mbed w/ spi bug fig
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Diff: common/CAN.cpp
- Revision:
- 13:0645d8841f51
- Parent:
- 10:3bc89ef62ce7
- Child:
- 15:4892fe388435
diff -r 5fa2273de5db -r 0645d8841f51 common/CAN.cpp --- a/common/CAN.cpp Wed Jul 24 11:11:21 2013 +0100 +++ b/common/CAN.cpp Mon Aug 05 14:12:34 2013 +0300 @@ -1,119 +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 +/* 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