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Superseded

This library was superseded by mbed-dev - https://os.mbed.com/users/mbed_official/code/mbed-dev/.

Development branch of the mbed library sources. This library is kept in synch with the latest changes from the mbed SDK and it is not guaranteed to work.

If you are looking for a stable and tested release, please import one of the official mbed library releases:

Import librarymbed

The official Mbed 2 C/C++ SDK provides the software platform and libraries to build your applications.

Last commit 20 Feb 2019 by mbed official

common/CAN.cpp@9:0ce32e54c9a7, 2013-06-10 (annotated)

Committer:
emilmont
Date:
Mon Jun 10 16:03:00 2013 +0100
Revision:
9:0ce32e54c9a7
Parent:
cpp/CAN.cpp@2:143cac498751
Child:
10:3bc89ef62ce7
Refactoring of the mbed SDK:

- Provide a well defined HAL and API

- Keep separated the HAL implementations for the different targets

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 0:fd0d7bdfcdc2 1 /* mbed Microcontroller Library
emilmont 2:143cac498751 2 * Copyright (c) 2006-2013 ARM Limited
mbed_official 0:fd0d7bdfcdc2 3 *
emilmont 2:143cac498751 4 * Licensed under the Apache License, Version 2.0 (the "License");
emilmont 2:143cac498751 5 * you may not use this file except in compliance with the License.
emilmont 2:143cac498751 6 * You may obtain a copy of the License at
mbed_official 0:fd0d7bdfcdc2 7 *
emilmont 2:143cac498751 8 * http://www.apache.org/licenses/LICENSE-2.0
mbed_official 0:fd0d7bdfcdc2 9 *
emilmont 2:143cac498751 10 * Unless required by applicable law or agreed to in writing, software
emilmont 2:143cac498751 11 * distributed under the License is distributed on an "AS IS" BASIS,
emilmont 2:143cac498751 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
emilmont 2:143cac498751 13 * See the License for the specific language governing permissions and
emilmont 2:143cac498751 14 * limitations under the License.
mbed_official 0:fd0d7bdfcdc2 15 */
mbed_official 0:fd0d7bdfcdc2 16 #include "CAN.h"
mbed_official 0:fd0d7bdfcdc2 17
mbed_official 0:fd0d7bdfcdc2 18 #if DEVICE_CAN
mbed_official 0:fd0d7bdfcdc2 19
mbed_official 0:fd0d7bdfcdc2 20 #include "cmsis.h"
mbed_official 0:fd0d7bdfcdc2 21
mbed_official 0:fd0d7bdfcdc2 22 namespace mbed {
mbed_official 0:fd0d7bdfcdc2 23
mbed_official 0:fd0d7bdfcdc2 24 CAN::CAN(PinName rd, PinName td) {
mbed_official 0:fd0d7bdfcdc2 25 can_init(&_can, rd, td);
mbed_official 0:fd0d7bdfcdc2 26 }
mbed_official 0:fd0d7bdfcdc2 27
mbed_official 0:fd0d7bdfcdc2 28 CAN::~CAN() {
mbed_official 0:fd0d7bdfcdc2 29 can_free(&_can);
mbed_official 0:fd0d7bdfcdc2 30 }
emilmont 2:143cac498751 31
mbed_official 0:fd0d7bdfcdc2 32 int CAN::frequency(int f) {
mbed_official 0:fd0d7bdfcdc2 33 return can_frequency(&_can, f);
mbed_official 0:fd0d7bdfcdc2 34 }
mbed_official 0:fd0d7bdfcdc2 35
mbed_official 0:fd0d7bdfcdc2 36 int CAN::write(CANMessage msg) {
mbed_official 0:fd0d7bdfcdc2 37 return can_write(&_can, msg, 0);
mbed_official 0:fd0d7bdfcdc2 38 }
emilmont 2:143cac498751 39
mbed_official 0:fd0d7bdfcdc2 40 int CAN::read(CANMessage &msg) {
mbed_official 0:fd0d7bdfcdc2 41 return can_read(&_can, &msg);
mbed_official 0:fd0d7bdfcdc2 42 }
mbed_official 0:fd0d7bdfcdc2 43
mbed_official 0:fd0d7bdfcdc2 44 void CAN::reset() {
mbed_official 0:fd0d7bdfcdc2 45 can_reset(&_can);
mbed_official 0:fd0d7bdfcdc2 46 }
mbed_official 0:fd0d7bdfcdc2 47
mbed_official 0:fd0d7bdfcdc2 48 unsigned char CAN::rderror() {
mbed_official 0:fd0d7bdfcdc2 49 return can_rderror(&_can);
mbed_official 0:fd0d7bdfcdc2 50 }
mbed_official 0:fd0d7bdfcdc2 51
mbed_official 0:fd0d7bdfcdc2 52 unsigned char CAN::tderror() {
mbed_official 0:fd0d7bdfcdc2 53 return can_tderror(&_can);
mbed_official 0:fd0d7bdfcdc2 54 }
mbed_official 0:fd0d7bdfcdc2 55
mbed_official 0:fd0d7bdfcdc2 56 void CAN::monitor(bool silent) {
mbed_official 0:fd0d7bdfcdc2 57 can_monitor(&_can, (silent) ? 1 : 0);
mbed_official 0:fd0d7bdfcdc2 58 }
mbed_official 0:fd0d7bdfcdc2 59
mbed_official 0:fd0d7bdfcdc2 60 static FunctionPointer* can_obj[2] = { NULL };
mbed_official 0:fd0d7bdfcdc2 61
mbed_official 0:fd0d7bdfcdc2 62 // Have to check that the CAN block is active before reading the Interrupt
mbed_official 0:fd0d7bdfcdc2 63 // Control Register, or the mbed hangs
mbed_official 0:fd0d7bdfcdc2 64 void can_irq(void) {
mbed_official 0:fd0d7bdfcdc2 65 uint32_t icr;
emilmont 2:143cac498751 66
mbed_official 0:fd0d7bdfcdc2 67 if(LPC_SC->PCONP & (1 << 13)) {
mbed_official 0:fd0d7bdfcdc2 68 icr = LPC_CAN1->ICR;
emilmont 2:143cac498751 69
mbed_official 0:fd0d7bdfcdc2 70 if(icr && (can_obj[0] != NULL)) {
mbed_official 0:fd0d7bdfcdc2 71 can_obj[0]->call();
mbed_official 0:fd0d7bdfcdc2 72 }
mbed_official 0:fd0d7bdfcdc2 73 }
emilmont 2:143cac498751 74
mbed_official 0:fd0d7bdfcdc2 75 if(LPC_SC->PCONP & (1 << 14)) {
mbed_official 0:fd0d7bdfcdc2 76 icr = LPC_CAN2->ICR;
mbed_official 0:fd0d7bdfcdc2 77 if(icr && (can_obj[1] != NULL)) {
mbed_official 0:fd0d7bdfcdc2 78 can_obj[1]->call();
mbed_official 0:fd0d7bdfcdc2 79 }
mbed_official 0:fd0d7bdfcdc2 80 }
mbed_official 0:fd0d7bdfcdc2 81
mbed_official 0:fd0d7bdfcdc2 82 }
mbed_official 0:fd0d7bdfcdc2 83
mbed_official 0:fd0d7bdfcdc2 84 void CAN::setup_interrupt(void) {
mbed_official 0:fd0d7bdfcdc2 85 switch ((int)_can.dev) {
mbed_official 0:fd0d7bdfcdc2 86 case CAN_1: can_obj[0] = &_rxirq; break;
mbed_official 0:fd0d7bdfcdc2 87 case CAN_2: can_obj[1] = &_rxirq; break;
mbed_official 0:fd0d7bdfcdc2 88 }
mbed_official 0:fd0d7bdfcdc2 89 _can.dev->MOD |= 1;
mbed_official 0:fd0d7bdfcdc2 90 _can.dev->IER |= 1;
mbed_official 0:fd0d7bdfcdc2 91 _can.dev->MOD &= ~1;
mbed_official 0:fd0d7bdfcdc2 92 NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq);
mbed_official 0:fd0d7bdfcdc2 93 NVIC_EnableIRQ(CAN_IRQn);
mbed_official 0:fd0d7bdfcdc2 94 }
mbed_official 0:fd0d7bdfcdc2 95
mbed_official 0:fd0d7bdfcdc2 96 void CAN::remove_interrupt(void) {
mbed_official 0:fd0d7bdfcdc2 97 switch ((int)_can.dev) {
mbed_official 0:fd0d7bdfcdc2 98 case CAN_1: can_obj[0] = NULL; break;
mbed_official 0:fd0d7bdfcdc2 99 case CAN_2: can_obj[1] = NULL; break;
mbed_official 0:fd0d7bdfcdc2 100 }
emilmont 2:143cac498751 101
mbed_official 0:fd0d7bdfcdc2 102 _can.dev->IER &= ~(1);
mbed_official 0:fd0d7bdfcdc2 103 if ((can_obj[0] == NULL) && (can_obj[1] == NULL)) {
mbed_official 0:fd0d7bdfcdc2 104 NVIC_DisableIRQ(CAN_IRQn);
mbed_official 0:fd0d7bdfcdc2 105 }
mbed_official 0:fd0d7bdfcdc2 106 }
mbed_official 0:fd0d7bdfcdc2 107
mbed_official 0:fd0d7bdfcdc2 108 void CAN::attach(void (*fptr)(void)) {
mbed_official 0:fd0d7bdfcdc2 109 if (fptr != NULL) {
mbed_official 0:fd0d7bdfcdc2 110 _rxirq.attach(fptr);
mbed_official 0:fd0d7bdfcdc2 111 setup_interrupt();
mbed_official 0:fd0d7bdfcdc2 112 } else {
mbed_official 0:fd0d7bdfcdc2 113 remove_interrupt();
mbed_official 0:fd0d7bdfcdc2 114 }
mbed_official 0:fd0d7bdfcdc2 115 }
mbed_official 0:fd0d7bdfcdc2 116
mbed_official 0:fd0d7bdfcdc2 117 } // namespace mbed
mbed_official 0:fd0d7bdfcdc2 118
mbed_official 0:fd0d7bdfcdc2 119 #endif