Added Raw CAN (unlocked can read api) and updated the code for the

rxInterrupt to work for all CAN instances

Author: MubeenHCLite

drivers/include/drivers/RawCAN.h

@@ -0,0 +1,69 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2019 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef RAWCAN_H
+#define RAWCAN_H
+
+#include "platform/platform.h"
+#include "drivers/CAN.h"
+
+#if DEVICE_CAN || defined(DOXYGEN_ONLY)
+
+#include "interfaces/InterfaceCAN.h"
+#include "hal/can_api.h"
+#include "platform/Callback.h"
+#include "platform/PlatformMutex.h"
+
+namespace mbed {
+class RawCAN: public CAN {
+    public:
+    RawCAN(PinName rd, PinName td);
+
+    /** Initialize CAN interface and set the frequency
+      *
+      * @param rd the read pin
+      * @param td the transmit pin
+      * @param hz the bus frequency in hertz
+      */
+    RawCAN(PinName rd, PinName td, int hz);
+
+    /** Initialize CAN interface
+      *
+      * @param pinmap reference to structure which holds static pinmap
+      * @param td the transmit pin
+      * @param hz the bus frequency in hertz
+      */
+
+    virtual ~RawCAN() {};
+
+    /** 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 handle = 0);
+    
+    };
+}    //namespace mbed
+
+#endif
+
+#endif //RAWCAN_H

drivers/source/RawCAN.cpp

@@ -0,0 +1,41 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2019 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "drivers/RawCan.h"
+
+#if DEVICE_CAN
+
+#include "platform/mbed_power_mgmt.h"
+
+namespace mbed {
+    RawCAN::RawCAN(PinName rd, PinName td): CAN(rd, td) {}
+
+    RawCAN::RawCAN(PinName rd, PinName td, int hz): CAN(rd, td, hz) {}
+
+    /* There are situations where the RX interrupt of CAN are cleared only by 
+     * CAN read operations and locks are not allowed in ISR context in mbed
+     * hence this provides an unlocked read to resolve such problem without 
+     * any effect on the performance. This will work only in case of a single 
+     * thread accessing a CAN instance, multiple threads will lead to race conditions 
+    */
+    int RawCAN::read(CANMessage &msg, int handle){
+        int ret = can_read(&_can, &msg, handle);
+        return ret;
+    }
+
+} // namespace
+#endif //DEVICE_CAN

mbed.h

@@ -68,6 +68,7 @@
 #include "drivers/I2C.h"
 #include "drivers/I2CSlave.h"
 #include "drivers/CAN.h"
+#include "drivers/RawCAN.h"
 #include "drivers/UnbufferedSerial.h"
 #include "drivers/BufferedSerial.h"
 #include "drivers/FlashIAP.h"

targets/TARGET_STM/TARGET_STM32F0/objects.h

@@ -152,6 +152,7 @@ struct can_s {
     CAN_HandleTypeDef CanHandle;
     int index;
     int hz;
+    int rxIrqStatus;
 };
 #endif
 

targets/TARGET_STM/TARGET_STM32F1/objects.h

@@ -142,6 +142,7 @@ struct can_s {
     CAN_HandleTypeDef CanHandle;
     int index;
     int hz;
+    int rxIrqStatus;
 };
 #endif
 

targets/TARGET_STM/TARGET_STM32F2/objects.h

@@ -151,6 +151,7 @@ struct can_s {
     CAN_HandleTypeDef CanHandle;
     int index;
     int hz;
+    int rxIrqStatus;
 };
 #endif
 

targets/TARGET_STM/TARGET_STM32F3/objects.h

@@ -139,6 +139,7 @@ struct can_s {
     CAN_HandleTypeDef CanHandle;
     int index;
     int hz;
+    int rxIrqStatus;
 };
 #endif
 

targets/TARGET_STM/TARGET_STM32F4/objects.h

@@ -154,6 +154,7 @@ struct can_s {
     CAN_HandleTypeDef CanHandle;
     int index;
     int hz;
+    int rxIrqStatus;
 };
 #endif
 

targets/TARGET_STM/TARGET_STM32F7/objects.h

@@ -163,6 +163,7 @@ struct can_s {
     CAN_HandleTypeDef CanHandle;
     int index;
     int hz;
+    int rxIrqStatus;
 };
 #endif
 

targets/TARGET_STM/TARGET_STM32L4/objects.h

@@ -153,6 +153,7 @@ struct can_s {
     CAN_HandleTypeDef CanHandle;
     int index;
     int hz;
+    int rxIrqStatus;
 };
 #endif
 

targets/TARGET_STM/TARGET_STM32L5/objects.h

@@ -153,6 +153,7 @@ struct can_s {
     CAN_HandleTypeDef CanHandle;
     int index;
     int hz;
+    int rxIrqStatus;
 };
 #endif
 

targets/TARGET_STM/can_api.c

@@ -651,7 +651,6 @@ void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
 
 static uint32_t can_irq_ids[CAN_NUM] = {0};
 static can_irq_handler irq_handler;
-static uint32_t rx_irq_status = DISABLED;
 
 static void can_registers_init(can_t *obj)
 {
@@ -762,6 +761,7 @@ void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id)
 {
     irq_handler = handler;
     can_irq_ids[obj->index] = id;
+    obj->rxIrqStatus = false;
 }
 
 void can_irq_free(can_t *obj)
@@ -771,7 +771,7 @@ void can_irq_free(can_t *obj)
     can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
                   CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
     can_irq_ids[obj->index] = 0;
-    rx_irq_status = DISABLED;
+    obj->rxIrqStatus = DISABLED;
 }
 
 void can_free(can_t *obj)
@@ -1003,7 +1003,7 @@ int can_read(can_t *obj, CAN_Message *msg, int handle)
         can->RF1R |= CAN_RF1R_RFOM1;
     }
 
-    if(rx_irq_status == ENABLED) {
+    if(obj->rxIrqStatus == ENABLED) {
         __HAL_CAN_ENABLE_IT(&obj->CanHandle, CAN_IT_FMP0);
     }
 
@@ -1020,7 +1020,7 @@ void can_reset(can_t *obj)
 
     /* restore registers state as saved in obj context */
     can_registers_init(obj);
-    rx_irq_status = DISABLED;
+    obj->rxIrqStatus = DISABLED;
 }
 
 unsigned char can_rderror(can_t *obj)
@@ -1276,7 +1276,7 @@ void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
                 ier = CAN_IT_FMP0;
                 irq_n = CAN1_IRQ_RX_IRQN;
                 vector = (uint32_t)&CAN1_IRQ_RX_VECT;
-                rx_irq_status = ENABLED;
+                obj->rxIrqStatus = ENABLED;
                 break;
             case IRQ_TX:
                 ier = CAN_IT_TME;
@@ -1309,7 +1309,7 @@ void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
                 ier = CAN_IT_FMP0;
                 irq_n = CAN2_IRQ_RX_IRQN;
                 vector = (uint32_t)&CAN2_IRQ_RX_VECT;
-                rx_irq_status = ENABLED;
+                obj->rxIrqStatus = ENABLED;
                 break;
             case IRQ_TX:
                 ier = CAN_IT_TME;
@@ -1343,7 +1343,7 @@ void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable)
                 ier = CAN_IT_FMP0;
                 irq_n = CAN3_IRQ_RX_IRQN;
                 vector = (uint32_t)&CAN3_IRQ_RX_VECT;
-                rx_irq_status = ENABLED;
+                obj->rxIrqStatus = ENABLED;
                 break;
             case IRQ_TX:
                 ier = CAN_IT_TME;