mbed w/ spi bug fig
Fork of mbed-src by
common/CAN.cpp@9:0ce32e54c9a7, 2013-06-10 (annotated)
- Committer:
- emilmont
- Date:
- Mon Jun 10 16:03:00 2013 +0100
- Revision:
- 9:0ce32e54c9a7
- Parent:
- cpp/CAN.cpp@2:143cac498751
- Child:
- 10:3bc89ef62ce7
Refactoring of the mbed SDK:
- Provide a well defined HAL and API
- Keep separated the HAL implementations for the different targets
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbed_official | 0:fd0d7bdfcdc2 | 1 | /* mbed Microcontroller Library |
emilmont | 2:143cac498751 | 2 | * Copyright (c) 2006-2013 ARM Limited |
mbed_official | 0:fd0d7bdfcdc2 | 3 | * |
emilmont | 2:143cac498751 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
emilmont | 2:143cac498751 | 5 | * you may not use this file except in compliance with the License. |
emilmont | 2:143cac498751 | 6 | * You may obtain a copy of the License at |
mbed_official | 0:fd0d7bdfcdc2 | 7 | * |
emilmont | 2:143cac498751 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
mbed_official | 0:fd0d7bdfcdc2 | 9 | * |
emilmont | 2:143cac498751 | 10 | * Unless required by applicable law or agreed to in writing, software |
emilmont | 2:143cac498751 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
emilmont | 2:143cac498751 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
emilmont | 2:143cac498751 | 13 | * See the License for the specific language governing permissions and |
emilmont | 2:143cac498751 | 14 | * limitations under the License. |
mbed_official | 0:fd0d7bdfcdc2 | 15 | */ |
mbed_official | 0:fd0d7bdfcdc2 | 16 | #include "CAN.h" |
mbed_official | 0:fd0d7bdfcdc2 | 17 | |
mbed_official | 0:fd0d7bdfcdc2 | 18 | #if DEVICE_CAN |
mbed_official | 0:fd0d7bdfcdc2 | 19 | |
mbed_official | 0:fd0d7bdfcdc2 | 20 | #include "cmsis.h" |
mbed_official | 0:fd0d7bdfcdc2 | 21 | |
mbed_official | 0:fd0d7bdfcdc2 | 22 | namespace mbed { |
mbed_official | 0:fd0d7bdfcdc2 | 23 | |
mbed_official | 0:fd0d7bdfcdc2 | 24 | CAN::CAN(PinName rd, PinName td) { |
mbed_official | 0:fd0d7bdfcdc2 | 25 | can_init(&_can, rd, td); |
mbed_official | 0:fd0d7bdfcdc2 | 26 | } |
mbed_official | 0:fd0d7bdfcdc2 | 27 | |
mbed_official | 0:fd0d7bdfcdc2 | 28 | CAN::~CAN() { |
mbed_official | 0:fd0d7bdfcdc2 | 29 | can_free(&_can); |
mbed_official | 0:fd0d7bdfcdc2 | 30 | } |
emilmont | 2:143cac498751 | 31 | |
mbed_official | 0:fd0d7bdfcdc2 | 32 | int CAN::frequency(int f) { |
mbed_official | 0:fd0d7bdfcdc2 | 33 | return can_frequency(&_can, f); |
mbed_official | 0:fd0d7bdfcdc2 | 34 | } |
mbed_official | 0:fd0d7bdfcdc2 | 35 | |
mbed_official | 0:fd0d7bdfcdc2 | 36 | int CAN::write(CANMessage msg) { |
mbed_official | 0:fd0d7bdfcdc2 | 37 | return can_write(&_can, msg, 0); |
mbed_official | 0:fd0d7bdfcdc2 | 38 | } |
emilmont | 2:143cac498751 | 39 | |
mbed_official | 0:fd0d7bdfcdc2 | 40 | int CAN::read(CANMessage &msg) { |
mbed_official | 0:fd0d7bdfcdc2 | 41 | return can_read(&_can, &msg); |
mbed_official | 0:fd0d7bdfcdc2 | 42 | } |
mbed_official | 0:fd0d7bdfcdc2 | 43 | |
mbed_official | 0:fd0d7bdfcdc2 | 44 | void CAN::reset() { |
mbed_official | 0:fd0d7bdfcdc2 | 45 | can_reset(&_can); |
mbed_official | 0:fd0d7bdfcdc2 | 46 | } |
mbed_official | 0:fd0d7bdfcdc2 | 47 | |
mbed_official | 0:fd0d7bdfcdc2 | 48 | unsigned char CAN::rderror() { |
mbed_official | 0:fd0d7bdfcdc2 | 49 | return can_rderror(&_can); |
mbed_official | 0:fd0d7bdfcdc2 | 50 | } |
mbed_official | 0:fd0d7bdfcdc2 | 51 | |
mbed_official | 0:fd0d7bdfcdc2 | 52 | unsigned char CAN::tderror() { |
mbed_official | 0:fd0d7bdfcdc2 | 53 | return can_tderror(&_can); |
mbed_official | 0:fd0d7bdfcdc2 | 54 | } |
mbed_official | 0:fd0d7bdfcdc2 | 55 | |
mbed_official | 0:fd0d7bdfcdc2 | 56 | void CAN::monitor(bool silent) { |
mbed_official | 0:fd0d7bdfcdc2 | 57 | can_monitor(&_can, (silent) ? 1 : 0); |
mbed_official | 0:fd0d7bdfcdc2 | 58 | } |
mbed_official | 0:fd0d7bdfcdc2 | 59 | |
mbed_official | 0:fd0d7bdfcdc2 | 60 | static FunctionPointer* can_obj[2] = { NULL }; |
mbed_official | 0:fd0d7bdfcdc2 | 61 | |
mbed_official | 0:fd0d7bdfcdc2 | 62 | // Have to check that the CAN block is active before reading the Interrupt |
mbed_official | 0:fd0d7bdfcdc2 | 63 | // Control Register, or the mbed hangs |
mbed_official | 0:fd0d7bdfcdc2 | 64 | void can_irq(void) { |
mbed_official | 0:fd0d7bdfcdc2 | 65 | uint32_t icr; |
emilmont | 2:143cac498751 | 66 | |
mbed_official | 0:fd0d7bdfcdc2 | 67 | if(LPC_SC->PCONP & (1 << 13)) { |
mbed_official | 0:fd0d7bdfcdc2 | 68 | icr = LPC_CAN1->ICR; |
emilmont | 2:143cac498751 | 69 | |
mbed_official | 0:fd0d7bdfcdc2 | 70 | if(icr && (can_obj[0] != NULL)) { |
mbed_official | 0:fd0d7bdfcdc2 | 71 | can_obj[0]->call(); |
mbed_official | 0:fd0d7bdfcdc2 | 72 | } |
mbed_official | 0:fd0d7bdfcdc2 | 73 | } |
emilmont | 2:143cac498751 | 74 | |
mbed_official | 0:fd0d7bdfcdc2 | 75 | if(LPC_SC->PCONP & (1 << 14)) { |
mbed_official | 0:fd0d7bdfcdc2 | 76 | icr = LPC_CAN2->ICR; |
mbed_official | 0:fd0d7bdfcdc2 | 77 | if(icr && (can_obj[1] != NULL)) { |
mbed_official | 0:fd0d7bdfcdc2 | 78 | can_obj[1]->call(); |
mbed_official | 0:fd0d7bdfcdc2 | 79 | } |
mbed_official | 0:fd0d7bdfcdc2 | 80 | } |
mbed_official | 0:fd0d7bdfcdc2 | 81 | |
mbed_official | 0:fd0d7bdfcdc2 | 82 | } |
mbed_official | 0:fd0d7bdfcdc2 | 83 | |
mbed_official | 0:fd0d7bdfcdc2 | 84 | void CAN::setup_interrupt(void) { |
mbed_official | 0:fd0d7bdfcdc2 | 85 | switch ((int)_can.dev) { |
mbed_official | 0:fd0d7bdfcdc2 | 86 | case CAN_1: can_obj[0] = &_rxirq; break; |
mbed_official | 0:fd0d7bdfcdc2 | 87 | case CAN_2: can_obj[1] = &_rxirq; break; |
mbed_official | 0:fd0d7bdfcdc2 | 88 | } |
mbed_official | 0:fd0d7bdfcdc2 | 89 | _can.dev->MOD |= 1; |
mbed_official | 0:fd0d7bdfcdc2 | 90 | _can.dev->IER |= 1; |
mbed_official | 0:fd0d7bdfcdc2 | 91 | _can.dev->MOD &= ~1; |
mbed_official | 0:fd0d7bdfcdc2 | 92 | NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq); |
mbed_official | 0:fd0d7bdfcdc2 | 93 | NVIC_EnableIRQ(CAN_IRQn); |
mbed_official | 0:fd0d7bdfcdc2 | 94 | } |
mbed_official | 0:fd0d7bdfcdc2 | 95 | |
mbed_official | 0:fd0d7bdfcdc2 | 96 | void CAN::remove_interrupt(void) { |
mbed_official | 0:fd0d7bdfcdc2 | 97 | switch ((int)_can.dev) { |
mbed_official | 0:fd0d7bdfcdc2 | 98 | case CAN_1: can_obj[0] = NULL; break; |
mbed_official | 0:fd0d7bdfcdc2 | 99 | case CAN_2: can_obj[1] = NULL; break; |
mbed_official | 0:fd0d7bdfcdc2 | 100 | } |
emilmont | 2:143cac498751 | 101 | |
mbed_official | 0:fd0d7bdfcdc2 | 102 | _can.dev->IER &= ~(1); |
mbed_official | 0:fd0d7bdfcdc2 | 103 | if ((can_obj[0] == NULL) && (can_obj[1] == NULL)) { |
mbed_official | 0:fd0d7bdfcdc2 | 104 | NVIC_DisableIRQ(CAN_IRQn); |
mbed_official | 0:fd0d7bdfcdc2 | 105 | } |
mbed_official | 0:fd0d7bdfcdc2 | 106 | } |
mbed_official | 0:fd0d7bdfcdc2 | 107 | |
mbed_official | 0:fd0d7bdfcdc2 | 108 | void CAN::attach(void (*fptr)(void)) { |
mbed_official | 0:fd0d7bdfcdc2 | 109 | if (fptr != NULL) { |
mbed_official | 0:fd0d7bdfcdc2 | 110 | _rxirq.attach(fptr); |
mbed_official | 0:fd0d7bdfcdc2 | 111 | setup_interrupt(); |
mbed_official | 0:fd0d7bdfcdc2 | 112 | } else { |
mbed_official | 0:fd0d7bdfcdc2 | 113 | remove_interrupt(); |
mbed_official | 0:fd0d7bdfcdc2 | 114 | } |
mbed_official | 0:fd0d7bdfcdc2 | 115 | } |
mbed_official | 0:fd0d7bdfcdc2 | 116 | |
mbed_official | 0:fd0d7bdfcdc2 | 117 | } // namespace mbed |
mbed_official | 0:fd0d7bdfcdc2 | 118 | |
mbed_official | 0:fd0d7bdfcdc2 | 119 | #endif |