Diff: CANnucleo.h

Revision:

25:353237492903

Parent:

24:c5d348e65e24

Child:

28:eed6929956ea

diff -r c5d348e65e24 -r 353237492903 CANnucleo.h
--- a/CANnucleo.h	Sat Aug 13 12:44:12 2016 +0000
+++ b/CANnucleo.h	Tue Aug 16 21:09:11 2016 +0000
@@ -22,7 +22,8 @@
 #include "platform.h"
 #include "cannucleo_api.h"
 #include "can_helper.h"
-#include "FunctionPointer.h"
+#include "Callback.h"
+#include "PlatformMutex.h"
 #undef DEVICE_CAN
 
 namespace CANnucleo
@@ -97,7 +98,7 @@
         } 
 #if DEBUG
         else {
-            printf("Error: Cannot append data because it exceeds CAN data length!\r\n");
+            printf("Error: Cannot append data. Exceeding CAN data length!\r\n");
         }
 #endif
        return *this;
@@ -114,7 +115,7 @@
         } 
 #if DEBUG
         else {
-            printf("Error: Cannot extract data because it exceeds CAN data length!\r\n");
+            printf("Error: Cannot extract data. Exceeding CAN data length!\r\n");
         }
 #endif
         return *this;
@@ -276,30 +277,45 @@
     /** Attach a function to call whenever a CAN frame received interrupt is
      *  generated.
      *
-     *  @param fptr A pointer to a void function, or 0 to set as none
-     *  @param event Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, CAN::TxIrq for transmitted or aborted, CAN::EwIrq for error warning, CAN::DoIrq for data overrun, CAN::WuIrq for wake-up, CAN::EpIrq for error passive, CAN::AlIrq for arbitration lost, CAN::BeIrq for bus error)
+     *  @param func A pointer to a void function, or 0 to set as none
+     *  @param event Which CAN interrupt to attach the member function to (only CAN::RxIrq for message received is supported)
      */
-    void attach(void (*fptr)(void), IrqType type=RxIrq);
+    void attach(mbed::Callback<void()> func, IrqType type=RxIrq);
 
-    /** Attach a member function to call whenever a CAN frame received interrupt
-     *  is generated.
-     *
-     *  @param tptr pointer to the object to call the member function on
-     *  @param mptr pointer to the member function to be called
-     *  @param event Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, TxIrq for transmitted or aborted, EwIrq for error warning, DoIrq for data overrun, WuIrq for wake-up, EpIrq for error passive, AlIrq for arbitration lost, BeIrq for bus error)
-     */
+   /** Attach a member function to call whenever a CAN frame received interrupt
+    *  is generated.
+    *
+    *  @param obj pointer to the object to call the member function on
+    *  @param method pointer to the member function to be called
+    *  @param event Which CAN interrupt to attach the member function to (only CAN::RxIrq for message received is supported)
+    */
     template<typename T>
-    void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
-        HAL_NVIC_DisableIRQ(CAN_IRQ);
-        if((tptr != NULL) && (mptr != NULL))
-            _irq[type].attach(tptr, mptr);
-        HAL_NVIC_EnableIRQ(CAN_IRQ);
+    void attach(T* obj, void (T::*method)(), IrqType type=RxIrq) {
+        // Underlying call thread safe
+        attach(Callback<void()>(obj, method), type);
     }
 
+   /** Attach a member function to call whenever a CAN frame received interrupt
+    *  is generated.
+    *
+    *  @param obj pointer to the object to call the member function on
+    *  @param method pointer to the member function to be called
+    *  @param event Which CAN interrupt to attach the member function to (only CAN::RxIrq for message received is supported)
+    */
+    template<typename T>
+    void attach(T* obj, void (*method)(T*), IrqType type=RxIrq) {
+        // Underlying call thread safe
+        attach(Callback<void()>(obj, method), type);
+    }
+
+
     static void _irq_handler(uint32_t id, CanIrqType type);
 
 protected:
-    mbed::FunctionPointer _irq[9];
+    virtual void            lock();
+    virtual void            unlock();
+    mbed::Callback<void()>  _irq[9];
+    PlatformMutex           _mutex;
 };
 
 } // namespace CANnucleo