CAN: Add explicit pinmap support

Author: mprse

drivers/CAN.h

@@ -170,6 +170,22 @@ class CAN : private NonCopyable<CAN> {
       */
     CAN(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
+      */
+    CAN(const can_pinmap_t &pinmap);
+
+    /** Initialize CAN interface and set the frequency
+      *
+      * @param pinmap reference to structure which holds static pinmap
+      * @param td the transmit pin
+      * @param hz the bus frequency in hertz
+      */
+    CAN(const can_pinmap_t &pinmap, int hz);
+
     virtual ~CAN();
 
     /** Set the frequency of the CAN interface

drivers/source/CAN.cpp

@@ -46,6 +46,30 @@ CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq()
     can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
 }
 
+CAN::CAN(const can_pinmap_t &pinmap) : _can(), _irq()
+{
+    // No lock needed in constructor
+
+    for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
+        _irq[i] = NULL;
+    }
+
+    can_init_direct(&_can, &pinmap);
+    can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
+}
+
+CAN::CAN(const can_pinmap_t &pinmap, int hz) : _can(), _irq()
+{
+    // No lock needed in constructor
+
+    for (size_t i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
+        _irq[i] = NULL;
+    }
+
+    can_init_freq_direct(&_can, &pinmap, hz);
+    can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
+}
+
 CAN::~CAN()
 {
     // No lock needed in destructor