mirror of https://github.com/ARMmbed/mbed-os.git
132 lines
2.7 KiB
C++
132 lines
2.7 KiB
C++
/* mbed Microcontroller Library
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* Copyright (c) 2006-2013 ARM Limited
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "drivers/CAN.h"
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#if DEVICE_CAN
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#include "cmsis.h"
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namespace mbed {
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static void donothing() {}
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CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
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// No lock needed in constructor
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for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
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_irq[i] = callback(donothing);
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}
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can_init(&_can, rd, td);
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can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
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}
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CAN::~CAN() {
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// No lock needed in destructor
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can_irq_free(&_can);
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can_free(&_can);
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}
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int CAN::frequency(int f) {
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lock();
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int ret = can_frequency(&_can, f);
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unlock();
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return ret;
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}
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int CAN::write(CANMessage msg) {
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lock();
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int ret = can_write(&_can, msg, 0);
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unlock();
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return ret;
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}
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int CAN::read(CANMessage &msg, int handle) {
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lock();
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int ret = can_read(&_can, &msg, handle);
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unlock();
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return ret;
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}
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void CAN::reset() {
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lock();
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can_reset(&_can);
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unlock();
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}
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unsigned char CAN::rderror() {
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lock();
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int ret = can_rderror(&_can);
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unlock();
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return ret;
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}
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unsigned char CAN::tderror() {
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lock();
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int ret = can_tderror(&_can);
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unlock();
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return ret;
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}
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void CAN::monitor(bool silent) {
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lock();
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can_monitor(&_can, (silent) ? 1 : 0);
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unlock();
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}
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int CAN::mode(Mode mode) {
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lock();
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int ret = can_mode(&_can, (CanMode)mode);
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unlock();
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return ret;
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}
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int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
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lock();
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int ret = can_filter(&_can, id, mask, format, handle);
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unlock();
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return ret;
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}
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void CAN::attach(Callback<void()> func, IrqType type) {
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lock();
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if (func) {
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_irq[(CanIrqType)type] = func;
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can_irq_set(&_can, (CanIrqType)type, 1);
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} else {
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_irq[(CanIrqType)type] = callback(donothing);
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can_irq_set(&_can, (CanIrqType)type, 0);
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}
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unlock();
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}
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void CAN::_irq_handler(uint32_t id, CanIrqType type) {
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CAN *handler = (CAN*)id;
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handler->_irq[type].call();
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}
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void CAN::lock() {
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_mutex.lock();
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}
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void CAN::unlock() {
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_mutex.unlock();
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}
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} // namespace mbed
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#endif
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