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172d42d9 AG |
1 | /* mbed Microcontroller Library |
2 | * Copyright (c) 2006-2013 ARM Limited | |
3 | * | |
4 | * Licensed under the Apache License, Version 2.0 (the "License"); | |
5 | * you may not use this file except in compliance with the License. | |
6 | * You may obtain a copy of the License at | |
7 | * | |
8 | * http://www.apache.org/licenses/LICENSE-2.0 | |
9 | * | |
10 | * Unless required by applicable law or agreed to in writing, software | |
11 | * distributed under the License is distributed on an "AS IS" BASIS, | |
12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
13 | * See the License for the specific language governing permissions and | |
14 | * limitations under the License. | |
15 | */ | |
16 | #include "CAN.h" | |
17 | ||
18 | #if DEVICE_CAN | |
19 | ||
20 | #include "cmsis.h" | |
21 | ||
22 | namespace mbed { | |
23 | ||
24 | CAN::CAN(PinName rd, PinName td) { | |
25 | can_init(&_can, rd, td); | |
26 | } | |
27 | ||
28 | CAN::~CAN() { | |
29 | can_free(&_can); | |
30 | } | |
31 | ||
32 | int CAN::frequency(int f) { | |
33 | return can_frequency(&_can, f); | |
34 | } | |
35 | ||
36 | int CAN::write(CANMessage msg) { | |
37 | return can_write(&_can, msg, 0); | |
38 | } | |
39 | ||
40 | int CAN::read(CANMessage &msg) { | |
41 | return can_read(&_can, &msg); | |
42 | } | |
43 | ||
44 | void CAN::reset() { | |
45 | can_reset(&_can); | |
46 | } | |
47 | ||
48 | unsigned char CAN::rderror() { | |
49 | return can_rderror(&_can); | |
50 | } | |
51 | ||
52 | unsigned char CAN::tderror() { | |
53 | return can_tderror(&_can); | |
54 | } | |
55 | ||
56 | void CAN::monitor(bool silent) { | |
57 | can_monitor(&_can, (silent) ? 1 : 0); | |
58 | } | |
59 | ||
60 | static FunctionPointer* can_obj[2] = { NULL }; | |
61 | ||
62 | // Have to check that the CAN block is active before reading the Interrupt | |
63 | // Control Register, or the mbed hangs | |
64 | void can_irq(void) { | |
65 | uint32_t icr; | |
66 | ||
67 | if(LPC_SC->PCONP & (1 << 13)) { | |
68 | icr = LPC_CAN1->ICR; | |
69 | ||
70 | if(icr && (can_obj[0] != NULL)) { | |
71 | can_obj[0]->call(); | |
72 | } | |
73 | } | |
74 | ||
75 | if(LPC_SC->PCONP & (1 << 14)) { | |
76 | icr = LPC_CAN2->ICR; | |
77 | if(icr && (can_obj[1] != NULL)) { | |
78 | can_obj[1]->call(); | |
79 | } | |
80 | } | |
81 | ||
82 | } | |
83 | ||
84 | void CAN::setup_interrupt(void) { | |
85 | switch ((int)_can.dev) { | |
86 | case CAN_1: can_obj[0] = &_rxirq; break; | |
87 | case CAN_2: can_obj[1] = &_rxirq; break; | |
88 | } | |
89 | _can.dev->MOD |= 1; | |
90 | _can.dev->IER |= 1; | |
91 | _can.dev->MOD &= ~1; | |
92 | NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq); | |
93 | NVIC_EnableIRQ(CAN_IRQn); | |
94 | } | |
95 | ||
96 | void CAN::remove_interrupt(void) { | |
97 | switch ((int)_can.dev) { | |
98 | case CAN_1: can_obj[0] = NULL; break; | |
99 | case CAN_2: can_obj[1] = NULL; break; | |
100 | } | |
101 | ||
102 | _can.dev->IER &= ~(1); | |
103 | if ((can_obj[0] == NULL) && (can_obj[1] == NULL)) { | |
104 | NVIC_DisableIRQ(CAN_IRQn); | |
105 | } | |
106 | } | |
107 | ||
108 | void CAN::attach(void (*fptr)(void)) { | |
109 | if (fptr != NULL) { | |
110 | _rxirq.attach(fptr); | |
111 | setup_interrupt(); | |
112 | } else { | |
113 | remove_interrupt(); | |
114 | } | |
115 | } | |
116 | ||
117 | } // namespace mbed | |
118 | ||
119 | #endif |