CAN ISO-11783 support contributed by Gary Teravskis

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4400 42af7a65-404d-4744-a932-0658087f49c3

7 files changed, 239 insertions, 6 deletions

diff --git a/nuttx/configs/stm3210e-eval/README.txt b/nuttx/configs/stm3210e-eval/README.txt
index 9b1615f42..e08d0bfa5 100755
--- a/nuttx/configs/stm3210e-eval/README.txt
+++ b/nuttx/configs/stm3210e-eval/README.txt
@@ -458,7 +458,7 @@ STM3210E-EVAL-specific Configuration Options
     CONFIG_STM32_I2C1
     CONFIG_STM32_I2C2
     CONFIG_STM32_USB
-    CONFIG_STM32_CAN
+    CONFIG_STM32_CAN1
     CONFIG_STM32_BKP
     CONFIG_STM32_PWR
     CONFIG_STM32_DAC1
@@ -698,6 +698,22 @@ Where <subdir> is one of the following:
 
         Failure to do this could result in corruption of the SD card format.
 
+    The nsh2 contains support for some built-in applications that can be
+    enabled by make some additional minor changes:
+
+    (1) examples/can.  The CAN test example can be enabled by changing the
+        following settings in nsh2/defconfig:
+
+        CONFIG_CAN=y             # Enable CAN "upper-half" driver support
+        CONFIG_STM32_CAN1=y      # Enable STM32 CAN1 "lower-half" driver support
+
+        The default CAN settings may need to change in your board board
+        configuration:
+
+        CONFIG_CAN_EXTID=y       # Support extended IDs
+        CONFIG_CAN1_BAUD=250000  # Bit rate: 250 KHz
+        CONFIG_CAN_TSEG1=12      # 80% sample point
+        CONFIG_CAN_TSEG2=3
   nx:
   ---
     An example using the NuttX graphics system (NX).  This example
diff --git a/nuttx/configs/stm3210e-eval/nsh2/appconfig b/nuttx/configs/stm3210e-eval/nsh2/appconfig
index fb6bf1a66..ff12c4103 100644
--- a/nuttx/configs/stm3210e-eval/nsh2/appconfig
+++ b/nuttx/configs/stm3210e-eval/nsh2/appconfig
@@ -2,7 +2,7 @@
 # configs/stm3210e-eval/nsh2/appconfig
 #
 #   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -48,4 +48,8 @@ CONFIGURED_APPS += examples/nx
 CONFIGURED_APPS += examples/nxhello
 CONFIGURED_APPS += examples/usbstorage
 
+# Applications configured as an NX built-in commands
 
+ifeq ($(CONFIG_CAN),y)
+CONFIGURED_APPS += examples/can
+endif
diff --git a/nuttx/configs/stm3210e-eval/nsh2/defconfig b/nuttx/configs/stm3210e-eval/nsh2/defconfig
index 369a1fcc8..e7ffc8bc6 100644
--- a/nuttx/configs/stm3210e-eval/nsh2/defconfig
+++ b/nuttx/configs/stm3210e-eval/nsh2/defconfig
@@ -1,7 +1,7 @@
 ############################################################################
 # configs/stm3210e-eval/nsh2/defconfig
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -116,6 +116,27 @@ CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n
 CONFIG_STM32_JTAG_SW_ENABLE=n
 
 #
+# Alternate pin mappings
+#
+CONFIG_STM32_TIM1_FULL_REMAP=n
+CONFIG_STM32_TIM1_PARTIAL_REMAP=n
+CONFIG_STM32_TIM2_FULL_REMAP=n
+CONFIG_STM32_TIM2_PARTIAL_REMAP_1=n
+CONFIG_STM32_TIM2_PARTIAL_REMAP_2=n
+CONFIG_STM32_TIM3_FULL_REMAP=n
+CONFIG_STM32_TIM3_PARTIAL_REMAP=n
+CONFIG_STM32_TIM4_REMAP=n
+CONFIG_STM32_USART1_REMAP=n
+CONFIG_STM32_USART2_REMAP=n
+CONFIG_STM32_USART3_FULL_REMAP=n
+CONFIG_STM32_USART3_PARTIAL_REMAP=n
+CONFIG_STM32_SPI1_REMAP=n
+CONFIG_STM32_SPI3_REMAP=n
+CONFIG_STM32_I2C1_REMAP=n
+CONFIG_STM32_CAN1_REMAP1=y
+CONFIG_STM32_CAN1_REMAP2=n 
+
+#
 # Individual subsystems can be enabled:
 # AHB: 
 CONFIG_STM32_DMA1=n
@@ -140,7 +161,8 @@ CONFIG_STM32_UART5=n
 CONFIG_STM32_I2C1=y
 CONFIG_STM32_I2C2=n
 CONFIG_STM32_USB=y
-CONFIG_STM32_CAN=n
+CONFIG_STM32_CAN1=n
+CONFIG_STM32_CAN2=n
 CONFIG_STM32_BKP=n
 CONFIG_STM32_PWR=n
 CONFIG_STM32_DAC=n
@@ -240,6 +262,36 @@ CONFIG_STM32_SPFD5408B_DISABLE=n
 CONFIG_STM32_R61580_DISABLE=y
 
 #
+# STM32F10xxx specific CAN device driver settings
+#
+# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
+#   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID.  Default
+#   Standard 11-bit IDs.
+# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
+#   Default: 8
+# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
+#   Default: 4
+# CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+#   mode for testing. The STM32 CAN driver does support loopback mode.
+# CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
+# CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
+# CONFIG_CAN_TSEG1 - The number of CAN time quanta in segment 1. Default: 6
+# CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7
+#
+CONFIG_CAN=n
+CONFIG_CAN_EXTID=y
+#CONFIG_CAN_FIFOSIZE
+#CONFIG_CAN_NPENDINGRTR
+CONFIG_CAN_LOOPBACK=n
+# ISO-11783 requires the baud to be set to 250K
+CONFIG_CAN1_BAUD=250000
+CONFIG_CAN2_BAUD=250000
+# ISO-11783 requires the sample point to be within 75 to 80%
+CONFIG_CAN_TSEG1=12
+CONFIG_CAN_TSEG2=3
+
+#
 # General build options
 #
 # CONFIG_RRLOAD_BINARY - make the rrload binary format used with
@@ -360,6 +412,7 @@ CONFIG_DEBUG_GRAPHICS=n
 CONFIG_DEBUG_LCD=n
 CONFIG_DEBUG_USB=n
 CONFIG_DEBUG_SYMBOLS=n
+CONFIG_DEBUG_CAN=n
 CONFIG_HAVE_CXX=n
 CONFIG_MM_REGIONS=1
 CONFIG_ARCH_LOWPUTC=y
@@ -1126,6 +1179,22 @@ CONFIG_EXAMPLES_USBSERIAL_TRACETRANSFERS=n
 CONFIG_EXAMPLES_USBSERIAL_TRACECONTROLLER=n
 CONFIG_EXAMPLES_USBSERIAL_TRACEINTERRUPTS=n
 
+# Settings for examples/can
+#
+# CONFIG_CAN - Enables CAN support.
+# CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+#   mode for testing. The STM32 CAN driver does support loopback mode.
+# CONFIG_NSH_BUILTIN_APPS - Build the CAN test as an NSH built-in function.
+#   Default: Built as a standalone problem
+#
+# CONFIG_EXAMPLES_CAN_DEVPATH - The path to the CAN device. Default: /dev/can0
+# CONFIG_EXAMPLES_CAN_NMSGS - If CONFIG_NSH_BUILTIN_APPS
+#   is defined, then the number of loops is provided on the command line
+#   and this value is ignored.  Otherwise, this number of CAN message is
+#   collected and the program terminates.  Default:  If built as an NSH
+#   built-in, the default is 32.  Otherwise messages are sent and received
+#   indefinitely.
+
 #
 # Settings for examples/nx
 #
diff --git a/nuttx/configs/stm3210e-eval/src/Makefile b/nuttx/configs/stm3210e-eval/src/Makefile
index d7247619a..a4e83483b 100644
--- a/nuttx/configs/stm3210e-eval/src/Makefile
+++ b/nuttx/configs/stm3210e-eval/src/Makefile
@@ -68,6 +68,10 @@ ifeq ($(CONFIG_I2C_LM75),y)
 CSRCS		+= up_lm75.c
 endif
 
+ifeq ($(CONFIG_CAN),y)
+CSRCS		+= up_can.c
+endif
+
 COBJS		= $(CSRCS:.c=$(OBJEXT))
 
 SRCS		= $(ASRCS) $(CSRCS)
diff --git a/nuttx/configs/stm3210e-eval/src/stm3210e-internal.h b/nuttx/configs/stm3210e-eval/src/stm3210e-internal.h
index 25b1da320..5cb5e91af 100644
--- a/nuttx/configs/stm3210e-eval/src/stm3210e-internal.h
+++ b/nuttx/configs/stm3210e-eval/src/stm3210e-internal.h
@@ -60,6 +60,12 @@
 #  undef CONFIG_STM32_SPI2
 #endif
 
+/* There is only CAN1 on the STM3210E-EVAL board */
+
+#if defined(CONFIG_STM32_CAN2)
+#  warning "The STM3210E-EVAL only supports CAN1"
+#endif
+
 /* STM3210E-EVAL GPIOs **************************************************************/
 /* LEDs */
 
diff --git a/nuttx/configs/stm3210e-eval/src/up_can.c b/nuttx/configs/stm3210e-eval/src/up_can.c
new file mode 100644
index 000000000..7ca712daf
--- /dev/null
+++ b/nuttx/configs/stm3210e-eval/src/up_can.c
@@ -0,0 +1,134 @@
+/************************************************************************************
+ * configs/stm3210e-eval/src/up_can.c
+ * arch/arm/src/board/up_can.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * 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 "stm3210e-internal.h"
+
+#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1)
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+/* The STM32F103ZE supports only CAN1 */
+
+#define CAN_PORT 1
+
+/* 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;
+}
+
+#endif /* CONFIG_CAN && CONFIG_STM32_CAN1 */
diff --git a/nuttx/configs/stm3240g-eval/src/up_can.c b/nuttx/configs/stm3240g-eval/src/up_can.c
index 713a5325a..6fcbbb211 100644
--- a/nuttx/configs/stm3240g-eval/src/up_can.c
+++ b/nuttx/configs/stm3240g-eval/src/up_can.c
@@ -2,7 +2,7 @@
  * configs/stm3240g-eval/src/up_can.c
  * arch/arm/src/board/up_can.c
  *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -139,4 +139,4 @@ int can_devinit(void)
   return OK;
 }
 
-#endif /* CONFIG_CAN && (CONFIG_STM32_CAN2 || CONFIG_STM32_CAN3) */
+#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */