Merge https://github.com/jorisa/mbed

libraries/mbed/api/CAN.h

@@ -162,31 +162,33 @@ class CAN {
      *  generated.
      *
      *  @param fptr A pointer to a void function, or 0 to set as none
+     *  @param event Which can interrupt to attach the member function to (CAN::IRQ_RX, CAN::IRQ_TX, CAN::IRQ_ERROR, CAN::IRQ_OVERRUN, CAN::IRQ_WAKEUP, CAN::IRQ_PASSIVE, CAN::IRQ_ARB, CAN::IRQ_BUS, CAN::IRQ_READY) - Note that not every event is supported by all hardware
      */
-    void attach(void (*fptr)(void));
+    void attach(void (*fptr)(void), can_irq_event event=IRQ_RX);
 
    /** Attach a member function to call whenever a CAN frame received interrupt
     *  is generated.
     *
     *  @param tptr pointer to the object to call the member function on
     *  @param mptr pointer to the member function to be called
+    *  @param event Which can interrupt to attach the member function to (CAN::IRQ_RX, CAN::IRQ_TX, CAN::IRQ_ERROR, CAN::IRQ_OVERRUN, CAN::IRQ_WAKEUP, CAN::IRQ_PASSIVE, CAN::IRQ_ARB, CAN::IRQ_BUS, CAN::IRQ_READY) - Note that not every event is supported by all hardware
     */
    template<typename T>
-   void attach(T* tptr, void (T::*mptr)(void)) {
+   void attach(T* tptr, void (T::*mptr)(void), can_irq_event event=IRQ_RX) {
         if((mptr != NULL) && (tptr != NULL)) {
-            _rxirq.attach(tptr, mptr);
-            setup_interrupt();
-        } else {
-            remove_interrupt();
+            _irq[event].attach(tptr, mptr);
+            can_irq_set(&_can, event, 1);
+        }
+        else {
+            can_irq_set(&_can, event, 0);
         }
     }
 
-private:
-    can_t _can;
-    FunctionPointer _rxirq;
+    static void _irq_handler(uint32_t id, can_irq_event event);
 
-    void setup_interrupt(void);
-    void remove_interrupt(void);
+protected:
+    can_t           _can;
+    FunctionPointer _irq[9];
 };
 
 } // namespace mbed

libraries/mbed/common/CAN.cpp

@@ -23,10 +23,12 @@ namespace mbed {
 
 CAN::CAN(PinName rd, PinName td) {
     can_init(&_can, rd, td);
+    can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
 }
 
 CAN::~CAN() {
     can_free(&_can);
+    can_irq_free(&_can);
 }
 
 int CAN::frequency(int f) {
@@ -57,61 +59,18 @@ void CAN::monitor(bool silent) {
     can_monitor(&_can, (silent) ? 1 : 0);
 }
 
-static FunctionPointer* can_obj[2] = { NULL };
-
-// Have to check that the CAN block is active before reading the Interrupt
-// Control Register, or the mbed hangs
-void can_irq(void) {
-    uint32_t icr;
-
-    if(LPC_SC->PCONP & (1 << 13)) {
-        icr = LPC_CAN1->ICR;
-
-        if(icr && (can_obj[0] != NULL)) {
-            can_obj[0]->call();
-        }
-    }
-
-    if(LPC_SC->PCONP & (1 << 14)) {
-        icr = LPC_CAN2->ICR;
-        if(icr && (can_obj[1] != NULL)) {
-            can_obj[1]->call();
-        }
-    }
-
-}
-
-void CAN::setup_interrupt(void) {
-    switch ((int)_can.dev) {
-        case CAN_1: can_obj[0] = &_rxirq; break;
-        case CAN_2: can_obj[1] = &_rxirq; break;
-    }
-    _can.dev->MOD |= 1;
-    _can.dev->IER |= 1;
-    _can.dev->MOD &= ~1;
-    NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq);
-    NVIC_EnableIRQ(CAN_IRQn);
-}
-
-void CAN::remove_interrupt(void) {
-    switch ((int)_can.dev) {
-        case CAN_1: can_obj[0] = NULL; break;
-        case CAN_2: can_obj[1] = NULL; break;
-    }
-
-    _can.dev->IER &= ~(1);
-    if ((can_obj[0] == NULL) && (can_obj[1] == NULL)) {
-        NVIC_DisableIRQ(CAN_IRQn);
+void CAN::attach(void (*fptr)(void), can_irq_event event) {
+    if (fptr) {
+        _irq[event].attach(fptr);
+        can_irq_set(&_can, event, 1);
+    } else {
+        can_irq_set(&_can, event, 0);
     }
 }
 
-void CAN::attach(void (*fptr)(void)) {
-    if (fptr != NULL) {
-        _rxirq.attach(fptr);
-        setup_interrupt();
-    } else {
-        remove_interrupt();
-    }
+void CAN::_irq_handler(uint32_t id, can_irq_event event) {
+    CAN *handler = (CAN*)id;
+    handler->_irq[event].call();
 }
 
 } // namespace mbed

libraries/mbed/hal/can_api.h

@@ -28,11 +28,30 @@
 extern "C" {
 #endif
 
+typedef enum {
+    IRQ_RX,
+    IRQ_TX,
+    IRQ_ERROR,
+    IRQ_OVERRUN,
+    IRQ_WAKEUP,
+    IRQ_PASSIVE,
+    IRQ_ARB,
+    IRQ_BUS,
+    IRQ_READY
+} can_irq_event;
+
+typedef void (*can_irq_handler)(uint32_t id, can_irq_event event);
+
 typedef struct can_s can_t;
 
 void          can_init     (can_t *obj, PinName rd, PinName td);
 void          can_free     (can_t *obj);
 int           can_frequency(can_t *obj, int hz);
+
+void          can_irq_init (can_t *obj, can_irq_handler handler, uint32_t id);
+void          can_irq_free (can_t *obj);
+void          can_irq_set  (can_t *obj, can_irq_event irq, uint32_t enable);
+
 int           can_write    (can_t *obj, CAN_Message, int cc);
 int           can_read     (can_t *obj, CAN_Message *msg);
 void          can_reset    (can_t *obj);

libraries/mbed/targets/hal/TARGET_NXP/TARGET_LPC176X/can_api.c

@@ -22,6 +22,8 @@
 #include <math.h>
 #include <string.h>
 
+#define CAN_NUM    2
+
 /* Acceptance filter mode in AFMR register */
 #define ACCF_OFF                0x01
 #define ACCF_BYPASS             0x02
@@ -61,6 +63,9 @@ struct CANMsg {
 };
 typedef struct CANMsg CANMsg;
 
+static uint32_t can_irq_ids[CAN_NUM] = {0};
+static can_irq_handler irq_handler;
+
 static uint32_t can_disable(can_t *obj) {
     uint32_t sm = obj->dev->MOD;
     obj->dev->MOD |= 1;
@@ -73,6 +78,96 @@ static inline void can_enable(can_t *obj) {
     }
 }
 
+static inline void can_irq(uint32_t icr, uint32_t index) {
+    uint32_t i;
+
+    for(i = 0; i < 8; i++)
+    {
+        if((can_irq_ids[index] != 0) && (icr & (1 << i)))
+        {
+            switch (i) {
+                case 0: irq_handler(can_irq_ids[index], IRQ_RX);      break;
+                case 1: irq_handler(can_irq_ids[index], IRQ_TX);      break;
+                case 2: irq_handler(can_irq_ids[index], IRQ_ERROR);   break;
+                case 3: irq_handler(can_irq_ids[index], IRQ_OVERRUN); break;
+                case 4: irq_handler(can_irq_ids[index], IRQ_WAKEUP);  break;
+                case 5: irq_handler(can_irq_ids[index], IRQ_PASSIVE); break;
+                case 6: irq_handler(can_irq_ids[index], IRQ_ARB);     break;
+                case 7: irq_handler(can_irq_ids[index], IRQ_BUS);     break;
+                case 8: irq_handler(can_irq_ids[index], IRQ_READY);   break;
+            }
+        }
+    }
+}
+
+// Have to check that the CAN block is active before reading the Interrupt
+// Control Register, or the mbed hangs
+void can_irq_n() {
+    uint32_t icr;
+
+    if(LPC_SC->PCONP & (1 << 13)) {
+        icr = LPC_CAN1->ICR & 0x1FF;
+        can_irq(icr, 0);
+    }
+
+    if(LPC_SC->PCONP & (1 << 14)) {
+        icr = LPC_CAN2->ICR & 0x1FF;
+        can_irq(icr, 1);
+    }
+}
+
+// Register CAN object's irq handler
+void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) {
+    irq_handler = handler;
+    can_irq_ids[obj->index] = id;
+}
+
+// Unregister CAN object's irq handler
+void can_irq_free(can_t *obj) {
+    obj->dev->IER &= ~(1);
+    can_irq_ids[obj->index] = 0;
+
+    if ((can_irq_ids[0] == 0) && (can_irq_ids[1] == 0)) {
+        NVIC_DisableIRQ(CAN_IRQn);
+    }
+}
+
+// Clear or set a irq
+void can_irq_set(can_t *obj, can_irq_event event, uint32_t enable) {
+    uint32_t ier;
+
+    switch (event) {
+        case IRQ_RX:      ier = (1 << 0); break;
+        case IRQ_TX:      ier = (1 << 1); break;
+        case IRQ_ERROR:   ier = (1 << 2); break;
+        case IRQ_OVERRUN: ier = (1 << 3); break;
+        case IRQ_WAKEUP:  ier = (1 << 4); break;
+        case IRQ_PASSIVE: ier = (1 << 5); break;
+        case IRQ_ARB:     ier = (1 << 6); break;
+        case IRQ_BUS:     ier = (1 << 7); break;
+        case IRQ_READY:   ier = (1 << 8); break;
+        default: return;
+    }
+
+    obj->dev->MOD |= 1;
+    if(enable == 0) {
+        obj->dev->IER &= ~ier;
+    }
+    else {
+        obj->dev->IER |= ier;
+    }
+    obj->dev->MOD &= ~(1);
+
+    // Enable NVIC if at least 1 interrupt is active
+    if(LPC_CAN1->IER | LPC_CAN2->IER != 0) {
+        NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq_n);
+        NVIC_EnableIRQ(CAN_IRQn);
+    }
+    else {
+        NVIC_DisableIRQ(CAN_IRQn);
+    }
+}
+
 static int can_pclk(can_t *obj) {
     int value = 0;
     switch ((int)obj->dev) {
@@ -166,7 +261,12 @@ void can_init(can_t *obj, PinName rd, PinName td) {
 
     pinmap_pinout(rd, PinMap_CAN_RD);
     pinmap_pinout(td, PinMap_CAN_TD);
-
+
+    switch ((int)obj->dev) {
+        case CAN_1: obj->index = 0; break;
+        case CAN_2: obj->index = 1; break;
+    }
+
     can_reset(obj);
     obj->dev->IER = 0;             // Disable Interrupts
     can_frequency(obj, 100000);

libraries/mbed/targets/hal/TARGET_NXP/TARGET_LPC176X/objects.h

@@ -59,6 +59,7 @@ struct dac_s {
 
 struct can_s {
     LPC_CAN_TypeDef *dev;
+    int index;
 };
 
 struct i2c_s {

libraries/tests/mbed/can/main.cpp

@@ -0,0 +1,40 @@
+#include "mbed.h"
+
+Ticker ticker;
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+CAN can1(p9, p10);
+CAN can2(p30, p29);
+char counter = 0;
+
+void printmsg(char *title, CANMessage *msg) {    
+    printf("%s [%03X]", title, msg->id);
+    for(char i = 0; i < msg->len; i++) {
+        printf(" %02X", msg->data[i]);
+    }
+    printf("\n");
+} 
+
+void send() {
+    printf("send()\n");
+    CANMessage msg = CANMessage(1337, &counter, 1);
+    if(can1.write(msg)) {
+        printmsg("Tx message:", &msg);
+        counter++;
+    } 
+    led1 = !led1;
+}
+
+int main() {
+    printf("main()\n");
+    ticker.attach(&send, 1);
+    CANMessage msg;
+    while(1) {
+        printf("loop()\n");
+        if(can1.read(msg)) {
+            printmsg("Rx message:", &msg);
+            led2 = !led2;
+        }
+        wait(0.2);
+    }
+}

libraries/tests/mbed/can_interrupt/main.cpp

@@ -0,0 +1,45 @@
+#include "mbed.h"
+
+Ticker ticker;
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+CAN can1(p9, p10);
+CAN can2(p30, p29);
+char counter = 0;
+
+void printmsg(char *title, CANMessage *msg) {    
+    printf("%s [%03X]", title, msg->id);
+    for(char i = 0; i < msg->len; i++) {
+        printf(" %02X", msg->data[i]);
+    }
+    printf("\n");
+} 
+
+void send() {
+    printf("send()\n");
+    CANMessage msg = CANMessage(1337, &counter, 1);
+    if(can1.write(msg)) {
+        printmsg("Tx message:", &msg);
+        counter++;
+    } 
+    led1 = !led1;
+}
+
+void read() {
+    CANMessage msg;
+    printf("rx()\n");
+    if(can1.read(msg)) {
+        printmsg("Rx message:", &msg);
+        led2 = !led2;
+    }
+}
+
+int main() {
+    printf("main()\n");
+    ticker.attach(&send, 1);
+    can1.attach(&read);
+    while(1) {
+        printf("loop()\n");
+        wait(1);
+    }
+}