Diff: CAN.cpp

Revision:

0:e29bc8e0dddd

Child:

5:b53e5ee15315

diff -r 000000000000 -r e29bc8e0dddd CAN.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN.cpp	Sun Jul 19 09:06:26 2015 +0000
@@ -0,0 +1,170 @@
+/* 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.
+ *
+ * Modified by Zoltan Hudak    <hudakz@inbox.com>
+ *
+ */
+#include "CAN.h"
+//#if DEVICE_CAN
+#include "cmsis.h"
+
+namespace   mbed
+{
+    
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+CAN::CAN(PinName rxPin, PinName txPin) :
+    _can(),
+    _irq() {
+    can_init(&_can, rxPin, txPin);
+    can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
+}
+
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+CAN::~CAN(void) {
+    can_irq_free(&_can);
+    can_free(&_can);
+}
+
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+int CAN::frequency(int f) {
+    return can_frequency(&_can, f);
+}
+
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+int CAN::write(CANMessage msg) {
+    return can_write(&_can, msg, 0);
+}
+
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+int CAN::read(CANMessage& msg, int handle) {
+    return can_read(&_can, &msg, handle);
+}
+
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+void CAN::reset(void) {
+    can_reset(&_can);
+}
+
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+unsigned char CAN::rderror(void) {
+    return can_rderror(&_can);
+}
+
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+unsigned char CAN::tderror(void) {
+    return can_tderror(&_can);
+}
+
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+void CAN::monitor(bool silent) {
+    can_monitor(&_can, (silent) ? 1 : 0);
+}
+
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+int CAN::mode(Mode mode) {
+    return can_mode(&_can, (CanMode) mode);
+}
+
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+int CAN::filter(unsigned int id, unsigned int mask, CANFormat format /* CANAny */, int handle /* 0 */) {
+    return can_filter(&_can, id, mask, format, handle);
+}
+
+/**
+ * @brief   Attaches handler funcion to CAN1 RX0 Interrupt
+ * @note    Only CAN1 RX0 Interrupt supported
+ * @param   fptr: pointer to a void (*)(void) function
+ * @param   type: not used (only CAN1 RX0 Interrupt supported) 
+ * @retval
+ */
+void CAN::attach(void (*fptr) (void), IrqType type) {
+    HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
+    if(fptr) {
+        can_irq_set(fptr);
+    }
+    can_irq_init(&_can, &CAN::_irq_handler, (uint32_t) this);
+    HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
+}
+
+/**
+ * @brief
+ * @note
+ * @param
+ * @retval
+ */
+void CAN::_irq_handler(uint32_t id, CanIrqType type) {
+    CAN*    handler = (CAN*)id;
+    handler->_irq[type].call();
+}
+
+}   // namespace mbed
+
+
+