initial commit before we edit this git repo

We are about to update the us_ticker.c implementation
so that we can gain increased granularity for the
all timer related classes.

CMakeLists.txt

@@ -0,0 +1,117 @@
+#
+# mbed-2 yotta-compatible build system
+#
+
+# make sure necessary features are enabled:
+project(mbed-classic)
+enable_language(ASM)
+
+# override compilation flags:
+if(CMAKE_C_COMPILER_ID MATCHES GNU)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu99")
+endif()
+
+# the mbed.a library is built from two sets of source files + include
+# directories:
+#
+# MBED_COMMON_SOURCES: the source files that are the same for all targets,
+# these are easily found by globbing:
+#
+file(GLOB MBED_COMMON_SOURCES "common/*.cpp" "common/*.c")
+#
+# (always include the hal header directory, too)
+set(MBED_COMMON_INCLUDE_DIRS "hal")
+
+# and MBED_TARGET_SOURCES: these depend on which target we are building for. To
+# find these we need to walk the directories in targets/, and wherever we see a
+# TARGET_<something> name, recurse only if <something> matches what we're
+# currently building for
+macro(mbed_find_target_dirs PARENT_DIRECTORY SOURCES_LIST INCLUDES_LIST)
+    # append this directory to the search path:
+    list(APPEND ${INCLUDES_LIST} "${PARENT_DIRECTORY}")
+    # add all source files in this directory to the sources list:
+    file(GLOB sources "${PARENT_DIRECTORY}/*.cpp" "${PARENT_DIRECTORY}/*.c" "${PARENT_DIRECTORY}/*.s" "${PARENT_DIRECTORY}/*.S" )
+    list(APPEND ${SOURCES_LIST} ${sources})
+    
+    # get a list of all subdirectories that we want to recurse into:
+    file(GLOB dir_children RELATIVE "${PARENT_DIRECTORY}" "${PARENT_DIRECTORY}/*")
+    set(matching_subdirs "")
+    foreach(child ${dir_children})
+      if(IS_DIRECTORY "${PARENT_DIRECTORY}/${child}")
+          # is this directory name a magic one?
+          if("${child}" MATCHES "^TARGET_")
+              # target-magic: recurse if the MBED_LEGACY_TARGET_DEFINITIONS **list**
+              # contains a matching value:
+              foreach(legacy_magic_def ${MBED_LEGACY_TARGET_DEFINITIONS})
+                  # we could probably unroll the list into a single regex if
+                  # this is a performance problem:
+                  if("${child}" MATCHES "^TARGET_${legacy_magic_def}$")
+                      list(APPEND matching_subdirs ${child})
+                      break()
+                  endif()
+              endforeach()
+          elseif("${child}" MATCHES "^TOOLCHAIN_")
+              # toolchain-magic: (recurse if the MBED_LEGACY_TOOLCHAIN matches
+              # this name)
+              if("${child}" MATCHES "^TOOLCHAIN_${MBED_LEGACY_TOOLCHAIN}$")
+                  list(APPEND matching_subdirs "${child}")
+              endif()
+          else()
+              # not special: always recurse into this directory
+              list(APPEND matching_subdirs "${child}")
+          endif()
+      endif()
+    endforeach()
+    #message("matching_subdirs: ${matching_subdirs}")
+
+    # recurse:
+    foreach(subdir ${matching_subdirs})
+        mbed_find_target_dirs("${PARENT_DIRECTORY}/${subdir}" ${SOURCES_LIST} ${INCLUDES_LIST})
+    endforeach()
+endmacro()
+
+set(MBED_TARGET_SOURCES "")
+set(MBED_TARGET_INCLUDE_DIRS "")
+mbed_find_target_dirs("${CMAKE_CURRENT_SOURCE_DIR}/targets" MBED_TARGET_SOURCES MBED_TARGET_INCLUDE_DIRS)
+#message("found target sources: ${MBED_TARGET_SOURCES}")
+#message("found target include dirs: ${MBED_TARGET_INCLUDE_DIRS}")
+
+# unfortunately, for ARMCC, the startup code needs to be provided as an object
+# on the command line (not as part of an archive). To do this we override the
+# CMake add_executable command.
+if(CMAKE_C_COMPILER_ID STREQUAL "ARMCC")
+    set(MBED_TARGET_STARTUP_CODE_SOURCES "")
+    foreach(src ${MBED_TARGET_SOURCES})
+        if("${src}" MATCHES .*startup_.*\\.[sS])
+            LIST(APPEND MBED_TARGET_STARTUP_CODE_SOURCES "${src}")
+        endif()
+    endforeach()
+    add_library(mbed_classic_startupcod OBJECT ${MBED_TARGET_STARTUP_CODE_SOURCES})
+    macro (add_executable _name)
+        _add_executable(${ARGV} $<TARGET_OBJECTS:mbed_classic_startupcod>)
+    endmacro()
+endif()
+
+# we have to append any target-specific include dirs to the global include dirs
+# list, so that any indirect includes (e.g. via mbed.h) of files in those
+# directories will work:
+# (non-target-specific include dirs are listed in extraIncludes in module.json)
+foreach(dir ${MBED_TARGET_INCLUDE_DIRS})
+    set_property(GLOBAL APPEND PROPERTY YOTTA_GLOBAL_INCLUDE_DIRS ${dir})
+endforeach()
+
+# finally, we can construct a library using the determined set of include paths
+# + source files. Note that the library name must match the name of the yotta
+# module (defined in module.json) for this module to link properly with other
+# yotta modules.
+include_directories(${MBED_COMMON_INCLUDE_DIRS})
+include_directories(${MBED_TARGET_INCLUDE_DIRS})
+add_library(mbed-classic
+    ${MBED_COMMON_SOURCES}
+    ${MBED_TARGET_SOURCES}
+)
+if(CMAKE_COMPILER_IS_GNUCC)
+    target_link_libraries(mbed-classic
+        -lnosys
+    )
+endif()

api/AnalogIn.h

@@ -0,0 +1,103 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * 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 MBED_ANALOGIN_H
+#define MBED_ANALOGIN_H
+
+#include "platform.h"
+
+#if DEVICE_ANALOGIN
+
+#include "analogin_api.h"
+
+namespace mbed {
+
+/** An analog input, used for reading the voltage on a pin
+ *
+ * Example:
+ * @code
+ * // Print messages when the AnalogIn is greater than 50%
+ *
+ * #include "mbed.h"
+ *
+ * AnalogIn temperature(p20);
+ *
+ * int main() {
+ *     while(1) {
+ *         if(temperature > 0.5) {
+ *             printf("Too hot! (%f)", temperature.read());
+ *         }
+ *     }
+ * }
+ * @endcode
+ */
+class AnalogIn {
+
+public:
+
+    /** Create an AnalogIn, connected to the specified pin
+     *
+     * @param pin AnalogIn pin to connect to
+     * @param name (optional) A string to identify the object
+     */
+    AnalogIn(PinName pin) {
+        analogin_init(&_adc, pin);
+    }
+
+    /** Read the input voltage, represented as a float in the range [0.0, 1.0]
+     *
+     * @returns A floating-point value representing the current input voltage, measured as a percentage
+     */
+    float read() {
+        return analogin_read(&_adc);
+    }
+
+    /** Read the input voltage, represented as an unsigned short in the range [0x0, 0xFFFF]
+     *
+     * @returns
+     *   16-bit unsigned short representing the current input voltage, normalised to a 16-bit value
+     */
+    unsigned short read_u16() {
+        return analogin_read_u16(&_adc);
+    }
+
+#ifdef MBED_OPERATORS
+    /** An operator shorthand for read()
+     *
+     * The float() operator can be used as a shorthand for read() to simplify common code sequences
+     *
+     * Example:
+     * @code
+     * float x = volume.read();
+     * float x = volume;
+     *
+     * if(volume.read() > 0.25) { ... }
+     * if(volume > 0.25) { ... }
+     * @endcode
+     */
+    operator float() {
+        return read();
+    }
+#endif
+
+protected:
+    analogin_t _adc;
+};
+
+} // namespace mbed
+
+#endif
+
+#endif

api/AnalogOut.h

@@ -0,0 +1,121 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * 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 MBED_ANALOGOUT_H
+#define MBED_ANALOGOUT_H
+
+#include "platform.h"
+
+#if DEVICE_ANALOGOUT
+
+#include "analogout_api.h"
+
+namespace mbed {
+
+/** An analog output, used for setting the voltage on a pin
+ *
+ * Example:
+ * @code
+ * // Make a sawtooth output
+ *
+ * #include "mbed.h"
+ *
+ * AnalogOut tri(p18);
+ * int main() {
+ *     while(1) {
+ *         tri = tri + 0.01;
+ *         wait_us(1);
+ *         if(tri == 1) {
+ *             tri = 0;
+ *         }
+ *     }
+ * }
+ * @endcode
+ */
+class AnalogOut {
+
+public:
+
+    /** Create an AnalogOut connected to the specified pin
+     *
+     *  @param AnalogOut pin to connect to (18)
+     */
+    AnalogOut(PinName pin) {
+        analogout_init(&_dac, pin);
+    }
+
+    /** Set the output voltage, specified as a percentage (float)
+     *
+     *  @param value A floating-point value representing the output voltage,
+     *    specified as a percentage. The value should lie between
+     *    0.0f (representing 0v / 0%) and 1.0f (representing 3.3v / 100%).
+     *    Values outside this range will be saturated to 0.0f or 1.0f.
+     */
+    void write(float value) {
+        analogout_write(&_dac, value);
+    }
+
+    /** Set the output voltage, represented as an unsigned short in the range [0x0, 0xFFFF]
+     *
+     *  @param value 16-bit unsigned short representing the output voltage,
+     *            normalised to a 16-bit value (0x0000 = 0v, 0xFFFF = 3.3v)
+     */
+    void write_u16(unsigned short value) {
+        analogout_write_u16(&_dac, value);
+    }
+
+    /** Return the current output voltage setting, measured as a percentage (float)
+     *
+     *  @returns
+     *    A floating-point value representing the current voltage being output on the pin,
+     *    measured as a percentage. The returned value will lie between
+     *    0.0f (representing 0v / 0%) and 1.0f (representing 3.3v / 100%).
+     *
+     *  @note
+     *    This value may not match exactly the value set by a previous write().
+     */
+    float read() {
+        return analogout_read(&_dac);
+    }
+
+#ifdef MBED_OPERATORS
+    /** An operator shorthand for write()
+     */
+    AnalogOut& operator= (float percent) {
+        write(percent);
+        return *this;
+    }
+
+    AnalogOut& operator= (AnalogOut& rhs) {
+        write(rhs.read());
+        return *this;
+    }
+
+    /** An operator shorthand for read()
+     */
+    operator float() {
+        return read();
+    }
+#endif
+
+protected:
+    dac_t _dac;
+};
+
+} // namespace mbed
+
+#endif
+
+#endif

api/BusIn.h

@@ -0,0 +1,98 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * 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 MBED_BUSIN_H
+#define MBED_BUSIN_H
+
+#include "platform.h"
+#include "DigitalIn.h"
+
+namespace mbed {
+
+/** A digital input bus, used for reading the state of a collection of pins
+ */
+class BusIn {
+
+public:
+    /* Group: Configuration Methods */
+
+    /** Create an BusIn, connected to the specified pins
+     *
+     * @param <n> DigitalIn pin to connect to bus bit <n> (p5-p30, NC)
+     *
+     * @note
+     *  It is only required to specify as many pin variables as is required
+     *  for the bus; the rest will default to NC (not connected)
+     */
+    BusIn(PinName p0, PinName p1 = NC, PinName p2 = NC, PinName p3 = NC,
+          PinName p4 = NC, PinName p5 = NC, PinName p6 = NC, PinName p7 = NC,
+          PinName p8 = NC, PinName p9 = NC, PinName p10 = NC, PinName p11 = NC,
+          PinName p12 = NC, PinName p13 = NC, PinName p14 = NC, PinName p15 = NC);
+
+    BusIn(PinName pins[16]);
+
+    virtual ~BusIn();
+
+    /** Read the value of the input bus
+     *
+     *  @returns
+     *   An integer with each bit corresponding to the value read from the associated DigitalIn pin
+     */
+    int read();
+
+    /** Set the input pin mode
+     *
+     *  @param mode PullUp, PullDown, PullNone
+     */
+    void mode(PinMode pull);
+
+    /** Binary mask of bus pins connected to actual pins (not NC pins)
+     *  If bus pin is in NC state make corresponding bit will be cleared (set to 0), else bit will be set to 1
+     *
+     *  @returns
+     *    Binary mask of connected pins
+     */
+    int mask() {
+        return _nc_mask;
+    }
+
+#ifdef MBED_OPERATORS
+    /** A shorthand for read()
+     */
+    operator int();
+
+    /** Access to particular bit in random-iterator fashion
+     */
+    DigitalIn & operator[] (int index);
+#endif
+
+protected:
+    DigitalIn* _pin[16];
+
+    /** Mask of bus's NC pins
+     * If bit[n] is set to 1 - pin is connected
+     * if bit[n] is cleared - pin is not connected (NC)
+     */
+    int _nc_mask;
+
+    /* disallow copy constructor and assignment operators */
+private:
+    BusIn(const BusIn&);
+    BusIn & operator = (const BusIn&);
+};
+
+} // namespace mbed
+
+#endif

api/BusInOut.h

@@ -0,0 +1,117 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * 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 MBED_BUSINOUT_H
+#define MBED_BUSINOUT_H
+
+#include "DigitalInOut.h"
+
+namespace mbed {
+
+/** A digital input output bus, used for setting the state of a collection of pins
+ */
+class BusInOut {
+
+public:
+
+    /** Create an BusInOut, connected to the specified pins
+     *
+     *  @param p<n> DigitalInOut pin to connect to bus bit p<n> (p5-p30, NC)
+     *
+     *  @note
+     *  It is only required to specify as many pin variables as is required
+     *  for the bus; the rest will default to NC (not connected)
+     */
+    BusInOut(PinName p0, PinName p1 = NC, PinName p2 = NC, PinName p3 = NC,
+             PinName p4 = NC, PinName p5 = NC, PinName p6 = NC, PinName p7 = NC,
+             PinName p8 = NC, PinName p9 = NC, PinName p10 = NC, PinName p11 = NC,
+             PinName p12 = NC, PinName p13 = NC, PinName p14 = NC, PinName p15 = NC);
+
+    BusInOut(PinName pins[16]);
+
+    virtual ~BusInOut();
+
+    /* Group: Access Methods */
+
+    /** Write the value to the output bus
+     *
+     *  @param value An integer specifying a bit to write for every corresponding DigitalInOut pin
+     */
+    void write(int value);
+
+    /** Read the value currently output on the bus
+     *
+     *  @returns
+     *    An integer with each bit corresponding to associated DigitalInOut pin setting
+     */
+    int read();
+
+    /** Set as an output
+     */
+    void output();
+
+    /** Set as an input
+     */
+    void input();
+
+    /** Set the input pin mode
+     *
+     *  @param mode PullUp, PullDown, PullNone
+     */
+    void mode(PinMode pull);
+
+    /** Binary mask of bus pins connected to actual pins (not NC pins)
+     *  If bus pin is in NC state make corresponding bit will be cleared (set to 0), else bit will be set to 1
+     *
+     *  @returns
+     *    Binary mask of connected pins
+     */
+    int mask() {
+        return _nc_mask;
+    }
+
+#ifdef MBED_OPERATORS
+     /** A shorthand for write()
+     */
+    BusInOut& operator= (int v);
+    BusInOut& operator= (BusInOut& rhs);
+
+    /** Access to particular bit in random-iterator fashion
+    */
+    DigitalInOut& operator[] (int index);
+
+    /** A shorthand for read()
+     */
+    operator int();
+#endif
+
+protected:
+    DigitalInOut* _pin[16];
+
+    /** Mask of bus's NC pins
+     * If bit[n] is set to 1 - pin is connected
+     * if bit[n] is cleared - pin is not connected (NC)
+     */
+    int _nc_mask;
+
+    /* disallow copy constructor and assignment operators */
+private:
+    BusInOut(const BusInOut&);
+    BusInOut & operator = (const BusInOut&);
+};
+
+} // namespace mbed
+
+#endif

api/BusOut.h

@@ -0,0 +1,101 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * 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 MBED_BUSOUT_H
+#define MBED_BUSOUT_H
+
+#include "DigitalOut.h"
+
+namespace mbed {
+
+/** A digital output bus, used for setting the state of a collection of pins
+ */
+class BusOut {
+
+public:
+
+    /** Create an BusOut, connected to the specified pins
+     *
+     *  @param p<n> DigitalOut pin to connect to bus bit <n> (p5-p30, NC)
+     *
+     *  @note
+     *  It is only required to specify as many pin variables as is required
+     *  for the bus; the rest will default to NC (not connected)
+     */
+    BusOut(PinName p0, PinName p1 = NC, PinName p2 = NC, PinName p3 = NC,
+           PinName p4 = NC, PinName p5 = NC, PinName p6 = NC, PinName p7 = NC,
+           PinName p8 = NC, PinName p9 = NC, PinName p10 = NC, PinName p11 = NC,
+           PinName p12 = NC, PinName p13 = NC, PinName p14 = NC, PinName p15 = NC);
+
+    BusOut(PinName pins[16]);
+
+    virtual ~BusOut();
+
+    /** Write the value to the output bus
+     *
+     *  @param value An integer specifying a bit to write for every corresponding DigitalOut pin
+     */
+    void write(int value);
+
+    /** Read the value currently output on the bus
+     *
+     *  @returns
+     *    An integer with each bit corresponding to associated DigitalOut pin setting
+     */
+    int read();
+
+    /** Binary mask of bus pins connected to actual pins (not NC pins)
+     *  If bus pin is in NC state make corresponding bit will be cleared (set to 0), else bit will be set to 1
+     *
+     *  @returns
+     *    Binary mask of connected pins
+     */
+    int mask() {
+        return _nc_mask;
+    }
+
+#ifdef MBED_OPERATORS
+    /** A shorthand for write()
+     */
+    BusOut& operator= (int v);
+    BusOut& operator= (BusOut& rhs);
+
+    /** Access to particular bit in random-iterator fashion
+     */
+    DigitalOut& operator[] (int index);
+
+    /** A shorthand for read()
+     */
+    operator int();
+#endif
+
+protected:
+    DigitalOut* _pin[16];
+
+    /** Mask of bus's NC pins
+     * If bit[n] is set to 1 - pin is connected
+     * if bit[n] is cleared - pin is not connected (NC)
+     */
+    int _nc_mask;
+
+   /* disallow copy constructor and assignment operators */
+private:
+    BusOut(const BusOut&);
+    BusOut & operator = (const BusOut&);
+};
+
+} // namespace mbed
+
+#endif

api/CAN.h

@@ -0,0 +1,243 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * 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 MBED_CAN_H
+#define MBED_CAN_H
+
+#include "platform.h"
+
+#if DEVICE_CAN
+
+#include "can_api.h"
+#include "can_helper.h"
+#include "FunctionPointer.h"
+
+namespace mbed {
+
+/** CANMessage class
+ */
+class CANMessage : public CAN_Message {
+
+public:
+    /** Creates empty CAN message.
+     */
+    CANMessage() : CAN_Message() {
+        len    = 8;
+        type   = CANData;
+        format = CANStandard;
+        id     = 0;
+        memset(data, 0, 8);
+    }
+
+    /** Creates CAN message with specific content.
+     */
+    CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) {
+      len    = _len & 0xF;
+      type   = _type;
+      format = _format;
+      id     = _id;
+      memcpy(data, _data, _len);
+    }
+
+    /** Creates CAN remote message.
+     */
+    CANMessage(int _id, CANFormat _format = CANStandard) {
+      len    = 0;
+      type   = CANRemote;
+      format = _format;
+      id     = _id;
+      memset(data, 0, 8);
+    }
+};
+
+/** A can bus client, used for communicating with can devices
+ */
+class CAN {
+
+public:
+    /** Creates an CAN interface connected to specific pins.
+     *
+     *  @param rd read from transmitter
+     *  @param td transmit to transmitter
+     *
+     * Example:
+     * @code
+     * #include "mbed.h"
+     *
+     * Ticker ticker;
+     * DigitalOut led1(LED1);
+     * DigitalOut led2(LED2);
+     * CAN can1(p9, p10);
+     * CAN can2(p30, p29);
+     *
+     * char counter = 0;
+     *
+     * void send() {
+     *     if(can1.write(CANMessage(1337, &counter, 1))) {
+     *         printf("Message sent: %d\n", counter);
+     *         counter++;
+     *     }
+     *     led1 = !led1;
+     * }
+     *
+     * int main() {
+     *     ticker.attach(&send, 1);
+     *    CANMessage msg;
+     *     while(1) {
+     *         if(can2.read(msg)) {
+     *             printf("Message received: %d\n\n", msg.data[0]);
+     *             led2 = !led2;
+     *         }
+     *         wait(0.2);
+     *     }
+     * }
+     * @endcode
+     */
+    CAN(PinName rd, PinName td);
+    virtual ~CAN();
+
+    /** Set the frequency of the CAN interface
+     *
+     *  @param hz The bus frequency in hertz
+     *
+     *  @returns
+     *    1 if successful,
+     *    0 otherwise
+     */
+    int frequency(int hz);
+
+    /** Write a CANMessage to the bus.
+     *
+     *  @param msg The CANMessage to write.
+     *
+     *  @returns
+     *    0 if write failed,
+     *    1 if write was successful
+     */
+    int write(CANMessage msg);
+
+    /** 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);
+
+    /** Reset CAN interface.
+     *
+     * To use after error overflow.
+     */
+    void reset();
+
+    /** Puts or removes the CAN interface into silent monitoring mode
+     *
+     *  @param silent boolean indicating whether to go into silent mode or not
+     */
+    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);
+
+    /** 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();
+
+    /** Returns number of write errors to detect write overflow errors.
+     */
+    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), 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), IrqType type=RxIrq) {
+        if((mptr != NULL) && (tptr != NULL)) {
+            _irq[type].attach(tptr, mptr);
+            can_irq_set(&_can, (CanIrqType)type, 1);
+        }
+        else {
+            can_irq_set(&_can, (CanIrqType)type, 0);
+        }
+    }
+
+    static void _irq_handler(uint32_t id, CanIrqType type);
+
+protected:
+    can_t           _can;
+    FunctionPointer _irq[9];
+};
+
+} // namespace mbed
+
+#endif
+
+#endif    // MBED_CAN_H

api/CThunk.h

@@ -0,0 +1,202 @@
+/* General C++ Object Thunking class
+ *
+ * - allows direct callbacks to non-static C++ class functions
+ * - keeps track for the corresponding class instance
+ * - supports an optional context parameter for the called function
+ * - ideally suited for class object receiving interrupts (NVIC_SetVector)
+ *
+ * Copyright (c) 2014-2015 ARM Limited
+ *
+ * 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 __CTHUNK_H__
+#define __CTHUNK_H__
+
+#define CTHUNK_ADDRESS 1
+
+#if defined(__CORTEX_M3) || defined(__CORTEX_M4) || defined(__thumb2__)
+#define CTHUNK_VARIABLES volatile uint32_t code[1]
+/**
+* CTHUNK disassembly for Cortex-M3/M4 (thumb2):
+* * ldm.w pc,{r0,r1,r2,pc}
+*
+* This instruction loads the arguments for the static thunking function to r0-r2, and
+* branches to that function by loading its address into PC.
+*
+* This is safe for both regular calling and interrupt calling, since it only touches scratch registers
+* which should be saved by the caller, and are automatically saved as part of the IRQ context switch.
+*/
+#define CTHUNK_ASSIGMENT m_thunk.code[0] = 0x8007E89F
+
+#elif defined(__CORTEX_M0PLUS) || defined(__CORTEX_M0)
+/*
+* CTHUNK disassembly for Cortex M0 (thumb):
+* * push {r0,r1,r2,r3,r4,lr} save touched registers and return address
+* * movs r4,#4 set up address to load arguments from (immediately following this code block) (1)
+* * add r4,pc set up address to load arguments from (immediately following this code block) (2)
+* * ldm r4!,{r0,r1,r2,r3} load arguments for static thunk function
+* * blx r3 call static thunk function
+* * pop {r0,r1,r2,r3,r4,pc} restore scratch registers and return from function
+*/
+#define CTHUNK_VARIABLES volatile uint32_t code[3]
+#define CTHUNK_ASSIGMENT do {                              \
+                             m_thunk.code[0] = 0x2404B51F; \
+                             m_thunk.code[1] = 0xCC0F447C; \
+                             m_thunk.code[2] = 0xBD1F4798; \
+                         } while (0)
+
+#else
+#error "Target is not currently suported."
+#endif
+
+/* IRQ/Exception compatible thunk entry function */
+typedef void (*CThunkEntry)(void);
+
+template<class T>
+class CThunk
+{
+    public:
+        typedef void (T::*CCallbackSimple)(void);
+        typedef void (T::*CCallback)(void* context);
+
+        inline CThunk(T *instance)
+        {
+            init(instance, NULL, NULL);
+        }
+
+        inline CThunk(T *instance, CCallback callback)
+        {
+            init(instance, callback, NULL);
+        }
+
+        ~CThunk() {
+
+        }
+
+        inline CThunk(T *instance, CCallbackSimple callback)
+        {
+            init(instance, (CCallback)callback, NULL);
+        }
+
+        inline CThunk(T &instance, CCallback callback)
+        {
+            init(instance, callback, NULL);
+        }
+
+        inline CThunk(T &instance, CCallbackSimple callback)
+        {
+            init(instance, (CCallback)callback, NULL);
+        }
+
+        inline CThunk(T &instance, CCallback callback, void* context)
+        {
+            init(instance, callback, context);
+        }
+
+        inline void callback(CCallback callback)
+        {
+            m_callback = callback;
+        }
+
+        inline void callback(CCallbackSimple callback)
+        {
+            m_callback = (CCallback)callback;
+        }
+
+        inline void context(void* context)
+        {
+            m_thunk.context = (uint32_t)context;
+        }
+
+        inline void context(uint32_t context)
+        {
+            m_thunk.context = context;
+        }
+        
+        inline uint32_t entry(void)
+        {
+            return (((uint32_t)&m_thunk)|CTHUNK_ADDRESS);
+        }
+
+        /* get thunk entry point for connecting rhunk to an IRQ table */
+        inline operator CThunkEntry(void)
+        {
+            return (CThunkEntry)entry();
+        }
+
+        /* get thunk entry point for connecting rhunk to an IRQ table */
+        inline operator uint32_t(void)
+        {
+            return entry();
+        }
+
+        /* simple test function */
+        inline void call(void)
+        {
+            (((CThunkEntry)(entry()))());
+        }
+
+    private:
+        T* m_instance;
+        volatile CCallback m_callback;
+
+// TODO: this needs proper fix, to refactor toolchain header file and all its use
+// PACKED there is not defined properly for IAR
+#if defined (__ICCARM__)
+        typedef __packed struct
+        {
+            CTHUNK_VARIABLES;
+            volatile uint32_t instance;
+            volatile uint32_t context;
+            volatile uint32_t callback;
+            volatile uint32_t trampoline;
+        }  CThunkTrampoline;
+#else
+        typedef struct
+        {
+            CTHUNK_VARIABLES;
+            volatile uint32_t instance;
+            volatile uint32_t context;
+            volatile uint32_t callback;
+            volatile uint32_t trampoline;
+        } __attribute__((__packed__)) CThunkTrampoline;
+#endif
+
+        static void trampoline(T* instance, void* context, CCallback* callback)
+        {
+            if(instance && *callback) {
+                (static_cast<T*>(instance)->**callback)(context);
+            }
+        }
+
+        volatile CThunkTrampoline m_thunk;
+
+        inline void init(T *instance, CCallback callback, void* context)
+        {
+            /* remember callback - need to add this level of redirection
+               as pointer size for member functions differs between platforms */
+            m_callback = callback;
+
+            /* populate thunking trampoline */
+            CTHUNK_ASSIGMENT;
+            m_thunk.context = (uint32_t)context;
+            m_thunk.instance = (uint32_t)instance;
+            m_thunk.callback = (uint32_t)&m_callback;
+            m_thunk.trampoline = (uint32_t)&trampoline;
+
+            __ISB();
+            __DSB();
+        }
+};
+
+#endif/*__CTHUNK_H__*/

api/CallChain.h

@@ -0,0 +1,181 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * 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 MBED_CALLCHAIN_H
+#define MBED_CALLCHAIN_H
+
+#include "FunctionPointer.h"
+#include <string.h>
+
+namespace mbed {
+
+/** Group one or more functions in an instance of a CallChain, then call them in
+ * sequence using CallChain::call(). Used mostly by the interrupt chaining code,
+ * but can be used for other purposes.
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ *
+ * CallChain chain;
+ *
+ * void first(void) {
+ *     printf("'first' function.\n");
+ * }
+ *
+ * void second(void) {
+ *     printf("'second' function.\n");
+ * }
+ *
+ * class Test {
+ * public:
+ *     void f(void) {
+ *         printf("A::f (class member).\n");
+ *     }
+ * };
+ *
+ * int main() {
+ *     Test test;
+ *
+ *     chain.add(second);
+ *     chain.add_front(first);
+ *     chain.add(&test, &Test::f);
+ *     chain.call();
+ * }
+ * @endcode
+ */
+
+typedef FunctionPointer* pFunctionPointer_t;
+
+class CallChain {
+public:
+    /** Create an empty chain
+     *
+     *  @param size (optional) Initial size of the chain
+     */
+    CallChain(int size = 4);
+    virtual ~CallChain();
+
+    /** Add a function at the end of the chain
+     *
+     *  @param function A pointer to a void function
+     *
+     *  @returns
+     *  The function object created for 'function'
+     */
+    pFunctionPointer_t add(void (*function)(void));
+
+    /** Add a function at the end of the chain
+     *
+     *  @param tptr pointer to the object to call the member function on
+     *  @param mptr pointer to the member function to be called
+     *
+     *  @returns
+     *  The function object created for 'tptr' and 'mptr'
+     */
+    template<typename T>
+    pFunctionPointer_t add(T *tptr, void (T::*mptr)(void)) {
+        return common_add(new FunctionPointer(tptr, mptr));
+    }
+
+    /** Add a function at the beginning of the chain
+     *
+     *  @param function A pointer to a void function
+     *
+     *  @returns
+     *  The function object created for 'function'
+     */
+    pFunctionPointer_t add_front(void (*function)(void));
+
+    /** Add a function at the beginning of the chain
+     *
+     *  @param tptr pointer to the object to call the member function on
+     *  @param mptr pointer to the member function to be called
+     *
+     *  @returns
+     *  The function object created for 'tptr' and 'mptr'
+     */
+    template<typename T>
+    pFunctionPointer_t add_front(T *tptr, void (T::*mptr)(void)) {
+        return common_add_front(new FunctionPointer(tptr, mptr));
+    }
+
+    /** Get the number of functions in the chain
+     */
+    int size() const;
+
+    /** Get a function object from the chain
+     *
+     *  @param i function object index
+     *
+     *  @returns
+     *  The function object at position 'i' in the chain
+     */
+    pFunctionPointer_t get(int i) const;
+
+    /** Look for a function object in the call chain
+     *
+     *  @param f the function object to search
+     *
+     *  @returns
+     *  The index of the function object if found, -1 otherwise.
+     */
+    int find(pFunctionPointer_t f) const;
+
+    /** Clear the call chain (remove all functions in the chain).
+     */
+    void clear();
+
+    /** Remove a function object from the chain
+     *
+     *  @arg f the function object to remove
+     *
+     *  @returns
+     *  true if the function object was found and removed, false otherwise.
+     */
+    bool remove(pFunctionPointer_t f);
+
+    /** Call all the functions in the chain in sequence
+     */
+    void call();
+
+#ifdef MBED_OPERATORS
+    void operator ()(void) {
+        call();
+    }
+    pFunctionPointer_t operator [](int i) const {
+        return get(i);
+    }
+#endif
+
+private:
+    void _check_size();
+    pFunctionPointer_t common_add(pFunctionPointer_t pf);
+    pFunctionPointer_t common_add_front(pFunctionPointer_t pf);
+
+    pFunctionPointer_t* _chain;
+    int _size;
+    int _elements;
+
+    /* disallow copy constructor and assignment operators */
+private:
+    CallChain(const CallChain&);
+    CallChain & operator = (const CallChain&);
+};
+
+} // namespace mbed
+
+#endif
+

api/CircularBuffer.h

@@ -0,0 +1,98 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2015 ARM Limited
+ *
+ * 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 MBED_CIRCULARBUFFER_H
+#define MBED_CIRCULARBUFFER_H
+
+namespace mbed {
+
+/** Templated Circular buffer class
+ */
+template<typename T, uint32_t BufferSize, typename CounterType = uint32_t>
+class CircularBuffer {
+public:
+    CircularBuffer() : _head(0), _tail(0), _full(false) {
+    }
+
+    ~CircularBuffer() {
+    }
+
+    /** Push the transaction to the buffer. This overwrites the buffer if it's
+     *  full
+     *