Paul Paterson / CANnucleo

Working fork to test F0 application

Dependents:   ppCANOpen_Example

Fork of CANnucleo by Zoltan Hudak

CAN.cpp@6:c5a40d5fd9f1, 2015-10-23 (annotated)

Committer:
hudakz
Date:
Fri Oct 23 19:45:00 2015 +0000
Revision:
6:c5a40d5fd9f1
Parent:
5:b53e5ee15315
Child:
8:5c90d6b9a382
Automatic recovery from bus-off state enabled (by default).

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 6:c5a40d5fd9f1 27 * @brief Constructor
hudakz 6:c5a40d5fd9f1 28 * @note Constructs an instance of CAN class
hudakz 6:c5a40d5fd9f1 29 * @param rxPin: CAN Rx pin name
hudakz 6:c5a40d5fd9f1 30 * @param txPin: CAN Tx pin name
hudakz 6:c5a40d5fd9f1 31 * @param abom: Automatic recovery from bus-off state (defaults to enabled)
hudakz 0:e29bc8e0dddd 32 * @retval
hudakz 0:e29bc8e0dddd 33 */
hudakz 6:c5a40d5fd9f1 34 CAN::CAN(PinName rxPin, PinName txPin, FunctionalState abom /* = ENABLE */) :
hudakz 0:e29bc8e0dddd 35 _can(),
hudakz 0:e29bc8e0dddd 36 _irq() {
hudakz 6:c5a40d5fd9f1 37 can_init(&_can, rxPin, txPin, abom);
hudakz 0:e29bc8e0dddd 38 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
hudakz 0:e29bc8e0dddd 39 }
hudakz 0:e29bc8e0dddd 40
hudakz 0:e29bc8e0dddd 41 /**
hudakz 0:e29bc8e0dddd 42 * @brief
hudakz 0:e29bc8e0dddd 43 * @note
hudakz 0:e29bc8e0dddd 44 * @param
hudakz 0:e29bc8e0dddd 45 * @retval
hudakz 0:e29bc8e0dddd 46 */
hudakz 0:e29bc8e0dddd 47 CAN::~CAN(void) {
hudakz 0:e29bc8e0dddd 48 can_irq_free(&_can);
hudakz 0:e29bc8e0dddd 49 can_free(&_can);
hudakz 0:e29bc8e0dddd 50 }
hudakz 0:e29bc8e0dddd 51
hudakz 0:e29bc8e0dddd 52 /**
hudakz 0:e29bc8e0dddd 53 * @brief
hudakz 0:e29bc8e0dddd 54 * @note
hudakz 0:e29bc8e0dddd 55 * @param
hudakz 0:e29bc8e0dddd 56 * @retval
hudakz 0:e29bc8e0dddd 57 */
hudakz 0:e29bc8e0dddd 58 int CAN::frequency(int f) {
hudakz 0:e29bc8e0dddd 59 return can_frequency(&_can, f);
hudakz 0:e29bc8e0dddd 60 }
hudakz 0:e29bc8e0dddd 61
hudakz 0:e29bc8e0dddd 62 /**
hudakz 0:e29bc8e0dddd 63 * @brief
hudakz 0:e29bc8e0dddd 64 * @note
hudakz 0:e29bc8e0dddd 65 * @param
hudakz 0:e29bc8e0dddd 66 * @retval
hudakz 0:e29bc8e0dddd 67 */
hudakz 0:e29bc8e0dddd 68 int CAN::write(CANMessage msg) {
hudakz 0:e29bc8e0dddd 69 return can_write(&_can, msg, 0);
hudakz 0:e29bc8e0dddd 70 }
hudakz 0:e29bc8e0dddd 71
hudakz 0:e29bc8e0dddd 72 /**
hudakz 0:e29bc8e0dddd 73 * @brief
hudakz 0:e29bc8e0dddd 74 * @note
hudakz 0:e29bc8e0dddd 75 * @param
hudakz 0:e29bc8e0dddd 76 * @retval
hudakz 0:e29bc8e0dddd 77 */
hudakz 0:e29bc8e0dddd 78 int CAN::read(CANMessage& msg, int handle) {
hudakz 0:e29bc8e0dddd 79 return can_read(&_can, &msg, handle);
hudakz 0:e29bc8e0dddd 80 }
hudakz 0:e29bc8e0dddd 81
hudakz 0:e29bc8e0dddd 82 /**
hudakz 0:e29bc8e0dddd 83 * @brief
hudakz 0:e29bc8e0dddd 84 * @note
hudakz 0:e29bc8e0dddd 85 * @param
hudakz 0:e29bc8e0dddd 86 * @retval
hudakz 0:e29bc8e0dddd 87 */
hudakz 0:e29bc8e0dddd 88 void CAN::reset(void) {
hudakz 0:e29bc8e0dddd 89 can_reset(&_can);
hudakz 0:e29bc8e0dddd 90 }
hudakz 0:e29bc8e0dddd 91
hudakz 0:e29bc8e0dddd 92 /**
hudakz 0:e29bc8e0dddd 93 * @brief
hudakz 0:e29bc8e0dddd 94 * @note
hudakz 0:e29bc8e0dddd 95 * @param
hudakz 0:e29bc8e0dddd 96 * @retval
hudakz 0:e29bc8e0dddd 97 */
hudakz 0:e29bc8e0dddd 98 unsigned char CAN::rderror(void) {
hudakz 0:e29bc8e0dddd 99 return can_rderror(&_can);
hudakz 0:e29bc8e0dddd 100 }
hudakz 0:e29bc8e0dddd 101
hudakz 0:e29bc8e0dddd 102 /**
hudakz 0:e29bc8e0dddd 103 * @brief
hudakz 0:e29bc8e0dddd 104 * @note
hudakz 0:e29bc8e0dddd 105 * @param
hudakz 0:e29bc8e0dddd 106 * @retval
hudakz 0:e29bc8e0dddd 107 */
hudakz 0:e29bc8e0dddd 108 unsigned char CAN::tderror(void) {
hudakz 0:e29bc8e0dddd 109 return can_tderror(&_can);
hudakz 0:e29bc8e0dddd 110 }
hudakz 0:e29bc8e0dddd 111
hudakz 0:e29bc8e0dddd 112 /**
hudakz 0:e29bc8e0dddd 113 * @brief
hudakz 0:e29bc8e0dddd 114 * @note
hudakz 0:e29bc8e0dddd 115 * @param
hudakz 0:e29bc8e0dddd 116 * @retval
hudakz 0:e29bc8e0dddd 117 */
hudakz 0:e29bc8e0dddd 118 void CAN::monitor(bool silent) {
hudakz 0:e29bc8e0dddd 119 can_monitor(&_can, (silent) ? 1 : 0);
hudakz 0:e29bc8e0dddd 120 }
hudakz 0:e29bc8e0dddd 121
hudakz 0:e29bc8e0dddd 122 /**
hudakz 0:e29bc8e0dddd 123 * @brief
hudakz 0:e29bc8e0dddd 124 * @note
hudakz 0:e29bc8e0dddd 125 * @param
hudakz 0:e29bc8e0dddd 126 * @retval
hudakz 0:e29bc8e0dddd 127 */
hudakz 0:e29bc8e0dddd 128 int CAN::mode(Mode mode) {
hudakz 0:e29bc8e0dddd 129 return can_mode(&_can, (CanMode) mode);
hudakz 0:e29bc8e0dddd 130 }
hudakz 0:e29bc8e0dddd 131
hudakz 0:e29bc8e0dddd 132 /**
hudakz 0:e29bc8e0dddd 133 * @brief
hudakz 0:e29bc8e0dddd 134 * @note
hudakz 0:e29bc8e0dddd 135 * @param
hudakz 0:e29bc8e0dddd 136 * @retval
hudakz 0:e29bc8e0dddd 137 */
hudakz 0:e29bc8e0dddd 138 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format /* CANAny */, int handle /* 0 */) {
hudakz 0:e29bc8e0dddd 139 return can_filter(&_can, id, mask, format, handle);
hudakz 0:e29bc8e0dddd 140 }
hudakz 0:e29bc8e0dddd 141
hudakz 0:e29bc8e0dddd 142 /**
hudakz 0:e29bc8e0dddd 143 * @brief Attaches handler funcion to CAN1 RX0 Interrupt
hudakz 0:e29bc8e0dddd 144 * @note Only CAN1 RX0 Interrupt supported
hudakz 0:e29bc8e0dddd 145 * @param fptr: pointer to a void (*)(void) function
hudakz 0:e29bc8e0dddd 146 * @param type: not used (only CAN1 RX0 Interrupt supported)
hudakz 0:e29bc8e0dddd 147 * @retval
hudakz 0:e29bc8e0dddd 148 */
hudakz 0:e29bc8e0dddd 149 void CAN::attach(void (*fptr) (void), IrqType type) {
hudakz 0:e29bc8e0dddd 150 HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 151 if(fptr) {
hudakz 0:e29bc8e0dddd 152 can_irq_set(fptr);
hudakz 0:e29bc8e0dddd 153 }
hudakz 0:e29bc8e0dddd 154 can_irq_init(&_can, &CAN::_irq_handler, (uint32_t) this);
hudakz 0:e29bc8e0dddd 155 HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 0:e29bc8e0dddd 156 }
hudakz 0:e29bc8e0dddd 157
hudakz 0:e29bc8e0dddd 158 /**
hudakz 0:e29bc8e0dddd 159 * @brief
hudakz 0:e29bc8e0dddd 160 * @note
hudakz 0:e29bc8e0dddd 161 * @param
hudakz 0:e29bc8e0dddd 162 * @retval
hudakz 0:e29bc8e0dddd 163 */
hudakz 0:e29bc8e0dddd 164 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
hudakz 0:e29bc8e0dddd 165 CAN* handler = (CAN*)id;
hudakz 0:e29bc8e0dddd 166 handler->_irq[type].call();
hudakz 0:e29bc8e0dddd 167 }
hudakz 0:e29bc8e0dddd 168
hudakz 0:e29bc8e0dddd 169 } // namespace mbed
hudakz 0:e29bc8e0dddd 170
hudakz 0:e29bc8e0dddd 171
hudakz 0:e29bc8e0dddd 172
hudakz 5:b53e5ee15315 173
hudakz 6:c5a40d5fd9f1 174