diff options
author | px4dev <px4@purgatory.org> | 2012-10-23 22:47:55 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-10-23 23:51:13 -0700 |
commit | 34f99c7dca1995f8ddd9e8d61c4cbd7289f40e99 (patch) | |
tree | 1bc2321b5366cb94e504f67890cd83af76e8bf8b /apps/drivers/boards/px4fmu/px4fmu_can.c | |
parent | db044b64cddea9510dd5b43be304ef723acda636 (diff) | |
download | px4-firmware-34f99c7dca1995f8ddd9e8d61c4cbd7289f40e99.tar.gz px4-firmware-34f99c7dca1995f8ddd9e8d61c4cbd7289f40e99.tar.bz2 px4-firmware-34f99c7dca1995f8ddd9e8d61c4cbd7289f40e99.zip |
Hoist the ADC and CAN board-specific pieces.
Diffstat (limited to 'apps/drivers/boards/px4fmu/px4fmu_can.c')
-rw-r--r-- | apps/drivers/boards/px4fmu/px4fmu_can.c | 142 |
1 files changed, 142 insertions, 0 deletions
diff --git a/apps/drivers/boards/px4fmu/px4fmu_can.c b/apps/drivers/boards/px4fmu/px4fmu_can.c new file mode 100644 index 000000000..92d96e558 --- /dev/null +++ b/apps/drivers/boards/px4fmu/px4fmu_can.c @@ -0,0 +1,142 @@ +/**************************************************************************** + * + * 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; +} |