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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_can.c
*
* Board-specific CAN functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can.h>
#include <arch/board/board.h>
#include "chip.h"
#include "up_arch.h"
#include "stm32.h"
#include "stm32_can.h"
#include "px4fmu_internal.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
# undef CONFIG_STM32_CAN2
#endif
#ifdef CONFIG_STM32_CAN1
# define CAN_PORT 1
#else
# define CAN_PORT 2
#endif
/* Debug ***************************************************************************/
/* Non-standard debug that may be enabled just for testing CAN */
#ifdef CONFIG_DEBUG_CAN
# define candbg dbg
# define canvdbg vdbg
# define canlldbg lldbg
# define canllvdbg llvdbg
#else
# define candbg(x...)
# define canvdbg(x...)
# define canlldbg(x...)
# define canllvdbg(x...)
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: can_devinit
*
* Description:
* All STM32 architectures must provide the following interface to work with
* examples/can.
*
************************************************************************************/
int can_devinit(void)
{
static bool initialized = false;
struct can_dev_s *can;
int ret;
/* Check if we have already initialized */
if (!initialized)
{
/* Call stm32_caninitialize() to get an instance of the CAN interface */
can = stm32_caninitialize(CAN_PORT);
if (can == NULL)
{
candbg("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
/* Register the CAN driver at "/dev/can0" */
ret = can_register("/dev/can0", can);
if (ret < 0)
{
candbg("ERROR: can_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
initialized = true;
}
return OK;
}
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