the do / gr-peach-opencv-project

Opencv 3.1 project on GR-PEACH board

Fork of gr-peach-opencv-project by the do

drivers/CAN.cpp@170:54ff26da7eb6, 2017-07-04 (annotated)

Committer:
thedo
Date:
Tue Jul 04 06:23:13 2017 +0000
Revision:
170:54ff26da7eb6
Parent:
167:1657b442184c 
project opencv 3.1 on GR PEACH board, no use SD card.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thedo 167:1657b442184c 1 /* mbed Microcontroller Library
thedo 167:1657b442184c 2 * Copyright (c) 2006-2013 ARM Limited
thedo 167:1657b442184c 3 *
thedo 167:1657b442184c 4 * Licensed under the Apache License, Version 2.0 (the "License");
thedo 167:1657b442184c 5 * you may not use this file except in compliance with the License.
thedo 167:1657b442184c 6 * You may obtain a copy of the License at
thedo 167:1657b442184c 7 *
thedo 167:1657b442184c 8 * http://www.apache.org/licenses/LICENSE-2.0
thedo 167:1657b442184c 9 *
thedo 167:1657b442184c 10 * Unless required by applicable law or agreed to in writing, software
thedo 167:1657b442184c 11 * distributed under the License is distributed on an "AS IS" BASIS,
thedo 167:1657b442184c 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
thedo 167:1657b442184c 13 * See the License for the specific language governing permissions and
thedo 167:1657b442184c 14 * limitations under the License.
thedo 167:1657b442184c 15 */
thedo 167:1657b442184c 16 #include "drivers/CAN.h"
thedo 167:1657b442184c 17
thedo 167:1657b442184c 18 #if DEVICE_CAN
thedo 167:1657b442184c 19
thedo 167:1657b442184c 20 #include "cmsis.h"
thedo 167:1657b442184c 21
thedo 167:1657b442184c 22 namespace mbed {
thedo 167:1657b442184c 23
thedo 167:1657b442184c 24 static void donothing() {}
thedo 167:1657b442184c 25
thedo 167:1657b442184c 26 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
thedo 167:1657b442184c 27 // No lock needed in constructor
thedo 167:1657b442184c 28
thedo 167:1657b442184c 29 for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
thedo 167:1657b442184c 30 _irq[i] = callback(donothing);
thedo 167:1657b442184c 31 }
thedo 167:1657b442184c 32
thedo 167:1657b442184c 33 can_init(&_can, rd, td);
thedo 167:1657b442184c 34 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
thedo 167:1657b442184c 35 }
thedo 167:1657b442184c 36
thedo 167:1657b442184c 37 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
thedo 167:1657b442184c 38 // No lock needed in constructor
thedo 167:1657b442184c 39
thedo 167:1657b442184c 40 for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
thedo 167:1657b442184c 41 _irq[i].attach(donothing);
thedo 167:1657b442184c 42 }
thedo 167:1657b442184c 43
thedo 167:1657b442184c 44 can_init_freq(&_can, rd, td, hz);
thedo 167:1657b442184c 45 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
thedo 167:1657b442184c 46 }
thedo 167:1657b442184c 47
thedo 167:1657b442184c 48 CAN::~CAN() {
thedo 167:1657b442184c 49 // No lock needed in destructor
thedo 167:1657b442184c 50 can_irq_free(&_can);
thedo 167:1657b442184c 51 can_free(&_can);
thedo 167:1657b442184c 52 }
thedo 167:1657b442184c 53
thedo 167:1657b442184c 54 int CAN::frequency(int f) {
thedo 167:1657b442184c 55 lock();
thedo 167:1657b442184c 56 int ret = can_frequency(&_can, f);
thedo 167:1657b442184c 57 unlock();
thedo 167:1657b442184c 58 return ret;
thedo 167:1657b442184c 59 }
thedo 167:1657b442184c 60
thedo 167:1657b442184c 61 int CAN::write(CANMessage msg) {
thedo 167:1657b442184c 62 lock();
thedo 167:1657b442184c 63 int ret = can_write(&_can, msg, 0);
thedo 167:1657b442184c 64 unlock();
thedo 167:1657b442184c 65 return ret;
thedo 167:1657b442184c 66 }
thedo 167:1657b442184c 67
thedo 167:1657b442184c 68 int CAN::read(CANMessage &msg, int handle) {
thedo 167:1657b442184c 69 lock();
thedo 167:1657b442184c 70 int ret = can_read(&_can, &msg, handle);
thedo 167:1657b442184c 71 unlock();
thedo 167:1657b442184c 72 return ret;
thedo 167:1657b442184c 73 }
thedo 167:1657b442184c 74
thedo 167:1657b442184c 75 void CAN::reset() {
thedo 167:1657b442184c 76 lock();
thedo 167:1657b442184c 77 can_reset(&_can);
thedo 167:1657b442184c 78 unlock();
thedo 167:1657b442184c 79 }
thedo 167:1657b442184c 80
thedo 167:1657b442184c 81 unsigned char CAN::rderror() {
thedo 167:1657b442184c 82 lock();
thedo 167:1657b442184c 83 int ret = can_rderror(&_can);
thedo 167:1657b442184c 84 unlock();
thedo 167:1657b442184c 85 return ret;
thedo 167:1657b442184c 86 }
thedo 167:1657b442184c 87
thedo 167:1657b442184c 88 unsigned char CAN::tderror() {
thedo 167:1657b442184c 89 lock();
thedo 167:1657b442184c 90 int ret = can_tderror(&_can);
thedo 167:1657b442184c 91 unlock();
thedo 167:1657b442184c 92 return ret;
thedo 167:1657b442184c 93 }
thedo 167:1657b442184c 94
thedo 167:1657b442184c 95 void CAN::monitor(bool silent) {
thedo 167:1657b442184c 96 lock();
thedo 167:1657b442184c 97 can_monitor(&_can, (silent) ? 1 : 0);
thedo 167:1657b442184c 98 unlock();
thedo 167:1657b442184c 99 }
thedo 167:1657b442184c 100
thedo 167:1657b442184c 101 int CAN::mode(Mode mode) {
thedo 167:1657b442184c 102 lock();
thedo 167:1657b442184c 103 int ret = can_mode(&_can, (CanMode)mode);
thedo 167:1657b442184c 104 unlock();
thedo 167:1657b442184c 105 return ret;
thedo 167:1657b442184c 106 }
thedo 167:1657b442184c 107
thedo 167:1657b442184c 108 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
thedo 167:1657b442184c 109 lock();
thedo 167:1657b442184c 110 int ret = can_filter(&_can, id, mask, format, handle);
thedo 167:1657b442184c 111 unlock();
thedo 167:1657b442184c 112 return ret;
thedo 167:1657b442184c 113 }
thedo 167:1657b442184c 114
thedo 167:1657b442184c 115 void CAN::attach(Callback<void()> func, IrqType type) {
thedo 167:1657b442184c 116 lock();
thedo 167:1657b442184c 117 if (func) {
thedo 167:1657b442184c 118 _irq[(CanIrqType)type] = func;
thedo 167:1657b442184c 119 can_irq_set(&_can, (CanIrqType)type, 1);
thedo 167:1657b442184c 120 } else {
thedo 167:1657b442184c 121 _irq[(CanIrqType)type] = callback(donothing);
thedo 167:1657b442184c 122 can_irq_set(&_can, (CanIrqType)type, 0);
thedo 167:1657b442184c 123 }
thedo 167:1657b442184c 124 unlock();
thedo 167:1657b442184c 125 }
thedo 167:1657b442184c 126
thedo 167:1657b442184c 127 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
thedo 167:1657b442184c 128 CAN *handler = (CAN*)id;
thedo 167:1657b442184c 129 handler->_irq[type].call();
thedo 167:1657b442184c 130 }
thedo 167:1657b442184c 131
thedo 167:1657b442184c 132 void CAN::lock() {
thedo 167:1657b442184c 133 _mutex.lock();
thedo 167:1657b442184c 134 }
thedo 167:1657b442184c 135
thedo 167:1657b442184c 136 void CAN::unlock() {
thedo 167:1657b442184c 137 _mutex.unlock();
thedo 167:1657b442184c 138 }
thedo 167:1657b442184c 139
thedo 167:1657b442184c 140 } // namespace mbed
thedo 167:1657b442184c 141
thedo 167:1657b442184c 142 #endif
thedo 167:1657b442184c 143