diff options
| -rw-r--r-- | nuttx/ChangeLog | 2 | ||||
| -rw-r--r-- | nuttx/Documentation/NuttxPortingGuide.html | 60 | ||||
| -rwxr-xr-x | nuttx/arch/arm/src/lpc17xx/Make.defs | 13 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/stm32/Make.defs | 6 | ||||
| -rwxr-xr-x | nuttx/arch/arm/src/stm32/stm32_can.c | 761 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_pwm.c | 2 | ||||
| -rw-r--r-- | nuttx/configs/README.txt | 9 | ||||
| -rwxr-xr-x | nuttx/configs/hymini-stm32v/README.txt | 14 | ||||
| -rwxr-xr-x | nuttx/configs/stm3210e-eval/README.txt | 11 | ||||
| -rwxr-xr-x | nuttx/configs/stm3240g-eval/README.txt | 11 | ||||
| -rwxr-xr-x | nuttx/configs/stm3240g-eval/dhcpd/defconfig | 18 | ||||
| -rwxr-xr-x | nuttx/configs/stm3240g-eval/nettest/defconfig | 18 | ||||
| -rwxr-xr-x | nuttx/configs/stm3240g-eval/nsh/defconfig | 18 | ||||
| -rwxr-xr-x | nuttx/configs/stm3240g-eval/ostest/defconfig | 18 | ||||
| -rw-r--r-- | nuttx/drivers/Makefile | 7 | ||||
| -rw-r--r-- | nuttx/drivers/can.c | 29 | ||||
| -rw-r--r-- | nuttx/include/nuttx/can.h | 23 |
17 files changed, 986 insertions, 34 deletions
diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 061be118e..288bf2029 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -2286,5 +2286,7 @@ * drivers/mtd/mp25x.c: Add ability to use different SPI modes and different manufacturers codes. Fix a error in the wait for not busy (submitted by Mohammad Elwakeel. + * arch/arm/src/stm32/stm32_can.c. Add a low-level STM32 CAN driver. (Initial + check is incomplete). diff --git a/nuttx/Documentation/NuttxPortingGuide.html b/nuttx/Documentation/NuttxPortingGuide.html index 293b7d683..f68dc3d79 100644 --- a/nuttx/Documentation/NuttxPortingGuide.html +++ b/nuttx/Documentation/NuttxPortingGuide.html @@ -12,7 +12,7 @@ <h1><big><font color="#3c34ec"> <i>NuttX RTOS Porting Guide</i> </font></big></h1> - <p>Last Updated: December 19, 2011</p> + <p>Last Updated: December 21, 2011</p> </td> </tr> </table> @@ -127,7 +127,8 @@ <a href="#usbhostdrivers">6.3.9 USB Host-Side Drivers</a><br> <a href="#usbdevdrivers">6.3.10 USB Device-Side Drivers</a><br> <a href="#analogdrivers">6.3.11 Analog (ADC/DAC) Drivers</a><br> - <a href="#pwmdrivers">6.3.12 PWM Drivers</a> + <a href="#pwmdrivers">6.3.12 PWM Drivers</a><br> + <a href="#candrivers">6.3.13 CAN Drivers</a> </ul> <a href="#pwrmgmt">6.4 Power Management</a> <ul> @@ -3212,23 +3213,55 @@ extern void up_ledoff(int led); A "lower half", platform-specific driver that implements the low-level timer controls to implement the PWM functionality. </li> </ol> - +<p> + Files supporting PWM can be found in the following locations: +</p> <ul> - <li> + <li><b>Interface Definition</b>. The header file for the NuttX PWM driver reside at <code>include/nuttx/pwm.h</code>. This header file includes both the application level interface to the PWM driver as well as the interface between the "upper half" and "lower half" drivers. The PWM module uses a standard character driver framework. However, since the PWM driver is a devices control interface and not a data transfer interface, the majority of the functionality available to the application is implemented in driver ioctl calls. </li> - <li> + <li><b>"Upper Half" Driver</b>. The generic, "upper half" PWM driver resides at <code>drivers/pwm.c</code>. </li> - <li> - Platform-specific PWM drivers reside in <code>arch/</code><i><architecture></i><code>/src/</code><i><chip></i> directory for the specific processor <i><architecture></i> and for the specific <i><chip></i> analog peripheral devices. + <li><b>"Lower Half" Drivers</b>. + Platform-specific PWM drivers reside in <code>arch/</code><i><architecture></i><code>/src/</code><i><chip></i> directory for the specific processor <i><architecture></i> and for the specific <i><chip></i> PWM peripheral devices. </li> </ul> +<h3><a name="candrivers">6.3.13 CAN Drivers</a></h3> +<p> + NuttX supports only a very low-level CAN driver. + This driver supports only the data exchange and does not include any high-level CAN protocol. + The NuttX CAN driver is split into two parts: +</p> +<ol> + <li> + An "upper half", generic driver that provides the comman CAN interface to application level code, and + </li> + <li> + A "lower half", platform-specific driver that implements the low-level timer controls to implement the CAN functionality. + </li> +</ol> +<p> + Files supporting CAN can be found in the following locations: +</p> +<ul> + <li><b>Interface Definition</b>. + The header file for the NuttX CAN driver reside at <code>include/nuttx/can.h</code>. + This header file includes both the application level interface to the CAN driver as well as the interface between the "upper half" and "lower half" drivers. + The CAN module uses a standard character driver framework. + </li> + <li><b>"Upper Half" Driver</b>. + The generic, "upper half" CAN driver resides at <code>drivers/can.c</code>. + </li> + <li><b>"Lower Half" Drivers</b>. + Platform-specific CAN drivers reside in <code>arch/</code><i><architecture></i><code>/src/</code><i><chip></i> directory for the specific processor <i><architecture></i> and for the specific <i><chip></i> CAN peripheral devices. + </li> +</ul> <h2><a name="pwrmgmt">6.4 Power Management</a></h2> @@ -4332,6 +4365,19 @@ build </li> </ul> +<h3>CAN driver</h3> +<ul> + <li> + <code>CONFIG_CAN</code>: Enables CAN support + </li> + <li> + <code>CONFIG_CAN_FIFOSIZE</code>: The size of the circular buffer of CAN messages. Default: 8 + </li> + <li> + <code>CONFIG_CAN_NPENDINGRTR</code>: The size of the list of pending RTR requests. Default: 4 + </li> +</ul> + <h3>SPI driver</h3> <ul> <li> diff --git a/nuttx/arch/arm/src/lpc17xx/Make.defs b/nuttx/arch/arm/src/lpc17xx/Make.defs index 34591e531..56aef87fd 100755 --- a/nuttx/arch/arm/src/lpc17xx/Make.defs +++ b/nuttx/arch/arm/src/lpc17xx/Make.defs @@ -2,7 +2,7 @@ # arch/arm/src/lpc17xx/Make.defs # # Copyright (C) 2010-2011 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 @@ -57,10 +57,9 @@ endif # Required LPC17xx files CHIP_ASRCS = -CHIP_CSRCS = lpc17_allocateheap.c lpc17_can.c lpc17_clockconfig.c \ - lpc17_clrpend.c lpc17_gpio.c lpc17_i2c.c lpc17_idle.c lpc17_irq.c \ - lpc17_lowputc.c lpc17_serial.c lpc17_spi.c lpc17_ssp.c lpc17_start.c \ - lpc17_timerisr.c +CHIP_CSRCS = lpc17_allocateheap.c lpc17_clockconfig.c lpc17_clrpend.c \ + lpc17_gpio.c lpc17_i2c.c lpc17_idle.c lpc17_irq.c lpc17_lowputc.c \ + lpc17_serial.c lpc17_spi.c lpc17_ssp.c lpc17_start.c lpc17_timerisr.c # Configuration-dependent LPC17xx files @@ -90,6 +89,10 @@ CHIP_CSRCS += lpc17_ethernet.c endif endif +ifeq ($(CONFIG_CAN),y) +CHIP_CSRCS += lpc17_can.c +endif + ifeq ($(CONFIG_LPC17_ADC),y) CHIP_CSRCS += lpc17_adc.c endif diff --git a/nuttx/arch/arm/src/stm32/Make.defs b/nuttx/arch/arm/src/stm32/Make.defs index d877516ab..0d046ebc3 100644 --- a/nuttx/arch/arm/src/stm32/Make.defs +++ b/nuttx/arch/arm/src/stm32/Make.defs @@ -2,7 +2,7 @@ # arch/arm/src/stm32/Make.defs # # Copyright (C) 2009, 2011 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 @@ -87,6 +87,10 @@ ifeq ($(CONFIG_PWM),y) CHIP_CSRCS += stm32_pwm.c endif +ifeq ($(CONFIG_CAN),y) +CHIP_CSRCS += stm32_can.c +endif + ifeq ($(CONFIG_DEBUG),y) CHIP_CSRCS += stm32_dumpgpio.c endif diff --git a/nuttx/arch/arm/src/stm32/stm32_can.c b/nuttx/arch/arm/src/stm32/stm32_can.c new file mode 100755 index 000000000..404bf4a1a --- /dev/null +++ b/nuttx/arch/arm/src/stm32/stm32_can.c @@ -0,0 +1,761 @@ +/************************************************************************************ + * arch/arm/src/stm32/stm32_can.c + * + * Copyright (C) 2011 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 <stdio.h> +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <semaphore.h> +#include <errno.h> +#include <debug.h> + +#include <arch/board/board.h> +#include <nuttx/arch.h> +#include <nuttx/can.h> + +#include "up_internal.h" +#include "up_arch.h" + +#include "os_internal.h" + +#include "chip.h" +#include "stm32_internal.h" +#include "stm32_can.h" + +#ifdef CONFIG_CAN + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ +/* Configuration ************************************************************/ +/* Up to 2 CAN interfaces are supported */ + +#if STM32_NCAN < 2 +# undef CONFIG_STM32_CAN2 +#endif + +#if STM32_NCAN < 1 +# undef CONFIG_STM32_CAN1 +#endif + +#if defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2) + +/* CAN BAUD */ + +#if defined(CONFIG_STM32_CAN1) && !defined(CONFIG_CAN1_BAUD) +# error "CONFIG_CAN1_BAUD is not defined" +#endif + +#if defined(CONFIG_STM32_CAN2) && !defined(CONFIG_CAN2_BAUD) +# error "CONFIG_CAN2_BAUD is not defined" +#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 Types + ****************************************************************************/ + +struct stm32_can_s +{ + uint8_t port; /* CAN port number (1 or 2) */ + uint8_t cantx; /* CAN TX IRQ number */ + uint8_t canrx0; /* CAN RX FIFO 0 IRQ number */ + uint8_t canrx1; /* CAN RX FIFO 1 IRQ number */ + uint8_t cansce; /* CAN RX0 Status change error (SCE) IRQ number */ + uint32_t baud; /* Configured baud */ +}; + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/* CAN driver methods */ + +static void can_reset(FAR struct can_dev_s *dev); +static int can_setup(FAR struct can_dev_s *dev); +static void can_shutdown(FAR struct can_dev_s *dev); +static void can_rxint(FAR struct can_dev_s *dev, bool enable); +static void can_txint(FAR struct can_dev_s *dev, bool enable); +static int can_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg); +static int can_remoterequest(FAR struct can_dev_s *dev, uint16_t id); +static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg); +static bool can_txempty(FAR struct can_dev_s *dev); + +/* CAN interrupt handling */ + +static int can_txinterrupt(int irq, void *context); +static int can_rx0interrupt(int irq, void *context); +static int can_rx1interrupt(int irq, void *context); +static int can_sceinterrupt(int irq, void *context); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +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, +}; + +#ifdef CONFIG_STM32_CAN1 +static struct stm32_can_s g_can1priv = +{ + .port = 1, +#if defined(CONFIG_STM32_STM32F10XX) && !defined(CONFIG_STM32_CONNECTIVITY_LINE) + .cantx = STM32_IRQ_USBHPCANTX, + .canrx0 = STM32_IRQ_USBLPCANRX0, +#else + .cantx = STM32_IRQ_CAN1TX, + .canrx0 = STM32_IRQ_CAN1RX0, +#endif + .canrx1 = STM32_IRQ_CAN1RX1, + .cansce = STM32_IRQ_CAN1SCE, + .baud = CONFIG_CAN1_BAUD, +}; + +static struct can_dev_s g_can1dev = +{ + .cd_ops = &g_canops, + .cd_priv = &g_can1priv, +}; +#endif + +#ifdef CONFIG_STM32_CAN2 +static struct stm32_can_s g_can2priv = +{ + .port = 2, + .cantx = STM32_IRQ_CAN2TX, + .canrx0 = STM32_IRQ_CAN2RX0, + .canrx1 = STM32_IRQ_CAN2RX1, + .cansce = STM32_IRQ_CAN2SCE, + .baud = CONFIG_CAN2_BAUD, +}; + +static struct can_dev_s g_can2dev = +{ + .cd_ops = &g_canops, + .cd_priv = &g_can2priv, +}; +#endif + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: can_reset + * + * Description: + * Reset the CAN device. Called early to initialize the hardware. This + * function is called, before can_setup() and on error conditions. + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * None + * + ****************************************************************************/ + +static void can_reset(FAR struct can_dev_s *dev) +{ + FAR struct stm32_can_s *priv = dev->cd_priv; + irqstate_t flags; + + /* Disable interrupts momentary to stop any ongoing CAN event processing */ + + flags = irqsave(); + +#ifdef CONFIG_STM32_CAN1 + if (priv->port == 1) + { +#warning "Missing logic" + } + else +#endif +#ifdef CONFIG_STM32_CAN2 + if (priv->port == 2) + { +#warning "Missing logic" + } + else +#endif + { + candbg("Unsupport port %d\n", priv->port); + } + irqrestore(flags); +} + +/**************************************************************************** + * Name: can_setup + * + * Description: + * 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. + * This setup includes configuring and attaching CAN interrupts. + * All CAN interrupts are disabled upon return. + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * Zero on success; a negated errno on failure + * + ****************************************************************************/ + +static int can_setup(FAR struct can_dev_s *dev) +{ + FAR struct stm32_can_s *priv = dev->cd_priv; + int ret; + + /* Attach all CAN interrupts */ + + ret = irq_attach(priv->cantx, can_txinterrupt); + if (ret < 0) + { + candbg("Failed to attach CAN%d TX IRQ (%d)", priv->port, priv->cantx); + return ret; + } + + ret = irq_attach(priv->canrx0, can_rx0interrupt); + if (ret < 0) + { + candbg("Failed to attach CAN%d RX0 IRQ (%d)", priv->port, priv->canrx0); + return ret; + } + + ret = irq_attach(priv->canrx1, can_rx1interrupt); + if (ret < 0) + { + candbg("Failed to attach CAN%d RX1 IRQ (%d)", priv->port, priv->canrx1); + return ret; + } + + ret = irq_attach(priv->cansce, can_sceinterrupt); + if (ret < 0) + { + candbg("Failed to attach CAN%d SCE IRQ (%d)", priv->port, priv->cansce); + return ret; + } + + /* Enable all interrupts at the NVIC. Interrupts are still disabled in + * the CAN module. Since we coming out of reset here, there should be + */ + + up_enable_irq(priv->cantx); + up_enable_irq(priv->canrx0); + up_enable_irq(priv->canrx1); + up_enable_irq(priv->cansce); + return OK; +} + +/**************************************************************************** + * Name: can_shutdown + * + * Description: + * Disable the CAN. This method is called when the CAN device is closed. + * This method reverses the operation the setup method. + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * None + * + ****************************************************************************/ + +static void can_shutdown(FAR struct can_dev_s *dev) +{ + FAR struct stm32_can_s *priv = dev->cd_priv; + + /* Disable all interrupts */ + + up_disable_irq(priv->cantx); + up_disable_irq(priv->canrx0); + up_disable_irq(priv->canrx1); + up_disable_irq(priv->cansce); + + /* Detach all interrupts */ + + irq_detach(priv->cantx); + irq_detach(priv->canrx0); + irq_detach(priv->canrx1); + irq_detach(priv->cansce); + + /* And reset the hardware */ + + can_reset(dev); +} + +/**************************************************************************** + * Name: can_rxint + * + * Description: + * Call to enable or disable RX interrupts. + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * None + * + ****************************************************************************/ + +static void can_rxint(FAR struct can_dev_s *dev, bool enable) +{ + FAR struct stm32_can_s *priv = dev->cd_priv; + +#ifdef CONFIG_STM32_CAN1 + if (priv->port == 1) + { +#warning "Missing logic" + } + else +#endif +#ifdef CONFIG_STM32_CAN2 + if (priv->port == 2) + { +#warning "Missing logic" + } + else +#endif + { + candbg("Unsupport port %d\n", priv->port); + } +} + +/**************************************************************************** + * Name: can_txint + * + * Description: + * Call to enable or disable TX interrupts. + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * None + * + ****************************************************************************/ + +static void can_txint(FAR struct can_dev_s *dev, bool enable) +{ + FAR struct stm32_can_s *priv = dev->cd_priv; + +#ifdef CONFIG_STM32_CAN1 + if (priv->port == 1) + { +#warning "Missing logic" + } + else +#endif +#ifdef CONFIG_STM32_CAN2 + if (priv->port == 2) + { +#warning "Missing logic" + } + else +#endif + { + candbg("Unsupport port %d\n", priv->port); + } +} + +/**************************************************************************** + * Name: can_ioctl + * + * Description: + * All ioctl calls will be routed through this method + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * Zero on success; a negated errno on failure + * + ****************************************************************************/ + +static int can_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg) +{ + /* No CAN ioctls are supported */ + + return -ENOTTY; +} + +/**************************************************************************** + * Name: can_remoterequest + * + * Description: + * Send a remote request + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * Zero on success; a negated errno on failure + * + ****************************************************************************/ + +static int can_remoterequest(FAR struct can_dev_s *dev, uint16_t id) +{ +#warning "Missing logic" + return -ENOSYS; +} + +/**************************************************************************** + * Name: can_send + * + * Description: + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * Zero on success; a negated errno on failure + * + ****************************************************************************/ + +static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg) +{ + FAR struct stm32_can_s *priv = dev->cd_priv; + +#ifdef CONFIG_STM32_CAN1 + if (priv->port == 1) + { +#warning "Missing logic" + } + else +#endif +#ifdef CONFIG_STM32_CAN2 + if (priv->port == 2) + { +#warning "Missing logic" + } + else +#endif + { + candbg("Unsupport port %d\n", priv->port); + return -EINVAL; + } + +#warning "Missing logic" + return OK; +} + +/**************************************************************************** + * Name: can_txempty + * + * Description: + * Return true if all message have been sent. If for example, the CAN + * hardware implements FIFOs, then this would mean the transmit FIFO is + * empty. This method is called when the driver needs to make sure that + * all characters are "drained" from the TX hardware before calling + * co_shutdown(). + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * Zero on success; a negated errno on failure + * + ****************************************************************************/ + +static bool can_txempty(FAR struct can_dev_s *dev) +{ + FAR struct stm32_can_s *priv = dev->cd_priv; + +#ifdef CONFIG_STM32_CAN1 + if (priv->port == 1) + { +#warning "Missing logic" + } + else +#endif +#ifdef CONFIG_STM32_CAN2 + if (priv->port == 2) + { +#warning "Missing logic" + } + else +#endif + { + candbg("Unsupport port %d\n", priv->port); + return true; + } + +#warning "Missing logic" + return true; +} + +/**************************************************************************** + * Name: can_txinterrupt + * + * Description: + * CAN TX interrupt handler + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * Zero on success; a negated errno on failure + * + ****************************************************************************/ + +static int can_txinterrupt(int irq, void *context) +{ + FAR struct stm32_can_s *priv; + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) + if (g_can1priv.cantx == irq) + { + priv = &g_can1priv; + } + else if (g_can2priv.cantx == irq) + { + priv = &g_can2priv; + } + else + { + PANIC(OSERR_UNEXPECTEDISR); + } +#elif defined(CONFIG_STM32_CAN1) + priv = &g_can1priv; +#else /* defined(CONFIG_STM32_CAN2) */ + priv = &g_can2priv; +#endif + +#warning "Missing logic" + return OK; +} + +/**************************************************************************** + * Name: can_rx0interrupt + * + * Description: + * CAN RX FIFO 0 interrupt handler + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * Zero on success; a negated errno on failure + * + ****************************************************************************/ + +static int can_rx0interrupt(int irq, void *context) +{ + FAR struct stm32_can_s *priv; + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) + if (g_can1priv.canrx0 == irq) + { + priv = &g_can1priv; + } + else if (g_can2priv.canrx0 == irq) + { + priv = &g_can2priv; + } + else + { + PANIC(OSERR_UNEXPECTEDISR); + } +#elif defined(CONFIG_STM32_CAN1) + priv = &g_can1priv; +#else /* defined(CONFIG_STM32_CAN2) */ + priv = &g_can2priv; +#endif + +#warning "Missing logic" + return OK; +} + +/**************************************************************************** + * Name: can_rx1interrupt + * + * Description: + * CAN FIFO 1 interrupt handler + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * Zero on success; a negated errno on failure + * + ****************************************************************************/ + +static int can_rx1interrupt(int irq, void *context) +{ + FAR struct stm32_can_s *priv; + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) + if (g_can1priv.canrx1 == irq) + { + priv = &g_can1priv; + } + else if (g_can2priv.canrx1 == irq) + { + priv = &g_can2priv; + } + else + { + PANIC(OSERR_UNEXPECTEDISR); + } +#elif defined(CONFIG_STM32_CAN1) + priv = &g_can1priv; +#else /* defined(CONFIG_STM32_CAN2) */ + priv = &g_can2priv; +#endif + +#warning "Missing logic" + return OK; +} + +/**************************************************************************** + * Name: can_sceinterrupt + * + * Description: + * CAN Status Change Error (SCE) interrupt handler + * + * Input Parameters: + * dev - An instance of the "upper half" can driver state structure. + * + * Returned Value: + * Zero on success; a negated errno on failure + * + ****************************************************************************/ + +static int can_sceinterrupt(int irq, void *context) +{ + FAR struct stm32_can_s *priv; + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) + if (g_can1priv.cansce == irq) + { + priv = &g_can1priv; + } + else if (g_can2priv.cansce == irq) + { + priv = &g_can2priv; + } + else + { + PANIC(OSERR_UNEXPECTEDISR); + } +#elif defined(CONFIG_STM32_CAN1) + priv = &g_can1priv; +#else /* defined(CONFIG_STM32_CAN2) */ + priv = &g_can2priv; +#endif + +#warning "Missing logic" + return OK; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: up_caninitialize + * + * Description: + * Initialize the selected CAN port + * + * Input Parameter: + * Port number (for hardware that has mutiple CAN interfaces) + * + * Returned Value: + * Valid CAN device structure reference on succcess; a NULL on failure + * + ****************************************************************************/ + +FAR struct can_dev_s *up_caninitialize(int port) +{ + struct can_dev_s *dev = NULL; + +#ifdef CONFIG_STM32_CAN1 + if( port == 1 ) + { + dev = &g_can1dev; + } + else +#endif +#ifdef CONFIG_STM32_CAN2 + if ( port ==2 ) + { + dev = &g_can2dev; + } + else +#endif + { + candbg("Unsupport port %d\n", priv->port); + return NULL; + } + +#warning "Missing logic" + return dev; +} + +#endif /* CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2 */ +#endif /* CONFIG_CAN */ + diff --git a/nuttx/arch/arm/src/stm32/stm32_pwm.c b/nuttx/arch/arm/src/stm32/stm32_pwm.c index 99d2e310c..fb3323d7e 100644 --- a/nuttx/arch/arm/src/stm32/stm32_pwm.c +++ b/nuttx/arch/arm/src/stm32/stm32_pwm.c @@ -2,7 +2,7 @@ * arch/arm/src/stm32/stm32_pwm.c * * Copyright (C) 2011 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 diff --git a/nuttx/configs/README.txt b/nuttx/configs/README.txt index a85348bab..90302fff6 100644 --- a/nuttx/configs/README.txt +++ b/nuttx/configs/README.txt @@ -633,6 +633,15 @@ defconfig -- This is a configuration file similar to the Linux CONFIG_RTC_ALARM - Enable if the RTC hardware supports setting of an alarm. A callback function will be executed when the alarm goes off + CAN driver + + CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or + CONFIG_STM32_CAN2 must also be defined) + 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 + SPI driver CONFIG_SPI_OWNBUS - Set if there is only one active device diff --git a/nuttx/configs/hymini-stm32v/README.txt b/nuttx/configs/hymini-stm32v/README.txt index 016604d88..ccb3850e2 100755 --- a/nuttx/configs/hymini-stm32v/README.txt +++ b/nuttx/configs/hymini-stm32v/README.txt @@ -486,8 +486,18 @@ HY-Mini specific Configuration Options 4-bit transfer mode. CONFIG_MMCSD_HAVECARDDETECT - Select if SDIO driver card detection is 100% accurate (it is on the HY-MiniSTM32V) - - + + HY-MiniSTM32V CAN Configuration + + CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or + CONFIG_STM32_CAN2 must also be defined) + 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_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. + HY-MiniSTM32V LCD Hardware Configuration (SSD1289 controler) CONFIG_NX_LCDDRIVER - To be defined to include LCD driver diff --git a/nuttx/configs/stm3210e-eval/README.txt b/nuttx/configs/stm3210e-eval/README.txt index f8868373f..e5f2541d8 100755 --- a/nuttx/configs/stm3210e-eval/README.txt +++ b/nuttx/configs/stm3210e-eval/README.txt @@ -575,6 +575,17 @@ STM3210E-EVAL-specific Configuration Options CONFIG_SDIO_WIDTH_D1_ONLY - Select 1-bit transfer mode. Default: 4-bit transfer mode. + STM3210E-EVAL CAN Configuration + + CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or + CONFIG_STM32_CAN2 must also be defined) + 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_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. + STM3210E-EVAL LCD Hardware Configuration CONFIG_LCD_LANDSCAPE - Define for 320x240 display "landscape" diff --git a/nuttx/configs/stm3240g-eval/README.txt b/nuttx/configs/stm3240g-eval/README.txt index a7e49a73a..8813ac821 100755 --- a/nuttx/configs/stm3240g-eval/README.txt +++ b/nuttx/configs/stm3240g-eval/README.txt @@ -481,6 +481,17 @@ STM3240G-EVAL-specific Configuration Options CONFIG_STM32_ETH_PTP - Precision Time Protocol (PTP). Not supported but some hooks are indicated with this condition. + STM3240G-EVAL CAN Configuration + + CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or + CONFIG_STM32_CAN2 must also be defined) + 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_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. + STM3240G-EVAL LCD Hardware Configuration Configurations diff --git a/nuttx/configs/stm3240g-eval/dhcpd/defconfig b/nuttx/configs/stm3240g-eval/dhcpd/defconfig index 3675f5b85..a0ba27c0b 100755 --- a/nuttx/configs/stm3240g-eval/dhcpd/defconfig +++ b/nuttx/configs/stm3240g-eval/dhcpd/defconfig @@ -257,6 +257,24 @@ CONFIG_SSI_POLLWAIT=y #CONFIG_SSI_TXLIMIT=4 # +# STM32F40xxx 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_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_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=n +#CONFIG_CAN_FIFOSIZE +#CONFIG_CAN_NPENDINGRTR +CONFIG_CAN1_BAUD=115200 +CONFIG_CAN2_BAUD=115200 + +# # STM32F40xxx Ethernet device driver settings # # CONFIG_STM32_PHYADDR - The 5-bit address of the PHY on the board diff --git a/nuttx/configs/stm3240g-eval/nettest/defconfig b/nuttx/configs/stm3240g-eval/nettest/defconfig index 6884ad3d7..afcd39512 100755 --- a/nuttx/configs/stm3240g-eval/nettest/defconfig +++ b/nuttx/configs/stm3240g-eval/nettest/defconfig @@ -257,6 +257,24 @@ CONFIG_SSI_POLLWAIT=y #CONFIG_SSI_TXLIMIT=4 # +# STM32F40xxx 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_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_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=n +#CONFIG_CAN_FIFOSIZE +#CONFIG_CAN_NPENDINGRTR +CONFIG_CAN1_BAUD=115200 +CONFIG_CAN2_BAUD=115200 + +# # STM32F40xxx Ethernet device driver settings # # CONFIG_STM32_PHYADDR - The 5-bit address of the PHY on the board diff --git a/nuttx/configs/stm3240g-eval/nsh/defconfig b/nuttx/configs/stm3240g-eval/nsh/defconfig index 8acd5de7c..72ab549ef 100755 --- a/nuttx/configs/stm3240g-eval/nsh/defconfig +++ b/nuttx/configs/stm3240g-eval/nsh/defconfig @@ -257,6 +257,24 @@ CONFIG_SSI_POLLWAIT=y #CONFIG_SSI_TXLIMIT=4 # +# STM32F40xxx 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_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_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=n +#CONFIG_CAN_FIFOSIZE +#CONFIG_CAN_NPENDINGRTR +CONFIG_CAN1_BAUD=115200 +CONFIG_CAN2_BAUD=115200 + +# # STM32F40xxx Ethernet device driver settings # # CONFIG_STM32_PHYADDR - The 5-bit address of the PHY on the board diff --git a/nuttx/configs/stm3240g-eval/ostest/defconfig b/nuttx/configs/stm3240g-eval/ostest/defconfig index 2b51d88c7..e0b696dfe 100755 --- a/nuttx/configs/stm3240g-eval/ostest/defconfig +++ b/nuttx/configs/stm3240g-eval/ostest/defconfig @@ -257,6 +257,24 @@ CONFIG_SSI_POLLWAIT=y #CONFIG_SSI_TXLIMIT=4 # +# STM32F40xxx 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_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_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=n +#CONFIG_CAN_FIFOSIZE +#CONFIG_CAN_NPENDINGRTR +CONFIG_CAN1_BAUD=115200 +CONFIG_CAN2_BAUD=115200 + +# # STM32F40xxx Ethernet device driver settings # # CONFIG_STM32_PHYADDR - The 5-bit address of the PHY on the board diff --git a/nuttx/drivers/Makefile b/nuttx/drivers/Makefile index b76a04a8c..a6fcbe1f0 100644 --- a/nuttx/drivers/Makefile +++ b/nuttx/drivers/Makefile @@ -2,7 +2,7 @@ # drivers/Makefile # # Copyright (C) 2007-2011 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 @@ -64,10 +64,13 @@ include usbhost/Make.defs include wireless/Make.defs ifneq ($(CONFIG_NFILE_DESCRIPTORS),0) - CSRCS += dev_null.c dev_zero.c loop.c can.c + CSRCS += dev_null.c dev_zero.c loop.c ifneq ($(CONFIG_DISABLE_MOUNTPOINT),y) CSRCS += ramdisk.c rwbuffer.c endif +ifneq ($(CONFIG_CAN),y) + CSRCS += can.c +endif ifeq ($(CONFIG_PWM),y) CSRCS += pwm.c endif diff --git a/nuttx/drivers/can.c b/nuttx/drivers/can.c index fc70678a7..532eef592 100644 --- a/nuttx/drivers/can.c +++ b/nuttx/drivers/can.c @@ -1,8 +1,8 @@ /**************************************************************************** * drivers/can.c * - * Copyright (C) 2008-2009 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * Copyright (C) 2008-2009, 2011 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 @@ -34,10 +34,6 @@ ****************************************************************************/ /**************************************************************************** - * Compilation Switches - ****************************************************************************/ - -/**************************************************************************** * Included Files ****************************************************************************/ @@ -60,9 +56,27 @@ #include <arch/irq.h> +#ifdef CONFIG_CAN + /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ +/* 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 + +/* Timing Definitions *******************************************************/ #define HALF_SECOND_MSEC 500 #define HALF_SECOND_USEC 500000L @@ -619,7 +633,7 @@ int can_register(FAR const char *path, FAR struct can_dev_s *dev) /* Register the CAN device */ - dbg("Registering %s\n", path); + canvdbg("Registering %s\n", path); return register_driver(path, &g_canops, 0666, dev); } @@ -768,3 +782,4 @@ int can_txdone(FAR struct can_dev_s *dev) return ret; } +#endif /* CONFIG_CAN */ diff --git a/nuttx/include/nuttx/can.h b/nuttx/include/nuttx/can.h index 8b438ffda..f87c2eac4 100644 --- a/nuttx/include/nuttx/can.h +++ b/nuttx/include/nuttx/can.h @@ -1,8 +1,8 @@ /************************************************************************************ * include/nuttx/can.h * - * Copyright (C) 2008, 2009 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * Copyright (C) 2008, 2009, 2011 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 @@ -33,8 +33,8 @@ * ************************************************************************************/ -#ifndef __NUTTX_CAN_H -#define __NUTTX_CAN_H +#ifndef _INCLUDE_NUTTX_CAN_H +#define _INCLUDE_NUTTX_CAN_H /************************************************************************************ * Included Files @@ -46,14 +46,18 @@ #include <stdint.h> #include <stdbool.h> #include <semaphore.h> + #include <nuttx/fs.h> +#ifdef CONFIG_CAN + /************************************************************************************ * Pre-processor Definitions ************************************************************************************/ -/* Default configuration settings that may be overridden in the board configuration. - * file. The configured size is limited to 255 to fit into a uint8_t. +/* Default configuration settings that may be overridden in the NuttX configuration + * file or in the board configuration file. The configured size is limited to 255 + * to fit into a uint8_t. */ #if !defined(CONFIG_CAN_FIFOSIZE) @@ -165,8 +169,8 @@ struct can_ops_s /* 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. - * This setup includes configuring and attaching CAN interrupts. Interrupts - * are all disabled upon return. + * This setup includes configuring and attaching CAN interrupts. All CAN + * interrupts are disabled upon return. */ CODE int (*co_setup)(FAR struct can_dev_s *dev); @@ -305,4 +309,5 @@ EXTERN int can_txdone(FAR struct can_dev_s *dev); } #endif -#endif /* __NUTTX_CAN_H */ +#endif /* CONFIG_CAN */ +#endif /* _INCLUDE_NUTTX_CAN_H */ |