mbed library sources
Dependents: STM32F103C8T6-RangoTec STM32-103C8_Plantilla_USB
Diff: common/CAN.cpp
- Revision:
- 9:0ce32e54c9a7
- Parent:
- 2:143cac498751
- Child:
- 10:3bc89ef62ce7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/common/CAN.cpp Mon Jun 10 16:03:00 2013 +0100 @@ -0,0 +1,119 @@ +/* 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_init(&_can, rd, td); +} + +CAN::~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) { + return can_read(&_can, &msg); +} + +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); +} + +static FunctionPointer* can_obj[2] = { NULL }; + +// Have to check that the CAN block is active before reading the Interrupt +// Control Register, or the mbed hangs +void can_irq(void) { + uint32_t icr; + + if(LPC_SC->PCONP & (1 << 13)) { + icr = LPC_CAN1->ICR; + + if(icr && (can_obj[0] != NULL)) { + can_obj[0]->call(); + } + } + + if(LPC_SC->PCONP & (1 << 14)) { + icr = LPC_CAN2->ICR; + if(icr && (can_obj[1] != NULL)) { + can_obj[1]->call(); + } + } + +} + +void CAN::setup_interrupt(void) { + switch ((int)_can.dev) { + case CAN_1: can_obj[0] = &_rxirq; break; + case CAN_2: can_obj[1] = &_rxirq; break; + } + _can.dev->MOD |= 1; + _can.dev->IER |= 1; + _can.dev->MOD &= ~1; + NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq); + NVIC_EnableIRQ(CAN_IRQn); +} + +void CAN::remove_interrupt(void) { + switch ((int)_can.dev) { + case CAN_1: can_obj[0] = NULL; break; + case CAN_2: can_obj[1] = NULL; break; + } + + _can.dev->IER &= ~(1); + if ((can_obj[0] == NULL) && (can_obj[1] == NULL)) { + NVIC_DisableIRQ(CAN_IRQn); + } +} + +void CAN::attach(void (*fptr)(void)) { + if (fptr != NULL) { + _rxirq.attach(fptr); + setup_interrupt(); + } else { + remove_interrupt(); + } +} + +} // namespace mbed + +#endif