fef03 | 164 | void CAN::unlock() |
kevman | 0:38ceb79fef03 | 165 | { |
kevman | 0:38ceb79fef03 | 166 | _mutex.unlock(); |
kevman | 0:38ceb79fef03 | 167 | } |
kevman | 0:38ceb79fef03 | 168 | |
kevman | 0:38ceb79fef03 | 169 | } // namespace mbed |
kevman | 0:38ceb79fef03 | 170 | |
kevman | 0:38ceb79fef03 | 171 | #endif |