Initial commit
mbed-dev-master/drivers/CAN.cpp@0:bb348c97df44, 2020-09-16 (annotated)
- Committer:
- lypinator
- Date:
- Wed Sep 16 01:11:49 2020 +0000
- Revision:
- 0:bb348c97df44
Added PWM
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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lypinator | 0:bb348c97df44 | 1 | /* mbed Microcontroller Library |
lypinator | 0:bb348c97df44 | 2 | * Copyright (c) 2006-2013 ARM Limited |
lypinator | 0:bb348c97df44 | 3 | * |
lypinator | 0:bb348c97df44 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
lypinator | 0:bb348c97df44 | 5 | * you may not use this file except in compliance with the License. |
lypinator | 0:bb348c97df44 | 6 | * You may obtain a copy of the License at |
lypinator | 0:bb348c97df44 | 7 | * |
lypinator | 0:bb348c97df44 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
lypinator | 0:bb348c97df44 | 9 | * |
lypinator | 0:bb348c97df44 | 10 | * Unless required by applicable law or agreed to in writing, software |
lypinator | 0:bb348c97df44 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
lypinator | 0:bb348c97df44 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
lypinator | 0:bb348c97df44 | 13 | * See the License for the specific language governing permissions and |
lypinator | 0:bb348c97df44 | 14 | * limitations under the License. |
lypinator | 0:bb348c97df44 | 15 | */ |
lypinator | 0:bb348c97df44 | 16 | #include "drivers/CAN.h" |
lypinator | 0:bb348c97df44 | 17 | |
lypinator | 0:bb348c97df44 | 18 | #if DEVICE_CAN |
lypinator | 0:bb348c97df44 | 19 | |
lypinator | 0:bb348c97df44 | 20 | #include "cmsis.h" |
lypinator | 0:bb348c97df44 | 21 | #include "platform/mbed_power_mgmt.h" |
lypinator | 0:bb348c97df44 | 22 | |
lypinator | 0:bb348c97df44 | 23 | namespace mbed { |
lypinator | 0:bb348c97df44 | 24 | |
lypinator | 0:bb348c97df44 | 25 | CAN::CAN(PinName rd, PinName td) : _can(), _irq() |
lypinator | 0:bb348c97df44 | 26 | { |
lypinator | 0:bb348c97df44 | 27 | // No lock needed in constructor |
lypinator | 0:bb348c97df44 | 28 | |
lypinator | 0:bb348c97df44 | 29 | for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) { |
lypinator | 0:bb348c97df44 | 30 | _irq[i] = NULL; |
lypinator | 0:bb348c97df44 | 31 | } |
lypinator | 0:bb348c97df44 | 32 | |
lypinator | 0:bb348c97df44 | 33 | can_init(&_can, rd, td); |
lypinator | 0:bb348c97df44 | 34 | can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this); |
lypinator | 0:bb348c97df44 | 35 | } |
lypinator | 0:bb348c97df44 | 36 | |
lypinator | 0:bb348c97df44 | 37 | CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() |
lypinator | 0:bb348c97df44 | 38 | { |
lypinator | 0:bb348c97df44 | 39 | // No lock needed in constructor |
lypinator | 0:bb348c97df44 | 40 | |
lypinator | 0:bb348c97df44 | 41 | for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) { |
lypinator | 0:bb348c97df44 | 42 | _irq[i] = NULL; |
lypinator | 0:bb348c97df44 | 43 | } |
lypinator | 0:bb348c97df44 | 44 | |
lypinator | 0:bb348c97df44 | 45 | can_init_freq(&_can, rd, td, hz); |
lypinator | 0:bb348c97df44 | 46 | can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this); |
lypinator | 0:bb348c97df44 | 47 | } |
lypinator | 0:bb348c97df44 | 48 | |
lypinator | 0:bb348c97df44 | 49 | CAN::~CAN() |
lypinator | 0:bb348c97df44 | 50 | { |
lypinator | 0:bb348c97df44 | 51 | // No lock needed in destructor |
lypinator | 0:bb348c97df44 | 52 | |
lypinator | 0:bb348c97df44 | 53 | // Detaching interrupts releases the sleep lock if it was locked |
lypinator | 0:bb348c97df44 | 54 | for (int irq = 0; irq < IrqCnt; irq++) { |
lypinator | 0:bb348c97df44 | 55 | attach(NULL, (IrqType)irq); |
lypinator | 0:bb348c97df44 | 56 | } |
lypinator | 0:bb348c97df44 | 57 | can_irq_free(&_can); |
lypinator | 0:bb348c97df44 | 58 | can_free(&_can); |
lypinator | 0:bb348c97df44 | 59 | } |
lypinator | 0:bb348c97df44 | 60 | |
lypinator | 0:bb348c97df44 | 61 | int CAN::frequency(int f) |
lypinator | 0:bb348c97df44 | 62 | { |
lypinator | 0:bb348c97df44 | 63 | lock(); |
lypinator | 0:bb348c97df44 | 64 | int ret = can_frequency(&_can, f); |
lypinator | 0:bb348c97df44 | 65 | unlock(); |
lypinator | 0:bb348c97df44 | 66 | return ret; |
lypinator | 0:bb348c97df44 | 67 | } |
lypinator | 0:bb348c97df44 | 68 | |
lypinator | 0:bb348c97df44 | 69 | int CAN::write(CANMessage msg) |
lypinator | 0:bb348c97df44 | 70 | { |
lypinator | 0:bb348c97df44 | 71 | lock(); |
lypinator | 0:bb348c97df44 | 72 | int ret = can_write(&_can, msg, 0); |
lypinator | 0:bb348c97df44 | 73 | unlock(); |
lypinator | 0:bb348c97df44 | 74 | return ret; |
lypinator | 0:bb348c97df44 | 75 | } |
lypinator | 0:bb348c97df44 | 76 | |
lypinator | 0:bb348c97df44 | 77 | int CAN::read(CANMessage &msg, int handle) |
lypinator | 0:bb348c97df44 | 78 | { |
lypinator | 0:bb348c97df44 | 79 | lock(); |
lypinator | 0:bb348c97df44 | 80 | int ret = can_read(&_can, &msg, handle); |
lypinator | 0:bb348c97df44 | 81 | unlock(); |
lypinator | 0:bb348c97df44 | 82 | return ret; |
lypinator | 0:bb348c97df44 | 83 | } |
lypinator | 0:bb348c97df44 | 84 | |
lypinator | 0:bb348c97df44 | 85 | void CAN::reset() |
lypinator | 0:bb348c97df44 | 86 | { |
lypinator | 0:bb348c97df44 | 87 | lock(); |
lypinator | 0:bb348c97df44 | 88 | can_reset(&_can); |
lypinator | 0:bb348c97df44 | 89 | unlock(); |
lypinator | 0:bb348c97df44 | 90 | } |
lypinator | 0:bb348c97df44 | 91 | |
lypinator | 0:bb348c97df44 | 92 | unsigned char CAN::rderror() |
lypinator | 0:bb348c97df44 | 93 | { |
lypinator | 0:bb348c97df44 | 94 | lock(); |
lypinator | 0:bb348c97df44 | 95 | int ret = can_rderror(&_can); |
lypinator | 0:bb348c97df44 | 96 | unlock(); |
lypinator | 0:bb348c97df44 | 97 | return ret; |
lypinator | 0:bb348c97df44 | 98 | } |
lypinator | 0:bb348c97df44 | 99 | |
lypinator | 0:bb348c97df44 | 100 | unsigned char CAN::tderror() |
lypinator | 0:bb348c97df44 | 101 | { |
lypinator | 0:bb348c97df44 | 102 | lock(); |
lypinator | 0:bb348c97df44 | 103 | int ret = can_tderror(&_can); |
lypinator | 0:bb348c97df44 | 104 | unlock(); |
lypinator | 0:bb348c97df44 | 105 | return ret; |
lypinator | 0:bb348c97df44 | 106 | } |
lypinator | 0:bb348c97df44 | 107 | |
lypinator | 0:bb348c97df44 | 108 | void CAN::monitor(bool silent) |
lypinator | 0:bb348c97df44 | 109 | { |
lypinator | 0:bb348c97df44 | 110 | lock(); |
lypinator | 0:bb348c97df44 | 111 | can_monitor(&_can, (silent) ? 1 : 0); |
lypinator | 0:bb348c97df44 | 112 | unlock(); |
lypinator | 0:bb348c97df44 | 113 | } |
lypinator | 0:bb348c97df44 | 114 | |
lypinator | 0:bb348c97df44 | 115 | int CAN::mode(Mode mode) |
lypinator | 0:bb348c97df44 | 116 | { |
lypinator | 0:bb348c97df44 | 117 | lock(); |
lypinator | 0:bb348c97df44 | 118 | int ret = can_mode(&_can, (CanMode)mode); |
lypinator | 0:bb348c97df44 | 119 | unlock(); |
lypinator | 0:bb348c97df44 | 120 | return ret; |
lypinator | 0:bb348c97df44 | 121 | } |
lypinator | 0:bb348c97df44 | 122 | |
lypinator | 0:bb348c97df44 | 123 | int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) |
lypinator | 0:bb348c97df44 | 124 | { |
lypinator | 0:bb348c97df44 | 125 | lock(); |
lypinator | 0:bb348c97df44 | 126 | int ret = can_filter(&_can, id, mask, format, handle); |
lypinator | 0:bb348c97df44 | 127 | unlock(); |
lypinator | 0:bb348c97df44 | 128 | return ret; |
lypinator | 0:bb348c97df44 | 129 | } |
lypinator | 0:bb348c97df44 | 130 | |
lypinator | 0:bb348c97df44 | 131 | void CAN::attach(Callback<void()> func, IrqType type) |
lypinator | 0:bb348c97df44 | 132 | { |
lypinator | 0:bb348c97df44 | 133 | lock(); |
lypinator | 0:bb348c97df44 | 134 | if (func) { |
lypinator | 0:bb348c97df44 | 135 | // lock deep sleep only the first time |
lypinator | 0:bb348c97df44 | 136 | if (!_irq[(CanIrqType)type]) { |
lypinator | 0:bb348c97df44 | 137 | sleep_manager_lock_deep_sleep(); |
lypinator | 0:bb348c97df44 | 138 | } |
lypinator | 0:bb348c97df44 | 139 | _irq[(CanIrqType)type] = func; |
lypinator | 0:bb348c97df44 | 140 | can_irq_set(&_can, (CanIrqType)type, 1); |
lypinator | 0:bb348c97df44 | 141 | } else { |
lypinator | 0:bb348c97df44 | 142 | // unlock deep sleep only the first time |
lypinator | 0:bb348c97df44 | 143 | if (_irq[(CanIrqType)type]) { |
lypinator | 0:bb348c97df44 | 144 | sleep_manager_unlock_deep_sleep(); |
lypinator | 0:bb348c97df44 | 145 | } |
lypinator | 0:bb348c97df44 | 146 | _irq[(CanIrqType)type] = NULL; |
lypinator | 0:bb348c97df44 | 147 | can_irq_set(&_can, (CanIrqType)type, 0); |
lypinator | 0:bb348c97df44 | 148 | } |
lypinator | 0:bb348c97df44 | 149 | unlock(); |
lypinator | 0:bb348c97df44 | 150 | } |
lypinator | 0:bb348c97df44 | 151 | |
lypinator | 0:bb348c97df44 | 152 | void CAN::_irq_handler(uint32_t id, CanIrqType type) |
lypinator | 0:bb348c97df44 | 153 | { |
lypinator | 0:bb348c97df44 | 154 | CAN *handler = (CAN *)id; |
lypinator | 0:bb348c97df44 | 155 | if (handler->_irq[type]) { |
lypinator | 0:bb348c97df44 | 156 | handler->_irq[type].call(); |
lypinator | 0:bb348c97df44 | 157 | } |
lypinator | 0:bb348c97df44 | 158 | } |
lypinator | 0:bb348c97df44 | 159 | |
lypinator | 0:bb348c97df44 | 160 | void CAN::lock() |
lypinator | 0:bb348c97df44 | 161 | { |
lypinator | 0:bb348c97df44 | 162 | _mutex.lock(); |
lypinator | 0:bb348c97df44 | 163 | } |
lypinator | 0:bb348c97df44 | 164 | |
lypinator | 0:bb348c97df44 | 165 | void CAN::unlock() |
lypinator | 0:bb348c97df44 | 166 | { |
lypinator | 0:bb348c97df44 | 167 | _mutex.unlock(); |
lypinator | 0:bb348c97df44 | 168 | } |
lypinator | 0:bb348c97df44 | 169 | |
lypinator | 0:bb348c97df44 | 170 | } // namespace mbed |
lypinator | 0:bb348c97df44 | 171 | |
lypinator | 0:bb348c97df44 | 172 | #endif |