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

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();
@@ -158,33 +177,45 @@ 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::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
+     *  @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), can_irq_event event=IRQ_RX);
+    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::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
+    *  @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), can_irq_event event=IRQ_RX) {
+   void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) {
         if((mptr != NULL) && (tptr != NULL)) {
-            _irq[event].attach(tptr, mptr);
-            can_irq_set(&_can, event, 1);
+            _irq[type].attach(tptr, mptr);
+            can_irq_set(&_can, (CanIrqType)type, 1);
         }
         else {
-            can_irq_set(&_can, event, 0);
+            can_irq_set(&_can, (CanIrqType)type, 0);
         }
     }
 
-    static void _irq_handler(uint32_t id, can_irq_event event);
+    static void _irq_handler(uint32_t id, CanIrqType type);
 
 protected:
     can_t           _can;

libraries/mbed/common/CAN.cpp

@@ -59,19 +59,23 @@ void CAN::monitor(bool silent) {
     can_monitor(&_can, (silent) ? 1 : 0);
 }
 
-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);
-    }
+int CAN::mode(Mode mode) {
+    return can_mode(&_can, (CanMode)mode);
 }
 
-void CAN::_irq_handler(uint32_t id, can_irq_event event) {
-    CAN *handler = (CAN*)id;
-    handler->_irq[event].call();
-}
+    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::_irq_handler(uint32_t id, CanIrqType type) {
+        CAN *handler = (CAN*)id;
+        handler->_irq[type].call();
+    }
 
 } // namespace mbed
 

libraries/mbed/hal/can_api.h

@@ -38,9 +38,19 @@ typedef enum {
     IRQ_ARB,
     IRQ_BUS,
     IRQ_READY
-} can_irq_event;
+} CanIrqType;
 
-typedef void (*can_irq_handler)(uint32_t id, can_irq_event event);
+
+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;
 
@@ -50,10 +60,11 @@ 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);
+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);

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

@@ -78,6 +78,11 @@ static inline void can_enable(can_t *obj) {
     }
 }
 
+int can_mode(can_t *obj, CanMode mode)
+{
+    return 0; // not implemented
+}
+
 static inline void can_irq(uint32_t icr, uint32_t index) {
     uint32_t i;
 
@@ -133,10 +138,10 @@ void can_irq_free(can_t *obj) {
 }
 
 // Clear or set a irq
-void can_irq_set(can_t *obj, can_irq_event event, uint32_t enable) {
+void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable) {
     uint32_t ier;
 
-    switch (event) {
+    switch (type) {
         case IRQ_RX:      ier = (1 << 0); break;
         case IRQ_TX:      ier = (1 << 1); break;
         case IRQ_ERROR:   ier = (1 << 2); break;