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CAN.cpp
00001 /* mbed Microcontroller Library 00002 * Copyright (c) 2006-2013 ARM Limited 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 #include "drivers/CAN.h" 00017 00018 #if DEVICE_CAN 00019 00020 #include "cmsis.h" 00021 00022 namespace mbed { 00023 00024 static void donothing() {} 00025 00026 CAN::CAN(PinName rd, PinName td) : _can(), _irq() { 00027 // No lock needed in constructor 00028 00029 for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) { 00030 _irq[i].attach(donothing); 00031 } 00032 00033 can_init(&_can, rd, td); 00034 can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this); 00035 } 00036 00037 CAN::~CAN() { 00038 // No lock needed in destructor 00039 can_irq_free(&_can); 00040 can_free(&_can); 00041 } 00042 00043 int CAN::frequency(int f) { 00044 lock(); 00045 int ret = can_frequency(&_can, f); 00046 unlock(); 00047 return ret; 00048 } 00049 00050 int CAN::write(CANMessage msg) { 00051 lock(); 00052 int ret = can_write(&_can, msg, 0); 00053 unlock(); 00054 return ret; 00055 } 00056 00057 int CAN::read(CANMessage &msg, int handle) { 00058 lock(); 00059 int ret = can_read(&_can, &msg, handle); 00060 unlock(); 00061 return ret; 00062 } 00063 00064 void CAN::reset() { 00065 lock(); 00066 can_reset(&_can); 00067 unlock(); 00068 } 00069 00070 unsigned char CAN::rderror() { 00071 lock(); 00072 int ret = can_rderror(&_can); 00073 unlock(); 00074 return ret; 00075 } 00076 00077 unsigned char CAN::tderror() { 00078 lock(); 00079 int ret = can_tderror(&_can); 00080 unlock(); 00081 return ret; 00082 } 00083 00084 void CAN::monitor(bool silent) { 00085 lock(); 00086 can_monitor(&_can, (silent) ? 1 : 0); 00087 unlock(); 00088 } 00089 00090 int CAN::mode(Mode mode) { 00091 lock(); 00092 int ret = can_mode(&_can, (CanMode)mode); 00093 unlock(); 00094 return ret; 00095 } 00096 00097 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) { 00098 lock(); 00099 int ret = can_filter(&_can, id, mask, format, handle); 00100 unlock(); 00101 return ret; 00102 } 00103 00104 void CAN::attach(Callback<void()> func, IrqType type) { 00105 lock(); 00106 if (func) { 00107 _irq[(CanIrqType)type].attach(func); 00108 can_irq_set(&_can, (CanIrqType)type, 1); 00109 } else { 00110 _irq[(CanIrqType)type].attach(donothing); 00111 can_irq_set(&_can, (CanIrqType)type, 0); 00112 } 00113 unlock(); 00114 } 00115 00116 void CAN::_irq_handler(uint32_t id, CanIrqType type) { 00117 CAN *handler = (CAN*)id; 00118 handler->_irq[type].call(); 00119 } 00120 00121 void CAN::lock() { 00122 _mutex.lock(); 00123 } 00124 00125 void CAN::unlock() { 00126 _mutex.unlock(); 00127 } 00128 00129 } // namespace mbed 00130 00131 #endif
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