Denislam Valeev / Mbed OS Nucleo_rtos_basic

1

mbed-os/drivers/CAN.cpp@0:e056ac8fecf8, 2018-03-13 (annotated)

Committer:
valeyev
Date:
Tue Mar 13 07:17:50 2018 +0000
Revision:
0:e056ac8fecf8
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valeyev 0:e056ac8fecf8 1 /* mbed Microcontroller Library
valeyev 0:e056ac8fecf8 2 * Copyright (c) 2006-2013 ARM Limited
valeyev 0:e056ac8fecf8 3 *
valeyev 0:e056ac8fecf8 4 * Licensed under the Apache License, Version 2.0 (the "License");
valeyev 0:e056ac8fecf8 5 * you may not use this file except in compliance with the License.
valeyev 0:e056ac8fecf8 6 * You may obtain a copy of the License at
valeyev 0:e056ac8fecf8 7 *
valeyev 0:e056ac8fecf8 8 * http://www.apache.org/licenses/LICENSE-2.0
valeyev 0:e056ac8fecf8 9 *
valeyev 0:e056ac8fecf8 10 * Unless required by applicable law or agreed to in writing, software
valeyev 0:e056ac8fecf8 11 * distributed under the License is distributed on an "AS IS" BASIS,
valeyev 0:e056ac8fecf8 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
valeyev 0:e056ac8fecf8 13 * See the License for the specific language governing permissions and
valeyev 0:e056ac8fecf8 14 * limitations under the License.
valeyev 0:e056ac8fecf8 15 */
valeyev 0:e056ac8fecf8 16 #include "drivers/CAN.h"
valeyev 0:e056ac8fecf8 17
valeyev 0:e056ac8fecf8 18 #if DEVICE_CAN
valeyev 0:e056ac8fecf8 19
valeyev 0:e056ac8fecf8 20 #include "cmsis.h"
valeyev 0:e056ac8fecf8 21 #include "platform/mbed_power_mgmt.h"
valeyev 0:e056ac8fecf8 22
valeyev 0:e056ac8fecf8 23 namespace mbed {
valeyev 0:e056ac8fecf8 24
valeyev 0:e056ac8fecf8 25 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
valeyev 0:e056ac8fecf8 26 // No lock needed in constructor
valeyev 0:e056ac8fecf8 27
valeyev 0:e056ac8fecf8 28 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
valeyev 0:e056ac8fecf8 29 _irq[i] = NULL;
valeyev 0:e056ac8fecf8 30 }
valeyev 0:e056ac8fecf8 31
valeyev 0:e056ac8fecf8 32 can_init(&_can, rd, td);
valeyev 0:e056ac8fecf8 33 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
valeyev 0:e056ac8fecf8 34 }
valeyev 0:e056ac8fecf8 35
valeyev 0:e056ac8fecf8 36 CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
valeyev 0:e056ac8fecf8 37 // No lock needed in constructor
valeyev 0:e056ac8fecf8 38
valeyev 0:e056ac8fecf8 39 for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
valeyev 0:e056ac8fecf8 40 _irq[i] = NULL;
valeyev 0:e056ac8fecf8 41 }
valeyev 0:e056ac8fecf8 42
valeyev 0:e056ac8fecf8 43 can_init_freq(&_can, rd, td, hz);
valeyev 0:e056ac8fecf8 44 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
valeyev 0:e056ac8fecf8 45 }
valeyev 0:e056ac8fecf8 46
valeyev 0:e056ac8fecf8 47 CAN::~CAN() {
valeyev 0:e056ac8fecf8 48 // No lock needed in destructor
valeyev 0:e056ac8fecf8 49
valeyev 0:e056ac8fecf8 50 // Detaching interrupts releases the sleep lock if it was locked
valeyev 0:e056ac8fecf8 51 for (int irq = 0; irq < IrqCnt; irq++) {
valeyev 0:e056ac8fecf8 52 attach(NULL, (IrqType)irq);
valeyev 0:e056ac8fecf8 53 }
valeyev 0:e056ac8fecf8 54 can_irq_free(&_can);
valeyev 0:e056ac8fecf8 55 can_free(&_can);
valeyev 0:e056ac8fecf8 56 }
valeyev 0:e056ac8fecf8 57
valeyev 0:e056ac8fecf8 58 int CAN::frequency(int f) {
valeyev 0:e056ac8fecf8 59 lock();
valeyev 0:e056ac8fecf8 60 int ret = can_frequency(&_can, f);
valeyev 0:e056ac8fecf8 61 unlock();
valeyev 0:e056ac8fecf8 62 return ret;
valeyev 0:e056ac8fecf8 63 }
valeyev 0:e056ac8fecf8 64
valeyev 0:e056ac8fecf8 65 int CAN::write(CANMessage msg) {
valeyev 0:e056ac8fecf8 66 lock();
valeyev 0:e056ac8fecf8 67 int ret = can_write(&_can, msg, 0);
valeyev 0:e056ac8fecf8 68 unlock();
valeyev 0:e056ac8fecf8 69 return ret;
valeyev 0:e056ac8fecf8 70 }
valeyev 0:e056ac8fecf8 71
valeyev 0:e056ac8fecf8 72 int CAN::read(CANMessage &msg, int handle) {
valeyev 0:e056ac8fecf8 73 lock();
valeyev 0:e056ac8fecf8 74 int ret = can_read(&_can, &msg, handle);
valeyev 0:e056ac8fecf8 75 unlock();
valeyev 0:e056ac8fecf8 76 return ret;
valeyev 0:e056ac8fecf8 77 }
valeyev 0:e056ac8fecf8 78
valeyev 0:e056ac8fecf8 79 void CAN::reset() {
valeyev 0:e056ac8fecf8 80 lock();
valeyev 0:e056ac8fecf8 81 can_reset(&_can);
valeyev 0:e056ac8fecf8 82 unlock();
valeyev 0:e056ac8fecf8 83 }
valeyev 0:e056ac8fecf8 84
valeyev 0:e056ac8fecf8 85 unsigned char CAN::rderror() {
valeyev 0:e056ac8fecf8 86 lock();
valeyev 0:e056ac8fecf8 87 int ret = can_rderror(&_can);
valeyev 0:e056ac8fecf8 88 unlock();
valeyev 0:e056ac8fecf8 89 return ret;
valeyev 0:e056ac8fecf8 90 }
valeyev 0:e056ac8fecf8 91
valeyev 0:e056ac8fecf8 92 unsigned char CAN::tderror() {
valeyev 0:e056ac8fecf8 93 lock();
valeyev 0:e056ac8fecf8 94 int ret = can_tderror(&_can);
valeyev 0:e056ac8fecf8 95 unlock();
valeyev 0:e056ac8fecf8 96 return ret;
valeyev 0:e056ac8fecf8 97 }
valeyev 0:e056ac8fecf8 98
valeyev 0:e056ac8fecf8 99 void CAN::monitor(bool silent) {
valeyev 0:e056ac8fecf8 100 lock();
valeyev 0:e056ac8fecf8 101 can_monitor(&_can, (silent) ? 1 : 0);
valeyev 0:e056ac8fecf8 102 unlock();
valeyev 0:e056ac8fecf8 103 }
valeyev 0:e056ac8fecf8 104
valeyev 0:e056ac8fecf8 105 int CAN::mode(Mode mode) {
valeyev 0:e056ac8fecf8 106 lock();
valeyev 0:e056ac8fecf8 107 int ret = can_mode(&_can, (CanMode)mode);
valeyev 0:e056ac8fecf8 108 unlock();
valeyev 0:e056ac8fecf8 109 return ret;
valeyev 0:e056ac8fecf8 110 }
valeyev 0:e056ac8fecf8 111
valeyev 0:e056ac8fecf8 112 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
valeyev 0:e056ac8fecf8 113 lock();
valeyev 0:e056ac8fecf8 114 int ret = can_filter(&_can, id, mask, format, handle);
valeyev 0:e056ac8fecf8 115 unlock();
valeyev 0:e056ac8fecf8 116 return ret;
valeyev 0:e056ac8fecf8 117 }
valeyev 0:e056ac8fecf8 118
valeyev 0:e056ac8fecf8 119 void CAN::attach(Callback<void()> func, IrqType type) {
valeyev 0:e056ac8fecf8 120 lock();
valeyev 0:e056ac8fecf8 121 if (func) {
valeyev 0:e056ac8fecf8 122 // lock deep sleep only the first time
valeyev 0:e056ac8fecf8 123 if (!_irq[(CanIrqType)type]) {
valeyev 0:e056ac8fecf8 124 sleep_manager_lock_deep_sleep();
valeyev 0:e056ac8fecf8 125 }
valeyev 0:e056ac8fecf8 126 _irq[(CanIrqType)type] = func;
valeyev 0:e056ac8fecf8 127 can_irq_set(&_can, (CanIrqType)type, 1);
valeyev 0:e056ac8fecf8 128 } else {
valeyev 0:e056ac8fecf8 129 // unlock deep sleep only the first time
valeyev 0:e056ac8fecf8 130 if (_irq[(CanIrqType)type]) {
valeyev 0:e056ac8fecf8 131 sleep_manager_unlock_deep_sleep();
valeyev 0:e056ac8fecf8 132 }
valeyev 0:e056ac8fecf8 133 _irq[(CanIrqType)type] = NULL;
valeyev 0:e056ac8fecf8 134 can_irq_set(&_can, (CanIrqType)type, 0);
valeyev 0:e056ac8fecf8 135 }
valeyev 0:e056ac8fecf8 136 unlock();
valeyev 0:e056ac8fecf8 137 }
valeyev 0:e056ac8fecf8 138
valeyev 0:e056ac8fecf8 139 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
valeyev 0:e056ac8fecf8 140 CAN *handler = (CAN*)id;
valeyev 0:e056ac8fecf8 141 if (handler->_irq[type]) {
valeyev 0:e056ac8fecf8 142 handler->_irq[type].call();
valeyev 0:e056ac8fecf8 143 }
valeyev 0:e056ac8fecf8 144 }
valeyev 0:e056ac8fecf8 145
valeyev 0:e056ac8fecf8 146 void CAN::lock() {
valeyev 0:e056ac8fecf8 147 _mutex.lock();
valeyev 0:e056ac8fecf8 148 }
valeyev 0:e056ac8fecf8 149
valeyev 0:e056ac8fecf8 150 void CAN::unlock() {
valeyev 0:e056ac8fecf8 151 _mutex.unlock();
valeyev 0:e056ac8fecf8 152 }
valeyev 0:e056ac8fecf8 153
valeyev 0:e056ac8fecf8 154 } // namespace mbed
valeyev 0:e056ac8fecf8 155
valeyev 0:e056ac8fecf8 156 #endif