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-rw-r--r--nuttx/ChangeLog5
-rwxr-xr-xnuttx/arch/arm/src/lpc17xx/lpc17_can.c370
2 files changed, 257 insertions, 118 deletions
diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index d57e4ad3d..fe9e22961 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -1967,3 +1967,8 @@
Add new line drawing interfaces (untested).
6.8 2011-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr>
+
+ * arch/arm/src/lpc17xx/chip.h: Fix some chip memory configuration errors
+ for the LPC1764, LPC1756, and LPC1754 (submitted by Li Zhuoy (Lzzy))
+ * arch/arm/src/lpc17xx/lpc17_can.h: Revised CAN driver submitted by
+ Li Zhuoy (Lzzy).
diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_can.c b/nuttx/arch/arm/src/lpc17xx/lpc17_can.c
index 06e607069..f714b5715 100755
--- a/nuttx/arch/arm/src/lpc17xx/lpc17_can.c
+++ b/nuttx/arch/arm/src/lpc17xx/lpc17_can.c
@@ -3,9 +3,11 @@
*
* Copyright (C) 2011 Li Zhuoyi. All rights reserved.
* Author: Li Zhuoyi <lzyy.cn@gmail.com>
- *
- * This file is a part of NuttX:
+ * History: 0.1 2011-07-12 initial version
+ * 0.2 2011-08-03 support CAN1/CAN2
*
+ * This file is a part of NuttX:
+ *
* Copyright (C) 2010 Gregory Nutt. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
@@ -60,13 +62,16 @@
#include "lpc17_pinconn.h"
#include "lpc17_can.h"
-#if HAVE_CAN
-
-#define CAN2_RATE 500000
+#if defined(CONFIG_LPC17_CAN1) || defined(CONFIG_LPC17_CAN2)
/****************************************************************************
* Private Types
****************************************************************************/
+struct up_dev_s
+{
+ int port;
+ int baud; /* Configured baud */
+};
/****************************************************************************
* Private Function Prototypes
@@ -91,21 +96,44 @@ static int can_interrupt(int irq, void *context);
static const struct can_ops_s g_canops =
{
- .co_reset =can_reset,
- .co_setup = can_setup,
- .co_shutdown = can_shutdown,
- .co_rxint = can_rxint,
- .co_txint = can_txint,
- .co_ioctl = can_ioctl,
- .co_remoterequest = can_remoterequest,
- .co_send = can_send,
- .co_txempty = can_txempty,
+ .co_reset =can_reset,
+ .co_setup = can_setup,
+ .co_shutdown = can_shutdown,
+ .co_rxint = can_rxint,
+ .co_txint = can_txint,
+ .co_ioctl = can_ioctl,
+ .co_remoterequest = can_remoterequest,
+ .co_send = can_send,
+ .co_txempty = can_txempty,
+};
+
+#ifdef CONFIG_LPC17_CAN1
+static struct up_dev_s g_can1priv =
+{
+ .port = 1,
+ .baud = CONFIG_CAN1_BAUD,
+};
+
+static struct can_dev_s g_can1dev =
+{
+ .cd_ops = &g_canops,
+ .cd_priv= &g_can1priv,
};
+#endif
-static struct can_dev_s g_candev =
+#ifdef CONFIG_LPC17_CAN2
+static struct up_dev_s g_can2priv =
{
- .cd_ops = &g_canops,
-};
+ .port = 2,
+ .baud = CONFIG_CAN2_BAUD,
+};
+
+static struct can_dev_s g_can2dev =
+{
+ .cd_ops = &g_canops,
+ .cd_priv= &g_can2priv,
+};
+#endif
/****************************************************************************
* Private Functions
@@ -115,39 +143,57 @@ static struct can_dev_s g_candev =
*/
static void can_reset(FAR struct can_dev_s *dev)
{
- irqstate_t flags;
- uint32_t regval;
-
- flags = irqsave();
- putreg32(0x01,LPC17_CAN2_MOD);
- putreg32(0x00,LPC17_CAN2_IER);
- putreg32(0x00,LPC17_CAN2_GSR);
- putreg32(0x02,LPC17_CAN2_CMR);
- putreg32(0x25c003,LPC17_CAN2_BTR);
- putreg32(0x00,LPC17_CAN2_MOD);
- putreg32(0x01,LPC17_CAN2_IER);
- putreg32(0x02,LPC17_CANAF_AFMR);
-
- irqrestore(flags);
-
- regval = getreg32(LPC17_CAN2_BTR);
- //dbg("BTR=%x\n",regval);
+ irqstate_t flags;
+ uint32_t regval;
+ struct up_dev_s *priv=dev->cd_priv;
+ int baud = priv->baud;
+ int port = priv->port;
+
+ baud = 0x25c003;
+ flags = irqsave();
+
+ if(port==1)
+ {
+ putreg32(0x01,LPC17_CAN1_MOD);
+ putreg32(0x00,LPC17_CAN1_IER);
+ putreg32(0x00,LPC17_CAN1_GSR);
+ putreg32(0x02,LPC17_CAN1_CMR);
+ putreg32(baud,LPC17_CAN1_BTR);
+ putreg32(0x00,LPC17_CAN1_MOD);
+ putreg32(0x01,LPC17_CAN1_IER);
+ putreg32(0x02,LPC17_CANAF_AFMR);
+ }
+ else if(port==2)
+ {
+ putreg32(0x01,LPC17_CAN2_MOD);
+ putreg32(0x00,LPC17_CAN2_IER);
+ putreg32(0x00,LPC17_CAN2_GSR);
+ putreg32(0x02,LPC17_CAN2_CMR);
+ putreg32(baud,LPC17_CAN2_BTR);
+ putreg32(0x00,LPC17_CAN2_MOD);
+ putreg32(0x01,LPC17_CAN2_IER);
+ putreg32(0x02,LPC17_CANAF_AFMR);
+ }
+ else
+ {
+ dbg("Unsupport port %d\n",port);
+ }
+ irqrestore(flags);
}
/* Configure the CAN. This method is called the first time that the CAN
-* device is opened. This will occur when the port is first opened.
+* device is opened. This will occur when the port is first opened.
* This setup includes configuring and attaching CAN interrupts. Interrupts
* are all disabled upon return.
*/
static int can_setup(FAR struct can_dev_s *dev)
{
- int ret=0;
- ret = irq_attach(LPC17_IRQ_CAN, can_interrupt);
- if (ret == OK)
- {
- up_enable_irq(LPC17_IRQ_CAN);
- }
- return ret;
+ int ret = irq_attach(LPC17_IRQ_CAN, can_interrupt);
+ if (ret == OK)
+ {
+ up_enable_irq(LPC17_IRQ_CAN);
+ }
+ return ret;
}
/* Disable the CAN. This method is called when the CAN device is closed.
@@ -155,93 +201,151 @@ static int can_setup(FAR struct can_dev_s *dev)
*/
static void can_shutdown(FAR struct can_dev_s *dev)
{
- up_disable_irq(LPC17_IRQ_CAN);
- irq_detach(LPC17_IRQ_CAN);
+ up_disable_irq(LPC17_IRQ_CAN);
+ irq_detach(LPC17_IRQ_CAN);
}
/* Call to enable or disable RX interrupts */
static void can_rxint(FAR struct can_dev_s *dev, bool enable)
{
uint32_t regval;
- regval = getreg32(LPC17_CAN2_IER);
- if(enable)
- regval |= CAN_IER_RIE;
- else
- regval &= ~CAN_IER_RIE;
- putreg32(regval, LPC17_CAN2_IER);
+ int port = ((struct up_dev_s *)(dev->cd_priv))->port;
+
+ if(port == 1)
+ regval = getreg32(LPC17_CAN1_IER);
+ else
+ regval = getreg32(LPC17_CAN2_IER);
+
+ if (enable)
+ regval |= CAN_IER_RIE;
+ else
+ regval &= ~CAN_IER_RIE;
+
+ if(port == 1)
+ putreg32(regval, LPC17_CAN1_IER);
+ else
+ putreg32(regval, LPC17_CAN2_IER);
}
/* Call to enable or disable TX interrupts */
static void can_txint(FAR struct can_dev_s *dev, bool enable)
{
uint32_t regval;
- regval = getreg32(LPC17_CAN2_IER);
- if(enable)
- regval |= CAN_IER_TIE1;
- else
- regval &= ~CAN_IER_TIE1;
- putreg32(regval, LPC17_CAN2_IER);
+ int port = ((struct up_dev_s *)(dev->cd_priv))->port;
+
+ if(port == 1)
+ regval = getreg32(LPC17_CAN1_IER);
+ else
+ regval = getreg32(LPC17_CAN2_IER);
+
+ if (enable)
+ regval |= CAN_IER_TIE1;
+ else
+ regval &= ~CAN_IER_TIE1;
+
+ if(port == 1)
+ putreg32(regval, LPC17_CAN1_IER);
+ else
+ putreg32(regval, LPC17_CAN2_IER);
}
/* All ioctl calls will be routed through this method */
static int can_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg)
{
- dbg("Fix me:Not Implemented\n");
- return 0;
+ dbg("Fix me:Not Implemented\n");
+ return 0;
}
/* Send a remote request */
static int can_remoterequest(FAR struct can_dev_s *dev, uint16_t id)
{
- dbg("Fix me:Not Implemented\n");
- return 0;
+ dbg("Fix me:Not Implemented\n");
+ return 0;
}
static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
{
- uint32_t tid=CAN_ID(msg->cm_hdr);
- uint32_t tfi=CAN_DLC(msg->cm_hdr)<<16;
- if(CAN_RTR(msg->cm_hdr))
- tfi|=CAN_TFI_RTR;
- //dbg("header=%04x\n",msg->cm_hdr);
- putreg32(tfi,LPC17_CAN2_TFI1);
- putreg32(tid,LPC17_CAN2_TID1);
- putreg32(*(uint32_t *)&msg->cm_data[0],LPC17_CAN2_TDA1);
- putreg32(*(uint32_t *)&msg->cm_data[4],LPC17_CAN2_TDB1);
- putreg32(0x21,LPC17_CAN2_CMR);
- return 0;
+ int port = ((struct up_dev_s *)(dev->cd_priv))->port;
+ uint32_t tid=CAN_ID(msg->cm_hdr);
+ uint32_t tfi=CAN_DLC(msg->cm_hdr)<<16;
+ if (CAN_RTR(msg->cm_hdr))
+ tfi|=CAN_TFI_RTR;
+ if( port == 1)
+ {
+ putreg32(tfi,LPC17_CAN1_TFI1);
+ putreg32(tid,LPC17_CAN1_TID1);
+ putreg32(*(uint32_t *)&msg->cm_data[0],LPC17_CAN1_TDA1);
+ putreg32(*(uint32_t *)&msg->cm_data[4],LPC17_CAN1_TDB1);
+ putreg32(0x21,LPC17_CAN1_CMR);
+ }
+ else
+ {
+ putreg32(tfi,LPC17_CAN2_TFI1);
+ putreg32(tid,LPC17_CAN2_TID1);
+ putreg32(*(uint32_t *)&msg->cm_data[0],LPC17_CAN2_TDA1);
+ putreg32(*(uint32_t *)&msg->cm_data[4],LPC17_CAN2_TDB1);
+ putreg32(0x21,LPC17_CAN2_CMR);
+ }
+ return 0;
}
static bool can_txempty(FAR struct can_dev_s *dev)
{
uint32_t regval;
- regval = getreg32(LPC17_CAN2_GSR);
- if( regval & CAN_GSR_TBS)
- return true;
+ int port = ((struct up_dev_s *)(dev->cd_priv))->port;
+ if( port == 1)
+ regval = getreg32(LPC17_CAN1_GSR);
else
- return false;
+ regval = getreg32(LPC17_CAN2_GSR);
+ if ( regval & CAN_GSR_TBS)
+ return true;
+ else
+ return false;
}
static int can_interrupt(int irq, void *context)
{
uint32_t regval;
- regval=getreg32(LPC17_CAN2_ICR);
- if (regval & CAN_ICR_RI ) //Receive interrupt
- {
+
+#ifdef CONFIG_LPC17_CAN1
+ regval=getreg32(LPC17_CAN1_ICR);
+ if (regval & CAN_ICR_RI ) //Receive interrupt
+ {
+ uint16_t hdr;
+ uint32_t data[2];
+ uint32_t rfs=getreg32(LPC17_CAN1_RFS);
+ uint32_t rid=getreg32(LPC17_CAN1_RID);
+ data[0]=getreg32(LPC17_CAN1_RDA);
+ data[1]=getreg32(LPC17_CAN1_RDB);
+ putreg32(0x04,LPC17_CAN1_CMR); //release recieve buffer
+ hdr=((rid<<5)&~0x1f)|((rfs>>16)&0x0f);
+ if (rfs&CAN_RFS_RTR)
+ hdr|=0x10;
+ can_receive(&g_can1dev,hdr,(uint8_t *)data);
+ }
+ if ( regval & CAN_ICR_TI1) //Transmit interrupt 1
+ can_txdone(&g_can1dev);
+#endif
+
+#ifdef CONFIG_LPC17_CAN2
+ regval=getreg32(LPC17_CAN2_ICR);
+ if (regval & CAN_ICR_RI ) //Receive interrupt
+ {
uint16_t hdr;
uint32_t data[2];
uint32_t rfs=getreg32(LPC17_CAN2_RFS);
uint32_t rid=getreg32(LPC17_CAN2_RID);
- data[0]=getreg32(LPC17_CAN2_RDA);
- data[1]=getreg32(LPC17_CAN2_RDB);
- putreg32(0x04,LPC17_CAN2_CMR); //release recieve buffer
+ data[0]=getreg32(LPC17_CAN2_RDA);
+ data[1]=getreg32(LPC17_CAN2_RDB);
+ putreg32(0x04,LPC17_CAN2_CMR); //release recieve buffer
hdr=((rid<<5)&~0x1f)|((rfs>>16)&0x0f);
- if(rfs&CAN_RFS_RTR)
+ if (rfs&CAN_RFS_RTR)
hdr|=0x10;
- can_receive(&g_candev,hdr,data);
- }
- if ( regval & CAN_ICR_TI1) //Transmit interrupt 1
- can_txdone(&g_candev);
+ can_receive(&g_can2dev,hdr,data);
+ }
+ if ( regval & CAN_ICR_TI1) //Transmit interrupt 1
+ can_txdone(&g_can2dev);
+#endif
return OK;
}
@@ -253,49 +357,79 @@ static int can_interrupt(int irq, void *context)
* Name: up_caninitialize
*
* Description:
- * Initialize the selected SPI port
+ * Initialize the selected can port
*
* Input Parameter:
- * Port number (for hardware that has mutiple SPI interfaces)
+ * Port number (for hardware that has mutiple can interfaces)
*
* Returned Value:
- * Valid SPI device structure reference on succcess; a NULL on failure
+ * Valid can device structure reference on succcess; a NULL on failure
*
****************************************************************************/
FAR struct can_dev_s *up_caninitialize(int port)
{
uint32_t regval;
- irqstate_t flags;
- flags = irqsave();
-
- /* Step 1: Enable power on */
- regval = getreg32(LPC17_SYSCON_PCONP);
- regval |= SYSCON_PCONP_PCCAN2;
- putreg32(regval, LPC17_SYSCON_PCONP);
-
- /* Step 2: Enable clocking */
- regval = getreg32(LPC17_SYSCON_PCLKSEL0);
- regval &= ~SYSCON_PCLKSEL0_CAN2_MASK;
- regval |= (SYSCON_PCLKSEL_CCLK4 << SYSCON_PCLKSEL0_CAN2_SHIFT);
- putreg32(regval, LPC17_SYSCON_PCLKSEL0);
-
- /* Step 3: Configure I/O pins */
- lpc17_configgpio(GPIO_CAN2_RD_2);
- lpc17_configgpio(GPIO_CAN2_TD_2);
-
- /* Step 4: Setup */
- putreg32(0x01,LPC17_CAN2_MOD);
- putreg32(0x00,LPC17_CAN2_IER);
- putreg32(0x00,LPC17_CAN2_GSR);
- putreg32(0x02,LPC17_CAN2_CMR);
- putreg32(0x49c009,LPC17_CAN2_BTR);
- putreg32(0x00,LPC17_CAN2_MOD);
- putreg32(0x01,LPC17_CAN2_IER);
- putreg32(0x02,LPC17_CANAF_AFMR);
+ irqstate_t flags;
+ flags = irqsave();
+ struct can_dev_s *candev=NULL;
- irqrestore(flags);
- return &g_candev;
+#ifdef CONFIG_LPC17_CAN1
+ if( port == 1 )
+ {
+ regval = getreg32(LPC17_SYSCON_PCONP);
+ regval |= SYSCON_PCONP_PCCAN1;
+ putreg32(regval, LPC17_SYSCON_PCONP);
+
+ regval = getreg32(LPC17_SYSCON_PCLKSEL0);
+ regval &= ~SYSCON_PCLKSEL0_CAN1_MASK;
+ regval |= (SYSCON_PCLKSEL_CCLK4 << SYSCON_PCLKSEL0_CAN1_SHIFT);
+ putreg32(regval, LPC17_SYSCON_PCLKSEL0);
+
+ lpc17_configgpio(GPIO_CAN1_RD);
+ lpc17_configgpio(GPIO_CAN1_TD);
+
+ putreg32(0x01,LPC17_CAN1_MOD);
+ putreg32(0x00,LPC17_CAN1_IER);
+ putreg32(0x00,LPC17_CAN1_GSR);
+ putreg32(0x02,LPC17_CAN1_CMR);
+ putreg32(0x49c009,LPC17_CAN1_BTR);
+ putreg32(0x00,LPC17_CAN1_MOD);
+ putreg32(0x01,LPC17_CAN1_IER);
+ putreg32(0x02,LPC17_CANAF_AFMR);
+
+ candev = &g_can1dev;
+ }
+#endif
+#ifdef CONFIG_LPC17_CAN2
+ if ( port ==2 )
+ {
+ regval = getreg32(LPC17_SYSCON_PCONP);
+ regval |= SYSCON_PCONP_PCCAN2;
+ putreg32(regval, LPC17_SYSCON_PCONP);
+
+ regval = getreg32(LPC17_SYSCON_PCLKSEL0);
+ regval &= ~SYSCON_PCLKSEL0_CAN2_MASK;
+ regval |= (SYSCON_PCLKSEL_CCLK4 << SYSCON_PCLKSEL0_CAN2_SHIFT);
+ putreg32(regval, LPC17_SYSCON_PCLKSEL0);
+
+ lpc17_configgpio(GPIO_CAN2_RD);
+ lpc17_configgpio(GPIO_CAN2_TD);
+
+ putreg32(0x01,LPC17_CAN2_MOD);
+ putreg32(0x00,LPC17_CAN2_IER);
+ putreg32(0x00,LPC17_CAN2_GSR);
+ putreg32(0x02,LPC17_CAN2_CMR);
+ putreg32(0x49c009,LPC17_CAN2_BTR);
+ putreg32(0x00,LPC17_CAN2_MOD);
+ putreg32(0x01,LPC17_CAN2_IER);
+ putreg32(0x02,LPC17_CANAF_AFMR);
+
+ candev = &g_can2dev;
+ }
+#endif
+ irqrestore(flags);
+ return candev;
}
#endif
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