Add CAN->filter to API and add placeholders to hal's

Add filter function and modify CAN->read definition to allow reading specific messages.

Author: omdathetkan

libraries/mbed/api/CAN.h

@@ -131,12 +131,13 @@ class CAN {
     /** Read a CANMessage from the bus.
      *
      *  @param msg A CANMessage to read to.
+     *  @param handle message filter handle (0 for any message)
      *
      *  @returns
      *    0 if no message arrived,
      *    1 if message arrived
      */
-    int read(CANMessage &msg);
+    int read(CANMessage &msg, int handle = 0);
 
     /** Reset CAN interface.
      *
@@ -169,6 +170,19 @@ class CAN {
      */
     int mode(Mode mode);
 
+    /** Filter out incomming messages
+     *
+     *  @param id the id to filter on
+     *  @param mask the mask applied to the id
+     *  @param format format to filter on (Default CANAny)
+     *  @param handle message filter handle (Optional)
+     *
+     *  @returns
+     *    0 if filter change failed or unsupported,
+     *    new filter handle if successful
+     */
+    int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
+    
     /** Returns number of read errors to detect read overflow errors.
      */
     unsigned char rderror();

libraries/mbed/api/can_helper.h

@@ -24,7 +24,8 @@ extern "C" {
 
 enum CANFormat {
     CANStandard = 0,
-    CANExtended = 1
+    CANExtended = 1,
+    CANAny = 2
 };
 typedef enum CANFormat CANFormat;
 

libraries/mbed/common/CAN.cpp

@@ -39,8 +39,8 @@ int CAN::write(CANMessage msg) {
     return can_write(&_can, msg, 0);
 }
 
-int CAN::read(CANMessage &msg) {
-    return can_read(&_can, &msg);
+int CAN::read(CANMessage &msg, int handle) {
+    return can_read(&_can, &msg, handle);
 }
 
 void CAN::reset() {
@@ -63,19 +63,23 @@ int CAN::mode(Mode mode) {
     return can_mode(&_can, (CanMode)mode);
 }
 
-    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);
-        }
-    }
+int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
+    return can_filter(&_can, id, mask, format, handle);
+}
 
-    void CAN::_irq_handler(uint32_t id, CanIrqType type) {
-        CAN *handler = (CAN*)id;
-        handler->_irq[type].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

@@ -63,8 +63,9 @@ 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_read     (can_t *obj, CAN_Message *msg, int handle);
 int           can_mode     (can_t *obj, CanMode mode);
+int           can_filter   (can_t *obj, unsigned int id, unsigned int mask, CANFormat format, int handle);
 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

@@ -78,8 +78,11 @@ static inline void can_enable(can_t *obj) {
     }
 }
 
-int can_mode(can_t *obj, CanMode mode)
-{
+int can_mode(can_t *obj, CanMode mode) {
+    return 0; // not implemented
+}
+
+int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
     return 0; // not implemented
 }
 
@@ -355,7 +358,7 @@ int can_write(can_t *obj, CAN_Message msg, int cc) {
     return 0;
 }
 
-int can_read(can_t *obj, CAN_Message *msg) {
+int can_read(can_t *obj, CAN_Message *msg, int handle) {
     CANMsg x;
     unsigned int *i = (unsigned int *)&x;
 

libraries/mbed/targets/hal/TARGET_NXP/TARGET_LPC23XX/can_api.c

@@ -72,6 +72,14 @@ static inline void can_enable(can_t *obj) {
     }
 }
 
+int can_mode(can_t *obj, CanMode mode) {
+    return 0; // not implemented
+}
+
+int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
+    return 0; // not implemented
+}
+
 static int can_pclk(can_t *obj) {
     int value = 0;
     switch ((int)obj->dev) {
@@ -247,7 +255,7 @@ int can_write(can_t *obj, CAN_Message msg, int cc) {
     return 0;
 }
 
-int can_read(can_t *obj, CAN_Message *msg) {
+int can_read(can_t *obj, CAN_Message *msg, int handle) {
     CANMsg x;
     unsigned int *i = (unsigned int *)&x;
 

libraries/mbed/targets/hal/TARGET_NXP/TARGET_LPC408X/can_api.c

@@ -83,6 +83,10 @@ int can_mode(can_t *obj, CanMode mode)
     return 0; // not implemented
 }
 
+int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
+    return 0; // not implemented
+}
+
 static inline void can_irq(uint32_t icr, uint32_t index) {
     uint32_t i;
 
@@ -340,7 +344,7 @@ int can_write(can_t *obj, CAN_Message msg, int cc) {
     return 0;
 }
 
-int can_read(can_t *obj, CAN_Message *msg) {
+int can_read(can_t *obj, CAN_Message *msg, int handle) {
     CANMsg x;
     unsigned int *i = (unsigned int *)&x;