Paul Paterson / CANnucleo

Working fork to test F0 application

Dependents:   ppCANOpen_Example

Fork of CANnucleo by Zoltan Hudak

CAN.cpp@0:e29bc8e0dddd, 2015-07-19 (annotated)

Committer:
hudakz
Date:
Sun Jul 19 09:06:26 2015 +0000
Revision:
0:e29bc8e0dddd
Child:
5:b53e5ee15315
rev 00

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:e29bc8e0dddd 1 /* mbed Microcontroller Library
hudakz 0:e29bc8e0dddd 2 * Copyright (c) 2006-2013 ARM Limited
hudakz 0:e29bc8e0dddd 3 *
hudakz 0:e29bc8e0dddd 4 * Licensed under the Apache License, Version 2.0 (the "License");
hudakz 0:e29bc8e0dddd 5 * you may not use this file except in compliance with the License.
hudakz 0:e29bc8e0dddd 6 * You may obtain a copy of the License at
hudakz 0:e29bc8e0dddd 7 *
hudakz 0:e29bc8e0dddd 8 * http://www.apache.org/licenses/LICENSE-2.0
hudakz 0:e29bc8e0dddd 9 *
hudakz 0:e29bc8e0dddd 10 * Unless required by applicable law or agreed to in writing, software
hudakz 0:e29bc8e0dddd 11 * distributed under the License is distributed on an "AS IS" BASIS,
hudakz 0:e29bc8e0dddd 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
hudakz 0:e29bc8e0dddd 13 * See the License for the specific language governing permissions and
hudakz 0:e29bc8e0dddd 14 * limitations under the License.
hudakz 0:e29bc8e0dddd 15 *
hudakz 0:e29bc8e0dddd 16 * Modified by Zoltan Hudak <hudakz@inbox.com>
hudakz 0:e29bc8e0dddd 17 *
hudakz 0:e29bc8e0dddd 18 */
hudakz 0:e29bc8e0dddd 19 #include "CAN.h"
hudakz 0:e29bc8e0dddd 20 //#if DEVICE_CAN
hudakz 0:e29bc8e0dddd 21 #include "cmsis.h"
hudakz 0:e29bc8e0dddd 22
hudakz 0:e29bc8e0dddd 23 namespace mbed
hudakz 0:e29bc8e0dddd 24 {
hudakz 0:e29bc8e0dddd 25
hudakz 0:e29bc8e0dddd 26 /**
hudakz 0:e29bc8e0dddd 27 * @brief
hudakz 0:e29bc8e0dddd 28 * @note
hudakz 0:e29bc8e0dddd 29 * @param
hudakz 0:e29bc8e0dddd 30 * @retval
hudakz 0:e29bc8e0dddd 31 */
hudakz 0:e29bc8e0dddd 32 CAN::CAN(PinName rxPin, PinName txPin) :
hudakz 0:e29bc8e0dddd 33 _can(),
hudakz 0:e29bc8e0dddd 34 _irq() {
hudakz 0:e29bc8e0dddd 35 can_init(&_can, rxPin, txPin);
hudakz 0:e29bc8e0dddd 36 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
hudakz 0:e29bc8e0dddd 37 }
hudakz 0:e29bc8e0dddd 38
hudakz 0:e29bc8e0dddd 39 /**
hudakz 0:e29bc8e0dddd 40 * @brief
hudakz 0:e29bc8e0dddd 41 * @note
hudakz 0:e29bc8e0dddd 42 * @param
hudakz 0:e29bc8e0dddd 43 * @retval
hudakz 0:e29bc8e0dddd 44 */
hudakz 0:e29bc8e0dddd 45 CAN::~CAN(void) {
hudakz 0:e29bc8e0dddd 46 can_irq_free(&_can);
hudakz 0:e29bc8e0dddd 47 can_free(&_can);
hudakz 0:e29bc8e0dddd 48 }
hudakz 0:e29bc8e0dddd 49
hudakz 0:e29bc8e0dddd 50 /**
hudakz 0:e29bc8e0dddd 51 * @brief
hudakz 0:e29bc8e0dddd 52 * @note
hudakz 0:e29bc8e0dddd 53 * @param
hudakz 0:e29bc8e0dddd 54 * @retval
hudakz 0:e29bc8e0dddd 55 */
hudakz 0:e29bc8e0dddd 56 int CAN::frequency(int f) {
hudakz 0:e29bc8e0dddd 57 return can_frequency(&_can, f);
hudakz 0:e29bc8e0dddd 58 }
hudakz 0:e29bc8e0dddd 59
hudakz 0:e29bc8e0dddd 60 /**
hudakz 0:e29bc8e0dddd 61 * @brief
hudakz 0:e29bc8e0dddd 62 * @note
hudakz 0:e29bc8e0dddd 63 * @param
hudakz 0:e29bc8e0dddd 64 * @retval
hudakz 0:e29bc8e0dddd 65 */
hudakz 0:e29bc8e0dddd 66 int CAN::write(CANMessage msg) {
hudakz 0:e29bc8e0dddd 67 return can_write(&_can, msg, 0);
hudakz 0:e29bc8e0dddd 68 }
hudakz 0:e29bc8e0dddd 69
hudakz 0:e29bc8e0dddd 70 /**
hudakz 0:e29bc8e0dddd 71 * @brief
hudakz 0:e29bc8e0dddd 72 * @note
hudakz 0:e29bc8e0dddd 73 * @param
hudakz 0:e29bc8e0dddd 74 * @retval
hudakz 0:e29bc8e0dddd 75 */
hudakz 0:e29bc8e0dddd 76 int CAN::read(CANMessage& msg, int handle) {
hudakz 0:e29bc8e0dddd 77 return can_read(&_can, &msg, handle);
hudakz 0:e29bc8e0dddd 78 }
hudakz 0:e29bc8e0dddd 79
hudakz 0:e29bc8e0dddd 80 /**
hudakz 0:e29bc8e0dddd 81 * @brief
hudakz 0:e29bc8e0dddd 82 * @note
hudakz 0:e29bc8e0dddd 83 * @param
hudakz 0:e29bc8e0dddd 84 * @retval
hudakz 0:e29bc8e0dddd 85 */
hudakz 0:e29bc8e0dddd 86 void CAN::reset(void) {
hudakz 0:e29bc8e0dddd 87 can_reset(&_can);
hudakz 0:e29bc8e0dddd 88 }
hudakz 0:e29bc8e0dddd 89
hudakz 0:e29bc8e0dddd 90 /**
hudakz 0:e29bc8e0dddd 91 * @brief
hudakz 0:e29bc8e0dddd 92 * @note
hudakz 0:e29bc8e0dddd 93 * @param
hudakz 0:e29bc8e0dddd 94 * @retval
hudakz 0:e29bc8e0dddd 95 */
hudakz 0:e29bc8e0dddd 96 unsigned char CAN::rderror(void) {
hudakz 0:e29bc8e0dddd 97 return can_rderror(&_can);
hudakz 0:e29bc8e0dddd 98 }
hudakz 0:e29bc8e0dddd 99
hudakz 0:e29bc8e0dddd 100 /**
hudakz 0:e29bc8e0dddd 101 * @brief
hudakz 0:e29bc8e0dddd 102 * @note
hudakz 0:e29bc8e0dddd 103 * @param
hudakz 0:e29bc8e0dddd 104 * @retval
hudakz 0:e29bc8e0dddd 105 */
hudakz 0:e29bc8e0dddd 106 unsigned char CAN::tderror(void) {
hudakz 0:e29bc8e0dddd 107 return can_tderror(&_can);
hudakz 0:e29bc8e0dddd 108 }
hudakz 0:e29bc8e0dddd 109
hudakz 0:e29bc8e0dddd 110 /**
hudakz 0:e29bc8e0dddd 111 * @brief
hudakz 0:e29bc8e0dddd 112 * @note
hudakz 0:e29bc8e0dddd 113 * @param
hudakz 0:e29bc8e0dddd 114 * @retval
hudakz 0:e29bc8e0dddd 115 */
hudakz 0:e29bc8e0dddd 116 void CAN::monitor(bool silent) {
hudakz 0:e29bc8e0dddd 117 can_monitor(&_can, (silent) ? 1 : 0);
hudakz 0:e29bc8e0dddd 118 }
hudakz 0:e29bc8e0dddd 119
hudakz 0:e29bc8e0dddd 120 /**
hudakz 0:e29bc8e0dddd 121 * @brief
hudakz 0:e29bc8e0dddd 122 * @note
hudakz 0:e29bc8e0dddd 123 * @param
hudakz 0:e29bc8e0dddd 124 * @retval
hudakz 0:e29bc8e0dddd 125 */
hudakz 0:e29bc8e0dddd 126 int CAN::mode(Mode mode) {
hudakz 0:e29bc8e0dddd 127 return can_mode(&_can, (CanMode) mode);
hudakz 0:e29bc8e0dddd 128 }
hudakz 0:e29bc8e0dddd 129
hudakz 0:e29bc8e0dddd 130 /**
hudakz 0:e29bc8e0dddd 131 * @brief
hudakz 0:e29bc8e0dddd 132 * @note
hudakz 0:e29bc8e0dddd 133 * @param
hudakz 0:e29bc8e0dddd 134 * @retval
hudakz 0:e29bc8e0dddd 135 */
hudakz 0:e29bc8e0dddd 136 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format /* CANAny */, int handle /* 0 */) {
hudakz 0:e29bc8e0dddd 137 return can_filter(&_can, id, mask, format, handle);
hudakz 0:e29bc8e0dddd 138 }
hudakz 0:e29bc8e0dddd 139
hudakz 0:e29bc8e0dddd 140 /**
hudakz 0:e29bc8e0dddd 141 * @brief Attaches handler funcion to CAN1 RX0 Interrupt
hudakz 0:e29bc8e0dddd 142 * @note Only CAN1 RX0 Interrupt supported
hudakz 0:e29bc8e0dddd 143 * @param fptr: pointer to a void (*)(void) function
hudakz 0:e29bc8e0dddd 144 * @param type: not used (only CAN1 RX0 Interrupt supported)
hudakz 0:e29bc8e0dddd 145 * @retval
hudakz 0:e29bc8e0dddd 146 */
hudakz 0:e29bc8e0dddd 147 void CAN::attach(void (*fptr) (void), IrqType type) {
hudakz 0:e29bc8e0dddd 148 HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 149 if(fptr) {
hudakz 0:e29bc8e0dddd 150 can_irq_set(fptr);
hudakz 0:e29bc8e0dddd 151 }
hudakz 0:e29bc8e0dddd 152 can_irq_init(&_can, &CAN::_irq_handler, (uint32_t) this);
hudakz 0:e29bc8e0dddd 153 HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 154 }
hudakz 0:e29bc8e0dddd 155
hudakz 0:e29bc8e0dddd 156 /**
hudakz 0:e29bc8e0dddd 157 * @brief
hudakz 0:e29bc8e0dddd 158 * @note
hudakz 0:e29bc8e0dddd 159 * @param
hudakz 0:e29bc8e0dddd 160 * @retval
hudakz 0:e29bc8e0dddd 161 */
hudakz 0:e29bc8e0dddd 162 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
hudakz 0:e29bc8e0dddd 163 CAN* handler = (CAN*)id;
hudakz 0:e29bc8e0dddd 164 handler->_irq[type].call();
hudakz 0:e29bc8e0dddd 165 }
hudakz 0:e29bc8e0dddd 166
hudakz 0:e29bc8e0dddd 167 } // namespace mbed
hudakz 0:e29bc8e0dddd 168
hudakz 0:e29bc8e0dddd 169
hudakz 0:e29bc8e0dddd 170