Yihui Xiong / Mbed 2 deprecated Seeed_nRF51822_Motion

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Dependencies:   mbed

mbed-src/common/CAN.cpp@0:638edba3adf6, 2016-01-11 (annotated)

Committer:
yihui
Date:
Mon Jan 11 02:32:24 2016 +0000
Revision:
0:638edba3adf6
initial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yihui 0:638edba3adf6 1 /* mbed Microcontroller Library
yihui 0:638edba3adf6 2 * Copyright (c) 2006-2013 ARM Limited
yihui 0:638edba3adf6 3 *
yihui 0:638edba3adf6 4 * Licensed under the Apache License, Version 2.0 (the "License");
yihui 0:638edba3adf6 5 * you may not use this file except in compliance with the License.
yihui 0:638edba3adf6 6 * You may obtain a copy of the License at
yihui 0:638edba3adf6 7 *
yihui 0:638edba3adf6 8 * http://www.apache.org/licenses/LICENSE-2.0
yihui 0:638edba3adf6 9 *
yihui 0:638edba3adf6 10 * Unless required by applicable law or agreed to in writing, software
yihui 0:638edba3adf6 11 * distributed under the License is distributed on an "AS IS" BASIS,
yihui 0:638edba3adf6 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
yihui 0:638edba3adf6 13 * See the License for the specific language governing permissions and
yihui 0:638edba3adf6 14 * limitations under the License.
yihui 0:638edba3adf6 15 */
yihui 0:638edba3adf6 16 #include "CAN.h"
yihui 0:638edba3adf6 17
yihui 0:638edba3adf6 18 #if DEVICE_CAN
yihui 0:638edba3adf6 19
yihui 0:638edba3adf6 20 #include "cmsis.h"
yihui 0:638edba3adf6 21
yihui 0:638edba3adf6 22 namespace mbed {
yihui 0:638edba3adf6 23
yihui 0:638edba3adf6 24 CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
yihui 0:638edba3adf6 25 can_init(&_can, rd, td);
yihui 0:638edba3adf6 26 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
yihui 0:638edba3adf6 27 }
yihui 0:638edba3adf6 28
yihui 0:638edba3adf6 29 CAN::~CAN() {
yihui 0:638edba3adf6 30 can_irq_free(&_can);
yihui 0:638edba3adf6 31 can_free(&_can);
yihui 0:638edba3adf6 32 }
yihui 0:638edba3adf6 33
yihui 0:638edba3adf6 34 int CAN::frequency(int f) {
yihui 0:638edba3adf6 35 return can_frequency(&_can, f);
yihui 0:638edba3adf6 36 }
yihui 0:638edba3adf6 37
yihui 0:638edba3adf6 38 int CAN::write(CANMessage msg) {
yihui 0:638edba3adf6 39 return can_write(&_can, msg, 0);
yihui 0:638edba3adf6 40 }
yihui 0:638edba3adf6 41
yihui 0:638edba3adf6 42 int CAN::read(CANMessage &msg, int handle) {
yihui 0:638edba3adf6 43 return can_read(&_can, &msg, handle);
yihui 0:638edba3adf6 44 }
yihui 0:638edba3adf6 45
yihui 0:638edba3adf6 46 void CAN::reset() {
yihui 0:638edba3adf6 47 can_reset(&_can);
yihui 0:638edba3adf6 48 }
yihui 0:638edba3adf6 49
yihui 0:638edba3adf6 50 unsigned char CAN::rderror() {
yihui 0:638edba3adf6 51 return can_rderror(&_can);
yihui 0:638edba3adf6 52 }
yihui 0:638edba3adf6 53
yihui 0:638edba3adf6 54 unsigned char CAN::tderror() {
yihui 0:638edba3adf6 55 return can_tderror(&_can);
yihui 0:638edba3adf6 56 }
yihui 0:638edba3adf6 57
yihui 0:638edba3adf6 58 void CAN::monitor(bool silent) {
yihui 0:638edba3adf6 59 can_monitor(&_can, (silent) ? 1 : 0);
yihui 0:638edba3adf6 60 }
yihui 0:638edba3adf6 61
yihui 0:638edba3adf6 62 int CAN::mode(Mode mode) {
yihui 0:638edba3adf6 63 return can_mode(&_can, (CanMode)mode);
yihui 0:638edba3adf6 64 }
yihui 0:638edba3adf6 65
yihui 0:638edba3adf6 66 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
yihui 0:638edba3adf6 67 return can_filter(&_can, id, mask, format, handle);
yihui 0:638edba3adf6 68 }
yihui 0:638edba3adf6 69
yihui 0:638edba3adf6 70 void CAN::attach(void (*fptr)(void), IrqType type) {
yihui 0:638edba3adf6 71 if (fptr) {
yihui 0:638edba3adf6 72 _irq[(CanIrqType)type].attach(fptr);
yihui 0:638edba3adf6 73 can_irq_set(&_can, (CanIrqType)type, 1);
yihui 0:638edba3adf6 74 } else {
yihui 0:638edba3adf6 75 can_irq_set(&_can, (CanIrqType)type, 0);
yihui 0:638edba3adf6 76 }
yihui 0:638edba3adf6 77 }
yihui 0:638edba3adf6 78
yihui 0:638edba3adf6 79 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
yihui 0:638edba3adf6 80 CAN *handler = (CAN*)id;
yihui 0:638edba3adf6 81 handler->_irq[type].call();
yihui 0:638edba3adf6 82 }
yihui 0:638edba3adf6 83
yihui 0:638edba3adf6 84 } // namespace mbed
yihui 0:638edba3adf6 85
yihui 0:638edba3adf6 86 #endif