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mbed_src_STM32F7/common/CAN.cpp@0:aa3fc5ad02f7, 2019-06-04 (annotated)

Committer:
phungductung
Date:
Tue Jun 04 09:08:29 2019 +0000
Revision:
0:aa3fc5ad02f7
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phungductung 0:aa3fc5ad02f7 1 /* mbed Microcontroller Library
phungductung 0:aa3fc5ad02f7 2 * Copyright (c) 2006-2013 ARM Limited
phungductung 0:aa3fc5ad02f7 3 *
phungductung 0:aa3fc5ad02f7 4 * Licensed under the Apache License, Version 2.0 (the "License");
phungductung 0:aa3fc5ad02f7 5 * you may not use this file except in compliance with the License.
phungductung 0:aa3fc5ad02f7 6 * You may obtain a copy of the License at
phungductung 0:aa3fc5ad02f7 7 *
phungductung 0:aa3fc5ad02f7 8 * http://www.apache.org/licenses/LICENSE-2.0
phungductung 0:aa3fc5ad02f7 9 *
phungductung 0:aa3fc5ad02f7 10 * Unless required by applicable law or agreed to in writing, software
phungductung 0:aa3fc5ad02f7 11 * distributed under the License is distributed on an "AS IS" BASIS,
phungductung 0:aa3fc5ad02f7 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
phungductung 0:aa3fc5ad02f7 13 * See the License for the specific language governing permissions and
phungductung 0:aa3fc5ad02f7 14 * limitations under the License.
phungductung 0:aa3fc5ad02f7 15 */
phungductung 0:aa3fc5ad02f7 16 #include "CAN.h"
phungductung 0:aa3fc5ad02f7 17
phungductung 0:aa3fc5ad02f7 18 #if DEVICE_CAN
phungductung 0:aa3fc5ad02f7 19
phungductung 0:aa3fc5ad02f7 20 #include "cmsis.h"
phungductung 0:aa3fc5ad02f7 21
phungductung 0:aa3fc5ad02f7 22 namespace mbed {
phungductung 0:aa3fc5ad02f7 23
phungductung 0:aa3fc5ad02f7 24 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
phungductung 0:aa3fc5ad02f7 25 can_init(&_can, rd, td);
phungductung 0:aa3fc5ad02f7 26 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
phungductung 0:aa3fc5ad02f7 27 }
phungductung 0:aa3fc5ad02f7 28
phungductung 0:aa3fc5ad02f7 29 CAN::~CAN() {
phungductung 0:aa3fc5ad02f7 30 can_irq_free(&_can);
phungductung 0:aa3fc5ad02f7 31 can_free(&_can);
phungductung 0:aa3fc5ad02f7 32 }
phungductung 0:aa3fc5ad02f7 33
phungductung 0:aa3fc5ad02f7 34 int CAN::frequency(int f) {
phungductung 0:aa3fc5ad02f7 35 return can_frequency(&_can, f);
phungductung 0:aa3fc5ad02f7 36 }
phungductung 0:aa3fc5ad02f7 37
phungductung 0:aa3fc5ad02f7 38 int CAN::write(CANMessage msg) {
phungductung 0:aa3fc5ad02f7 39 return can_write(&_can, msg, 0);
phungductung 0:aa3fc5ad02f7 40 }
phungductung 0:aa3fc5ad02f7 41
phungductung 0:aa3fc5ad02f7 42 int CAN::read(CANMessage &msg, int handle) {
phungductung 0:aa3fc5ad02f7 43 return can_read(&_can, &msg, handle);
phungductung 0:aa3fc5ad02f7 44 }
phungductung 0:aa3fc5ad02f7 45
phungductung 0:aa3fc5ad02f7 46 void CAN::reset() {
phungductung 0:aa3fc5ad02f7 47 can_reset(&_can);
phungductung 0:aa3fc5ad02f7 48 }
phungductung 0:aa3fc5ad02f7 49
phungductung 0:aa3fc5ad02f7 50 unsigned char CAN::rderror() {
phungductung 0:aa3fc5ad02f7 51 return can_rderror(&_can);
phungductung 0:aa3fc5ad02f7 52 }
phungductung 0:aa3fc5ad02f7 53
phungductung 0:aa3fc5ad02f7 54 unsigned char CAN::tderror() {
phungductung 0:aa3fc5ad02f7 55 return can_tderror(&_can);
phungductung 0:aa3fc5ad02f7 56 }
phungductung 0:aa3fc5ad02f7 57
phungductung 0:aa3fc5ad02f7 58 void CAN::monitor(bool silent) {
phungductung 0:aa3fc5ad02f7 59 can_monitor(&_can, (silent) ? 1 : 0);
phungductung 0:aa3fc5ad02f7 60 }
phungductung 0:aa3fc5ad02f7 61
phungductung 0:aa3fc5ad02f7 62 int CAN::mode(Mode mode) {
phungductung 0:aa3fc5ad02f7 63 return can_mode(&_can, (CanMode)mode);
phungductung 0:aa3fc5ad02f7 64 }
phungductung 0:aa3fc5ad02f7 65
phungductung 0:aa3fc5ad02f7 66 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
phungductung 0:aa3fc5ad02f7 67 return can_filter(&_can, id, mask, format, handle);
phungductung 0:aa3fc5ad02f7 68 }
phungductung 0:aa3fc5ad02f7 69
phungductung 0:aa3fc5ad02f7 70 void CAN::attach(void (*fptr)(void), IrqType type) {
phungductung 0:aa3fc5ad02f7 71 if (fptr) {
phungductung 0:aa3fc5ad02f7 72 _irq[(CanIrqType)type].attach(fptr);
phungductung 0:aa3fc5ad02f7 73 can_irq_set(&_can, (CanIrqType)type, 1);
phungductung 0:aa3fc5ad02f7 74 } else {
phungductung 0:aa3fc5ad02f7 75 can_irq_set(&_can, (CanIrqType)type, 0);
phungductung 0:aa3fc5ad02f7 76 }
phungductung 0:aa3fc5ad02f7 77 }
phungductung 0:aa3fc5ad02f7 78
phungductung 0:aa3fc5ad02f7 79 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
phungductung 0:aa3fc5ad02f7 80 CAN *handler = (CAN*)id;
phungductung 0:aa3fc5ad02f7 81 handler->_irq[type].call();
phungductung 0:aa3fc5ad02f7 82 }
phungductung 0:aa3fc5ad02f7 83
phungductung 0:aa3fc5ad02f7 84 } // namespace mbed
phungductung 0:aa3fc5ad02f7 85
phungductung 0:aa3fc5ad02f7 86 #endif