mbed w/ spi bug fig
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common/CAN.cpp
- Committer:
- emilmont
- Date:
- 2013-06-10
- Revision:
- 9:0ce32e54c9a7
- Parent:
- cpp/CAN.cpp@ 2:143cac498751
- Child:
- 10:3bc89ef62ce7
File content as of revision 9:0ce32e54c9a7:
/* 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