Marco Zecchini / Mbed OS Example_RTOS

Rtos API example

mbed-os/drivers/CAN.cpp@0:9fca2b23d0ba, 2019-02-23 (annotated)

Committer:
marcozecchini
Date:
Sat Feb 23 12:13:36 2019 +0000
Revision:
0:9fca2b23d0ba
final commit

Who changed what in which revision?

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marcozecchini 0:9fca2b23d0ba 1 /* mbed Microcontroller Library
marcozecchini 0:9fca2b23d0ba 2 * Copyright (c) 2006-2013 ARM Limited
marcozecchini 0:9fca2b23d0ba 3 *
marcozecchini 0:9fca2b23d0ba 4 * Licensed under the Apache License, Version 2.0 (the "License");
marcozecchini 0:9fca2b23d0ba 5 * you may not use this file except in compliance with the License.
marcozecchini 0:9fca2b23d0ba 6 * You may obtain a copy of the License at
marcozecchini 0:9fca2b23d0ba 7 *
marcozecchini 0:9fca2b23d0ba 8 * http://www.apache.org/licenses/LICENSE-2.0
marcozecchini 0:9fca2b23d0ba 9 *
marcozecchini 0:9fca2b23d0ba 10 * Unless required by applicable law or agreed to in writing, software
marcozecchini 0:9fca2b23d0ba 11 * distributed under the License is distributed on an "AS IS" BASIS,
marcozecchini 0:9fca2b23d0ba 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
marcozecchini 0:9fca2b23d0ba 13 * See the License for the specific language governing permissions and
marcozecchini 0:9fca2b23d0ba 14 * limitations under the License.
marcozecchini 0:9fca2b23d0ba 15 */
marcozecchini 0:9fca2b23d0ba 16 #include "drivers/CAN.h"
marcozecchini 0:9fca2b23d0ba 17
marcozecchini 0:9fca2b23d0ba 18 #if DEVICE_CAN
marcozecchini 0:9fca2b23d0ba 19
marcozecchini 0:9fca2b23d0ba 20 #include "cmsis.h"
marcozecchini 0:9fca2b23d0ba 21 #include "platform/mbed_sleep.h"
marcozecchini 0:9fca2b23d0ba 22
marcozecchini 0:9fca2b23d0ba 23 namespace mbed {
marcozecchini 0:9fca2b23d0ba 24
marcozecchini 0:9fca2b23d0ba 25 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
marcozecchini 0:9fca2b23d0ba 26 // No lock needed in constructor
marcozecchini 0:9fca2b23d0ba 27
marcozecchini 0:9fca2b23d0ba 28 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
marcozecchini 0:9fca2b23d0ba 29 _irq[i] = NULL;
marcozecchini 0:9fca2b23d0ba 30 }
marcozecchini 0:9fca2b23d0ba 31
marcozecchini 0:9fca2b23d0ba 32 can_init(&_can, rd, td);
marcozecchini 0:9fca2b23d0ba 33 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
marcozecchini 0:9fca2b23d0ba 34 }
marcozecchini 0:9fca2b23d0ba 35
marcozecchini 0:9fca2b23d0ba 36 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
marcozecchini 0:9fca2b23d0ba 37 // No lock needed in constructor
marcozecchini 0:9fca2b23d0ba 38
marcozecchini 0:9fca2b23d0ba 39 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
marcozecchini 0:9fca2b23d0ba 40 _irq[i] = NULL;
marcozecchini 0:9fca2b23d0ba 41 }
marcozecchini 0:9fca2b23d0ba 42
marcozecchini 0:9fca2b23d0ba 43 can_init_freq(&_can, rd, td, hz);
marcozecchini 0:9fca2b23d0ba 44 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
marcozecchini 0:9fca2b23d0ba 45 }
marcozecchini 0:9fca2b23d0ba 46
marcozecchini 0:9fca2b23d0ba 47 CAN::~CAN() {
marcozecchini 0:9fca2b23d0ba 48 // No lock needed in destructor
marcozecchini 0:9fca2b23d0ba 49
marcozecchini 0:9fca2b23d0ba 50 // Detaching interrupts releases the sleep lock if it was locked
marcozecchini 0:9fca2b23d0ba 51 for (int irq = 0; irq < IrqCnt; irq++) {
marcozecchini 0:9fca2b23d0ba 52 attach(NULL, (IrqType)irq);
marcozecchini 0:9fca2b23d0ba 53 }
marcozecchini 0:9fca2b23d0ba 54 can_irq_free(&_can);
marcozecchini 0:9fca2b23d0ba 55 can_free(&_can);
marcozecchini 0:9fca2b23d0ba 56 }
marcozecchini 0:9fca2b23d0ba 57
marcozecchini 0:9fca2b23d0ba 58 int CAN::frequency(int f) {
marcozecchini 0:9fca2b23d0ba 59 lock();
marcozecchini 0:9fca2b23d0ba 60 int ret = can_frequency(&_can, f);
marcozecchini 0:9fca2b23d0ba 61 unlock();
marcozecchini 0:9fca2b23d0ba 62 return ret;
marcozecchini 0:9fca2b23d0ba 63 }
marcozecchini 0:9fca2b23d0ba 64
marcozecchini 0:9fca2b23d0ba 65 int CAN::write(CANMessage msg) {
marcozecchini 0:9fca2b23d0ba 66 lock();
marcozecchini 0:9fca2b23d0ba 67 int ret = can_write(&_can, msg, 0);
marcozecchini 0:9fca2b23d0ba 68 unlock();
marcozecchini 0:9fca2b23d0ba 69 return ret;
marcozecchini 0:9fca2b23d0ba 70 }
marcozecchini 0:9fca2b23d0ba 71
marcozecchini 0:9fca2b23d0ba 72 int CAN::read(CANMessage &msg, int handle) {
marcozecchini 0:9fca2b23d0ba 73 lock();
marcozecchini 0:9fca2b23d0ba 74 int ret = can_read(&_can, &msg, handle);
marcozecchini 0:9fca2b23d0ba 75 unlock();
marcozecchini 0:9fca2b23d0ba 76 return ret;
marcozecchini 0:9fca2b23d0ba 77 }
marcozecchini 0:9fca2b23d0ba 78
marcozecchini 0:9fca2b23d0ba 79 void CAN::reset() {
marcozecchini 0:9fca2b23d0ba 80 lock();
marcozecchini 0:9fca2b23d0ba 81 can_reset(&_can);
marcozecchini 0:9fca2b23d0ba 82 unlock();
marcozecchini 0:9fca2b23d0ba 83 }
marcozecchini 0:9fca2b23d0ba 84
marcozecchini 0:9fca2b23d0ba 85 unsigned char CAN::rderror() {
marcozecchini 0:9fca2b23d0ba 86 lock();
marcozecchini 0:9fca2b23d0ba 87 int ret = can_rderror(&_can);
marcozecchini 0:9fca2b23d0ba 88 unlock();
marcozecchini 0:9fca2b23d0ba 89 return ret;
marcozecchini 0:9fca2b23d0ba 90 }
marcozecchini 0:9fca2b23d0ba 91
marcozecchini 0:9fca2b23d0ba 92 unsigned char CAN::tderror() {
marcozecchini 0:9fca2b23d0ba 93 lock();
marcozecchini 0:9fca2b23d0ba 94 int ret = can_tderror(&_can);
marcozecchini 0:9fca2b23d0ba 95 unlock();
marcozecchini 0:9fca2b23d0ba 96 return ret;
marcozecchini 0:9fca2b23d0ba 97 }
marcozecchini 0:9fca2b23d0ba 98
marcozecchini 0:9fca2b23d0ba 99 void CAN::monitor(bool silent) {
marcozecchini 0:9fca2b23d0ba 100 lock();
marcozecchini 0:9fca2b23d0ba 101 can_monitor(&_can, (silent) ? 1 : 0);
marcozecchini 0:9fca2b23d0ba 102 unlock();
marcozecchini 0:9fca2b23d0ba 103 }
marcozecchini 0:9fca2b23d0ba 104
marcozecchini 0:9fca2b23d0ba 105 int CAN::mode(Mode mode) {
marcozecchini 0:9fca2b23d0ba 106 lock();
marcozecchini 0:9fca2b23d0ba 107 int ret = can_mode(&_can, (CanMode)mode);
marcozecchini 0:9fca2b23d0ba 108 unlock();
marcozecchini 0:9fca2b23d0ba 109 return ret;
marcozecchini 0:9fca2b23d0ba 110 }
marcozecchini 0:9fca2b23d0ba 111
marcozecchini 0:9fca2b23d0ba 112 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
marcozecchini 0:9fca2b23d0ba 113 lock();
marcozecchini 0:9fca2b23d0ba 114 int ret = can_filter(&_can, id, mask, format, handle);
marcozecchini 0:9fca2b23d0ba 115 unlock();
marcozecchini 0:9fca2b23d0ba 116 return ret;
marcozecchini 0:9fca2b23d0ba 117 }
marcozecchini 0:9fca2b23d0ba 118
marcozecchini 0:9fca2b23d0ba 119 void CAN::attach(Callback<void()> func, IrqType type) {
marcozecchini 0:9fca2b23d0ba 120 lock();
marcozecchini 0:9fca2b23d0ba 121 if (func) {
marcozecchini 0:9fca2b23d0ba 122 // lock deep sleep only the first time
marcozecchini 0:9fca2b23d0ba 123 if (!_irq[(CanIrqType)type]) {
marcozecchini 0:9fca2b23d0ba 124 sleep_manager_lock_deep_sleep();
marcozecchini 0:9fca2b23d0ba 125 }
marcozecchini 0:9fca2b23d0ba 126 _irq[(CanIrqType)type] = func;
marcozecchini 0:9fca2b23d0ba 127 can_irq_set(&_can, (CanIrqType)type, 1);
marcozecchini 0:9fca2b23d0ba 128 } else {
marcozecchini 0:9fca2b23d0ba 129 // unlock deep sleep only the first time
marcozecchini 0:9fca2b23d0ba 130 if (_irq[(CanIrqType)type]) {
marcozecchini 0:9fca2b23d0ba 131 sleep_manager_unlock_deep_sleep();
marcozecchini 0:9fca2b23d0ba 132 }
marcozecchini 0:9fca2b23d0ba 133 _irq[(CanIrqType)type] = NULL;
marcozecchini 0:9fca2b23d0ba 134 can_irq_set(&_can, (CanIrqType)type, 0);
marcozecchini 0:9fca2b23d0ba 135 }
marcozecchini 0:9fca2b23d0ba 136 unlock();
marcozecchini 0:9fca2b23d0ba 137 }
marcozecchini 0:9fca2b23d0ba 138
marcozecchini 0:9fca2b23d0ba 139 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
marcozecchini 0:9fca2b23d0ba 140 CAN *handler = (CAN*)id;
marcozecchini 0:9fca2b23d0ba 141 if (handler->_irq[type]) {
marcozecchini 0:9fca2b23d0ba 142 handler->_irq[type].call();
marcozecchini 0:9fca2b23d0ba 143 }
marcozecchini 0:9fca2b23d0ba 144 }
marcozecchini 0:9fca2b23d0ba 145
marcozecchini 0:9fca2b23d0ba 146 void CAN::lock() {
marcozecchini 0:9fca2b23d0ba 147 _mutex.lock();
marcozecchini 0:9fca2b23d0ba 148 }
marcozecchini 0:9fca2b23d0ba 149
marcozecchini 0:9fca2b23d0ba 150 void CAN::unlock() {
marcozecchini 0:9fca2b23d0ba 151 _mutex.unlock();
marcozecchini 0:9fca2b23d0ba 152 }
marcozecchini 0:9fca2b23d0ba 153
marcozecchini 0:9fca2b23d0ba 154 } // namespace mbed
marcozecchini 0:9fca2b23d0ba 155
marcozecchini 0:9fca2b23d0ba 156 #endif