CAN-Related Pull Request

README.md

@@ -29,6 +29,7 @@ NXP:
 * LPC4330 (Cortex-M4 + Cortex-M0)
 * LPC1347 (Cortex-M3)
 * LPC1114 (Cortex-M0)
+* LPC11C24 (Cortex-M0)
 
 Freescale:
 * [KL25Z](http://mbed.org/handbook/mbed-FRDM-KL25Z) (Cortex-M0+)

libraries/mbed/api/CAN.h

@@ -150,6 +150,25 @@ class CAN {
      */
     void monitor(bool silent);
 
+    enum Mode {
+        Reset = 0,
+        Normal,
+        Silent,
+        LocalTest,
+        GlobalTest,
+        SilentTest
+    };
+
+    /** Change CAN operation to the specified mode
+     *
+     *  @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest)
+     *
+     *  @returns
+     *    0 if mode change failed or unsupported,
+     *    1 if mode change was successful     
+     */
+    int mode(Mode mode);
+
     /** Returns number of read errors to detect read overflow errors.
      */
     unsigned char rderror();
@@ -158,35 +177,49 @@ class CAN {
      */
     unsigned char tderror();
 
+    enum IrqType {
+        RxIrq = 0,
+        TxIrq,
+        EwIrq,
+        DoIrq,
+        WuIrq,
+        EpIrq,
+        AlIrq,
+        BeIrq,
+        IdIrq
+    };
+
     /** Attach a function to call whenever a CAN frame received interrupt is
      *  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::RxIrq for message received, CAN::TxIrq for transmitted or aborted, CAN::EwIrq for error warning, CAN::DoIrq for data overrun, CAN::WuIrq for wake-up, CAN::EpIrq for error passive, CAN::AlIrq for arbitration lost, CAN::BeIrq for bus error)
      */
-    void attach(void (*fptr)(void));
+    void attach(void (*fptr)(void), IrqType type=RxIrq);
 
    /** 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::RxIrq for message received, TxIrq for transmitted or aborted, EwIrq for error warning, DoIrq for data overrun, WuIrq for wake-up, EpIrq for error passive, AlIrq for arbitration lost, BeIrq for bus error)
     */
    template<typename T>
-   void attach(T* tptr, void (T::*mptr)(void)) {
+   void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
         if((mptr != NULL) && (tptr != NULL)) {
-            _rxirq.attach(tptr, mptr);
-            setup_interrupt();
-        } else {
-            remove_interrupt();
+            _irq[type].attach(tptr, mptr);
+            can_irq_set(&_can, (CanIrqType)type, 1);
+        }
+        else {
+            can_irq_set(&_can, (CanIrqType)type, 0);
         }
     }
 
-private:
-    can_t _can;
-    FunctionPointer _rxirq;
+    static void _irq_handler(uint32_t id, CanIrqType type);
 
-    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) {
@@ -57,62 +59,23 @@ 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();
-        }
-    }
-
+int CAN::mode(Mode mode) {
+    return can_mode(&_can, (CanMode)mode);
 }
 
-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), IrqType type) {
+        if (fptr) {
+            _irq[(CanIrqType)type].attach(fptr);
+            can_irq_set(&_can, (CanIrqType)type, 1);
+        } else {
+            can_irq_set(&_can, (CanIrqType)type, 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, CanIrqType type) {
+        CAN *handler = (CAN*)id;
+        handler->_irq[type].call();
     }
-}
 
 } // namespace mbed
 

libraries/mbed/hal/can_api.h

@@ -28,13 +28,43 @@
 extern "C" {
 #endif
 
+typedef enum {
+    IRQ_RX,
+    IRQ_TX,
+    IRQ_ERROR,
+    IRQ_OVERRUN,
+    IRQ_WAKEUP,
+    IRQ_PASSIVE,
+    IRQ_ARB,
+    IRQ_BUS,
+    IRQ_READY
+} CanIrqType;
+
+
+typedef enum {
+    MODE_RESET,
+    MODE_NORMAL,
+    MODE_SILENT,
+    MODE_TEST_GLOBAL,
+    MODE_TEST_LOCAL,
+    MODE_TEST_SILENT
+} CanMode;
+
+typedef void (*can_irq_handler)(uint32_t id, CanIrqType type);
+
 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, CanIrqType irq, uint32_t enable);
+
 int           can_write    (can_t *obj, CAN_Message, int cc);
 int           can_read     (can_t *obj, CAN_Message *msg);
+int           can_mode     (can_t *obj, CanMode mode);
 void          can_reset    (can_t *obj);
 unsigned char can_rderror  (can_t *obj);
 unsigned char can_tderror  (can_t *obj);