tmk_core/tool/mbed/mbed-sdk/libraries/mbed/common/CAN.cpp

   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) : _can(), _irq() {
  25     can_init(&_can, rd, td);
  26     can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
  27 }
  28
  29 CAN::~CAN() {
  30     can_irq_free(&_can);
  31     can_free(&_can);
  32 }
  33
  34 int CAN::frequency(int f) {
  35     return can_frequency(&_can, f);
  36 }
  37
  38 int CAN::write(CANMessage msg) {
  39     return can_write(&_can, msg, 0);
  40 }
  41
  42 int CAN::read(CANMessage &msg, int handle) {
  43     return can_read(&_can, &msg, handle);
  44 }
  45
  46 void CAN::reset() {
  47     can_reset(&_can);
  48 }
  49
  50 unsigned char CAN::rderror() {
  51     return can_rderror(&_can);
  52 }
  53
  54 unsigned char CAN::tderror() {
  55     return can_tderror(&_can);
  56 }
  57
  58 void CAN::monitor(bool silent) {
  59     can_monitor(&_can, (silent) ? 1 : 0);
  60 }
  61
  62 int CAN::mode(Mode mode) {
  63     return can_mode(&_can, (CanMode)mode);
  64 }
  65
  66 int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
  67     return can_filter(&_can, id, mask, format, handle);
  68 }
  69
  70 void CAN::attach(void (*fptr)(void), IrqType type) {
  71     if (fptr) {
  72         _irq[(CanIrqType)type].attach(fptr);
  73         can_irq_set(&_can, (CanIrqType)type, 1);
  74     } else {
  75         can_irq_set(&_can, (CanIrqType)type, 0);
  76     }
  77 }
  78
  79 void CAN::_irq_handler(uint32_t id, CanIrqType type) {
  80     CAN *handler = (CAN*)id;
  81     handler->_irq[type].call();
  82 }
  83
  84 } // namespace mbed
  85
  86 #endif