spinal cord / PokittoLib_

PokittoLib is the library needed for programming the Pokitto DIY game console (www.pokitto.com)

mbed-pokitto/common/CAN.cpp@5:ea7377f3d1af, 2017-10-11 (annotated)

Committer:
Pokitto
Date:
Wed Oct 11 20:35:27 2017 +0000
Revision:
5:ea7377f3d1af
Fixed PokittoLib. Includes a working custom mbed-src

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Pokitto 5:ea7377f3d1af 1 /* mbed Microcontroller Library
Pokitto 5:ea7377f3d1af 2 * Copyright (c) 2006-2013 ARM Limited
Pokitto 5:ea7377f3d1af 3 *
Pokitto 5:ea7377f3d1af 4 * Licensed under the Apache License, Version 2.0 (the "License");
Pokitto 5:ea7377f3d1af 5 * you may not use this file except in compliance with the License.
Pokitto 5:ea7377f3d1af 6 * You may obtain a copy of the License at
Pokitto 5:ea7377f3d1af 7 *
Pokitto 5:ea7377f3d1af 8 * http://www.apache.org/licenses/LICENSE-2.0
Pokitto 5:ea7377f3d1af 9 *
Pokitto 5:ea7377f3d1af 10 * Unless required by applicable law or agreed to in writing, software
Pokitto 5:ea7377f3d1af 11 * distributed under the License is distributed on an "AS IS" BASIS,
Pokitto 5:ea7377f3d1af 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
Pokitto 5:ea7377f3d1af 13 * See the License for the specific language governing permissions and
Pokitto 5:ea7377f3d1af 14 * limitations under the License.
Pokitto 5:ea7377f3d1af 15 */
Pokitto 5:ea7377f3d1af 16 #include "CAN.h"
Pokitto 5:ea7377f3d1af 17
Pokitto 5:ea7377f3d1af 18 #if DEVICE_CAN
Pokitto 5:ea7377f3d1af 19
Pokitto 5:ea7377f3d1af 20 #include "cmsis.h"
Pokitto 5:ea7377f3d1af 21
Pokitto 5:ea7377f3d1af 22 namespace mbed {
Pokitto 5:ea7377f3d1af 23
Pokitto 5:ea7377f3d1af 24 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
Pokitto 5:ea7377f3d1af 25 can_init(&_can, rd, td);
Pokitto 5:ea7377f3d1af 26 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
Pokitto 5:ea7377f3d1af 27 }
Pokitto 5:ea7377f3d1af 28
Pokitto 5:ea7377f3d1af 29 CAN::~CAN() {
Pokitto 5:ea7377f3d1af 30 can_irq_free(&_can);
Pokitto 5:ea7377f3d1af 31 can_free(&_can);
Pokitto 5:ea7377f3d1af 32 }
Pokitto 5:ea7377f3d1af 33
Pokitto 5:ea7377f3d1af 34 int CAN::frequency(int f) {
Pokitto 5:ea7377f3d1af 35 return can_frequency(&_can, f);
Pokitto 5:ea7377f3d1af 36 }
Pokitto 5:ea7377f3d1af 37
Pokitto 5:ea7377f3d1af 38 int CAN::write(CANMessage msg) {
Pokitto 5:ea7377f3d1af 39 return can_write(&_can, msg, 0);
Pokitto 5:ea7377f3d1af 40 }
Pokitto 5:ea7377f3d1af 41
Pokitto 5:ea7377f3d1af 42 int CAN::read(CANMessage &msg, int handle) {
Pokitto 5:ea7377f3d1af 43 return can_read(&_can, &msg, handle);
Pokitto 5:ea7377f3d1af 44 }
Pokitto 5:ea7377f3d1af 45
Pokitto 5:ea7377f3d1af 46 void CAN::reset() {
Pokitto 5:ea7377f3d1af 47 can_reset(&_can);
Pokitto 5:ea7377f3d1af 48 }
Pokitto 5:ea7377f3d1af 49
Pokitto 5:ea7377f3d1af 50 unsigned char CAN::rderror() {
Pokitto 5:ea7377f3d1af 51 return can_rderror(&_can);
Pokitto 5:ea7377f3d1af 52 }
Pokitto 5:ea7377f3d1af 53
Pokitto 5:ea7377f3d1af 54 unsigned char CAN::tderror() {
Pokitto 5:ea7377f3d1af 55 return can_tderror(&_can);
Pokitto 5:ea7377f3d1af 56 }
Pokitto 5:ea7377f3d1af 57
Pokitto 5:ea7377f3d1af 58 void CAN::monitor(bool silent) {
Pokitto 5:ea7377f3d1af 59 can_monitor(&_can, (silent) ? 1 : 0);
Pokitto 5:ea7377f3d1af 60 }
Pokitto 5:ea7377f3d1af 61
Pokitto 5:ea7377f3d1af 62 int CAN::mode(Mode mode) {
Pokitto 5:ea7377f3d1af 63 return can_mode(&_can, (CanMode)mode);
Pokitto 5:ea7377f3d1af 64 }
Pokitto 5:ea7377f3d1af 65
Pokitto 5:ea7377f3d1af 66 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
Pokitto 5:ea7377f3d1af 67 return can_filter(&_can, id, mask, format, handle);
Pokitto 5:ea7377f3d1af 68 }
Pokitto 5:ea7377f3d1af 69
Pokitto 5:ea7377f3d1af 70 void CAN::attach(void (*fptr)(void), IrqType type) {
Pokitto 5:ea7377f3d1af 71 if (fptr) {
Pokitto 5:ea7377f3d1af 72 _irq[(CanIrqType)type].attach(fptr);
Pokitto 5:ea7377f3d1af 73 can_irq_set(&_can, (CanIrqType)type, 1);
Pokitto 5:ea7377f3d1af 74 } else {
Pokitto 5:ea7377f3d1af 75 can_irq_set(&_can, (CanIrqType)type, 0);
Pokitto 5:ea7377f3d1af 76 }
Pokitto 5:ea7377f3d1af 77 }
Pokitto 5:ea7377f3d1af 78
Pokitto 5:ea7377f3d1af 79 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
Pokitto 5:ea7377f3d1af 80 CAN *handler = (CAN*)id;
Pokitto 5:ea7377f3d1af 81 handler->_irq[type].call();
Pokitto 5:ea7377f3d1af 82 }
Pokitto 5:ea7377f3d1af 83
Pokitto 5:ea7377f3d1af 84 } // namespace mbed
Pokitto 5:ea7377f3d1af 85
Pokitto 5:ea7377f3d1af 86 #endif