Diff: common/CAN.cpp

Revision:

144:ef7eb2e8f9f7

Parent:

0:9b334a45a8ff

diff -r 423e1876dc07 -r ef7eb2e8f9f7 common/CAN.cpp
--- a/common/CAN.cpp	Tue Aug 02 14:07:36 2016 +0000
+++ b/common/CAN.cpp	Fri Sep 02 15:07:44 2016 +0100
@@ -1,86 +1,123 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2013 ARM Limited
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "CAN.h"
-
-#if DEVICE_CAN
-
-#include "cmsis.h"
-
-namespace mbed {
-
-CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
-    can_init(&_can, rd, td);
-    can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
-}
-
-CAN::~CAN() {
-    can_irq_free(&_can);
-    can_free(&_can);
-}
-
-int CAN::frequency(int f) {
-    return can_frequency(&_can, f);
-}
-
-int CAN::write(CANMessage msg) {
-    return can_write(&_can, msg, 0);
-}
-
-int CAN::read(CANMessage &msg, int handle) {
-    return can_read(&_can, &msg, handle);
-}
-
-void CAN::reset() {
-    can_reset(&_can);
-}
-
-unsigned char CAN::rderror() {
-    return can_rderror(&_can);
-}
-
-unsigned char CAN::tderror() {
-    return can_tderror(&_can);
-}
-
-void CAN::monitor(bool silent) {
-    can_monitor(&_can, (silent) ? 1 : 0);
-}
-
-int CAN::mode(Mode mode) {
-    return can_mode(&_can, (CanMode)mode);
-}
-
-int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
-    return can_filter(&_can, id, mask, format, handle);
-}
-
-void CAN::attach(void (*fptr)(void), IrqType type) {
-    if (fptr) {
-        _irq[(CanIrqType)type].attach(fptr);
-        can_irq_set(&_can, (CanIrqType)type, 1);
-    } else {
-        can_irq_set(&_can, (CanIrqType)type, 0);
-    }
-}
-
-void CAN::_irq_handler(uint32_t id, CanIrqType type) {
-    CAN *handler = (CAN*)id;
-    handler->_irq[type].call();
-}
-
-} // namespace mbed
-
-#endif
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "CAN.h"
+
+#if DEVICE_CAN
+
+#include "cmsis.h"
+
+namespace mbed {
+
+CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
+    // No lock needed in constructor
+    can_init(&_can, rd, td);
+    can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
+}
+
+CAN::~CAN() {
+    // No lock needed in destructor
+    can_irq_free(&_can);
+    can_free(&_can);
+}
+
+int CAN::frequency(int f) {
+    lock();
+    int ret = can_frequency(&_can, f);
+    unlock();
+    return ret;
+}
+
+int CAN::write(CANMessage msg) {
+    lock();
+    int ret = can_write(&_can, msg, 0);
+    unlock();
+    return ret;
+}
+
+int CAN::read(CANMessage &msg, int handle) {
+    lock();
+    int ret = can_read(&_can, &msg, handle);
+    unlock();
+    return ret;
+}
+
+void CAN::reset() {
+    lock();
+    can_reset(&_can);
+    unlock();
+}
+
+unsigned char CAN::rderror() {
+    lock();
+    int ret = can_rderror(&_can);
+    unlock();
+    return ret;
+}
+
+unsigned char CAN::tderror() {
+    lock();
+    int ret = can_tderror(&_can);
+    unlock();
+    return ret;
+}
+
+void CAN::monitor(bool silent) {
+    lock();
+    can_monitor(&_can, (silent) ? 1 : 0);
+    unlock();
+}
+
+int CAN::mode(Mode mode) {
+    lock();
+    int ret = can_mode(&_can, (CanMode)mode);
+    unlock();
+    return ret;
+}
+
+int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
+    lock();
+    int ret = can_filter(&_can, id, mask, format, handle);
+    unlock();
+    return ret;
+}
+
+void CAN::attach(Callback<void()> func, IrqType type) {
+    lock();
+    if (func) {
+        _irq[(CanIrqType)type].attach(func);
+        can_irq_set(&_can, (CanIrqType)type, 1);
+    } else {
+        can_irq_set(&_can, (CanIrqType)type, 0);
+    }
+    unlock();
+}
+
+void CAN::_irq_handler(uint32_t id, CanIrqType type) {
+    CAN *handler = (CAN*)id;
+    handler->_irq[type].call();
+}
+
+void CAN::lock() {
+    _mutex.lock();
+}
+
+void CAN::unlock() {
+    _mutex.unlock();
+}
+
+} // namespace mbed
+
+#endif