diff options
Diffstat (limited to 'nuttx')
23 files changed, 343 insertions, 60 deletions
diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog index 288bf2029..9e95ad4a8 100644 --- a/nuttx/ChangeLog +++ b/nuttx/ChangeLog @@ -2287,6 +2287,6 @@ 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). + check is incomplete). Add loopback support to the driver. diff --git a/nuttx/Documentation/NuttxPortingGuide.html b/nuttx/Documentation/NuttxPortingGuide.html index f68dc3d79..f24517503 100644 --- a/nuttx/Documentation/NuttxPortingGuide.html +++ b/nuttx/Documentation/NuttxPortingGuide.html @@ -4376,6 +4376,11 @@ build <li> <code>CONFIG_CAN_NPENDINGRTR</code>: The size of the list of pending RTR requests. Default: 4 </li> + <li> + <code>CONFIG_CAN_LOOPBACK</code>: A CAN driver may or may not support a loopback mode for testing. + If the driver does support loopback mode, the setting will enable it. + (If the driver does not, this setting will have no effect). + </li> </ul> <h3>SPI driver</h3> diff --git a/nuttx/arch/arm/src/common/up_internal.h b/nuttx/arch/arm/src/common/up_internal.h index c90f49a3d..306a44b49 100644 --- a/nuttx/arch/arm/src/common/up_internal.h +++ b/nuttx/arch/arm/src/common/up_internal.h @@ -340,11 +340,6 @@ extern void up_usbuninitialize(void); # define up_usbuninitialize() #endif -/* CAN **********************************************************************/ - -struct can_dev_s; /* Forward reference */ -extern FAR struct can_dev_s *up_caninitialize(int port); - /**************************************************************************** * Name: up_check_stack * @@ -361,7 +356,6 @@ extern FAR struct can_dev_s *up_caninitialize(int port); * ****************************************************************************/ - #if defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_STACK) extern size_t up_check_stack(void); extern size_t up_check_tcbstack(FAR _TCB); diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_can.c b/nuttx/arch/arm/src/lpc17xx/lpc17_can.c index f714b5715..dfcd1f0e7 100755 --- a/nuttx/arch/arm/src/lpc17xx/lpc17_can.c +++ b/nuttx/arch/arm/src/lpc17xx/lpc17_can.c @@ -354,7 +354,7 @@ static int can_interrupt(int irq, void *context) ****************************************************************************/ /**************************************************************************** - * Name: up_caninitialize + * Name: lpc17_caninitialize * * Description: * Initialize the selected can port @@ -367,7 +367,7 @@ static int can_interrupt(int irq, void *context) * ****************************************************************************/ -FAR struct can_dev_s *up_caninitialize(int port) +FAR struct can_dev_s *lpc17_caninitialize(int port) { uint32_t regval; irqstate_t flags; diff --git a/nuttx/arch/arm/src/lpc17xx/lpc17_internal.h b/nuttx/arch/arm/src/lpc17xx/lpc17_internal.h index c33ed21b2..06ac7b47a 100755 --- a/nuttx/arch/arm/src/lpc17xx/lpc17_internal.h +++ b/nuttx/arch/arm/src/lpc17xx/lpc17_internal.h @@ -786,6 +786,25 @@ FAR struct adc_dev_s *stm32_adcinitialize(void); EXTERN FAR struct dac_dev_s *lpc17_dacinitialize(void); #endif +/**************************************************************************** + * Name: lpc17_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 + * + ****************************************************************************/ + +#if defined(CONFIG_CAN) && (defined(CONFIG_LPC17_CAN1) || defined(CONFIG_LPC17_CAN2)) +struct can_dev_s; +EXTERN FAR struct can_dev_s *lpc17_caninitialize(int port); +#endif + #undef EXTERN #if defined(__cplusplus) } diff --git a/nuttx/arch/arm/src/stm32/stm32_can.c b/nuttx/arch/arm/src/stm32/stm32_can.c index 46e01797b..fc5a4f4ab 100755 --- a/nuttx/arch/arm/src/stm32/stm32_can.c +++ b/nuttx/arch/arm/src/stm32/stm32_can.c @@ -60,34 +60,11 @@ #include "stm32_internal.h" #include "stm32_can.h" -#ifdef CONFIG_CAN +#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)) /**************************************************************************** * 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 - /* Delays *******************************************************************/ /* Time out for INAK bit */ @@ -762,7 +739,7 @@ static int can_rx0interrupt(int irq, void *context) /* Provide the data to the upper half driver */ - ret = can_receive(dev, (uint16_t)CAN_MSG(id, rtr, dlc), data); + ret = can_receive(dev, (uint16_t)CAN_HDR(id, rtr, dlc), data); /* Release the FIFO0 */ @@ -925,7 +902,7 @@ static int can_bittiming(struct stm32_can_s *priv) canvdbg("TS1: %d TS2: %d BRP: %d\n", ts1, ts2, brp); /* Configure bit timing. This also does the the following, less obvious - * things: + * things. Unless loopback mode is enabled, it: * * - Disables silent mode. * - Disables loopback mode. @@ -936,6 +913,10 @@ static int can_bittiming(struct stm32_can_s *priv) tmp = ((brp - 1) << CAN_BTR_BRP_SHIFT) | ((ts1 - 1) << CAN_BTR_TS1_SHIFT) | ((ts2 - 1) << CAN_BTR_TS2_SHIFT) | ((1 - 1) << CAN_BTR_SJW_SHIFT); +#ifdef CONFIG_CAN_LOOPBACK + tmp |= (CAN_BTR_LBKM | CAN_BTR_SILM); +#endif + can_putreg(priv, STM32_CAN_BTR_OFFSET, tmp); return OK; } @@ -1126,7 +1107,7 @@ static int can_filterinit(struct stm32_can_s *priv) ****************************************************************************/ /**************************************************************************** - * Name: up_caninitialize + * Name: stm32_caninitialize * * Description: * Initialize the selected CAN port @@ -1139,7 +1120,7 @@ static int can_filterinit(struct stm32_can_s *priv) * ****************************************************************************/ -FAR struct can_dev_s *up_caninitialize(int port) +FAR struct can_dev_s *stm32_caninitialize(int port) { struct can_dev_s *dev = NULL; @@ -1158,8 +1139,10 @@ FAR struct can_dev_s *up_caninitialize(int port) * file must have been disambiguated in the board.h file. */ +#ifndef CONFIG_CAN_LOOPBACK stm32_configgpio(GPIO_CAN1_RX); stm32_configgpio(GPIO_CAN1_TX); +#endif } else #endif @@ -1174,19 +1157,20 @@ FAR struct can_dev_s *up_caninitialize(int port) * file must have been disambiguated in the board.h file. */ +#ifndef CONFIG_CAN_LOOPBACK stm32_configgpio(GPIO_CAN2_RX); stm32_configgpio(GPIO_CAN2_TX); +#endif } else #endif { - candbg("Unsupported port %d\n", priv->port); + candbg("Unsupported port %d\n", port); return NULL; } return dev; } -#endif /* CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2 */ -#endif /* CONFIG_CAN */ +#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */ diff --git a/nuttx/arch/arm/src/stm32/stm32_can.h b/nuttx/arch/arm/src/stm32/stm32_can.h index 8d9dccadd..b842627b8 100644 --- a/nuttx/arch/arm/src/stm32/stm32_can.h +++ b/nuttx/arch/arm/src/stm32/stm32_can.h @@ -50,17 +50,73 @@ /************************************************************************************ * 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_CAN) && (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 /************************************************************************************ * Public Types ************************************************************************************/ +#ifndef __ASSEMBLY__ + /************************************************************************************ * Public Data ************************************************************************************/ +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + /************************************************************************************ * Public Functions ************************************************************************************/ +/**************************************************************************** + * Name: stm32_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 + * + ****************************************************************************/ + +struct can_dev_s; +EXTERN FAR struct can_dev_s *stm32_caninitialize(int port); + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */ #endif /* __ARCH_ARM_SRC_STM32_STM32_CAN_H */ diff --git a/nuttx/configs/README.txt b/nuttx/configs/README.txt index 90302fff6..6bec1ca1c 100644 --- a/nuttx/configs/README.txt +++ b/nuttx/configs/README.txt @@ -641,6 +641,9 @@ defconfig -- This is a configuration file similar to the Linux 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. If the driver does support loopback mode, the setting + will enable it. (If the driver does not, this setting will have no effect). SPI driver diff --git a/nuttx/configs/hymini-stm32v/README.txt b/nuttx/configs/hymini-stm32v/README.txt index ccb3850e2..8dce52d26 100755 --- a/nuttx/configs/hymini-stm32v/README.txt +++ b/nuttx/configs/hymini-stm32v/README.txt @@ -495,6 +495,8 @@ HY-Mini specific Configuration Options 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. diff --git a/nuttx/configs/stm3210e-eval/README.txt b/nuttx/configs/stm3210e-eval/README.txt index e5f2541d8..05face7f0 100755 --- a/nuttx/configs/stm3210e-eval/README.txt +++ b/nuttx/configs/stm3210e-eval/README.txt @@ -583,6 +583,8 @@ STM3210E-EVAL-specific Configuration Options 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. diff --git a/nuttx/configs/stm3210e-eval/src/up_adc.c b/nuttx/configs/stm3210e-eval/src/up_adc.c index f84a88d58..fa05f547b 100644 --- a/nuttx/configs/stm3210e-eval/src/up_adc.c +++ b/nuttx/configs/stm3210e-eval/src/up_adc.c @@ -124,6 +124,11 @@ int adc_devinit(void) /* Call stm32_adcinitialize() to get an instance of the ADC interface */ adc = stm32_adcinitialize(1, g_chanlist, ADC_NCHANNELS); + if (adc == NULL) + { + adbg("ERROR: Failed to get ADC interface\n"); + return; + } /* Register the ADC driver at "/dev/adc0" */ @@ -133,7 +138,7 @@ int adc_devinit(void) adbg("adc_register failed: %d\n", ret); } - return OK; + return ret; } #endif /* CONFIG_STM32_ADC || CONFIG_STM32_ADC2 || CONFIG_STM32_ADC3 */ diff --git a/nuttx/configs/stm3240g-eval/README.txt b/nuttx/configs/stm3240g-eval/README.txt index 5bed82cc8..78e70f400 100755 --- a/nuttx/configs/stm3240g-eval/README.txt +++ b/nuttx/configs/stm3240g-eval/README.txt @@ -524,6 +524,8 @@ STM3240G-EVAL-specific Configuration Options 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. diff --git a/nuttx/configs/stm3240g-eval/dhcpd/defconfig b/nuttx/configs/stm3240g-eval/dhcpd/defconfig index a0ba27c0b..17fa324d9 100755 --- a/nuttx/configs/stm3240g-eval/dhcpd/defconfig +++ b/nuttx/configs/stm3240g-eval/dhcpd/defconfig @@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y # 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=n #CONFIG_CAN_FIFOSIZE #CONFIG_CAN_NPENDINGRTR -CONFIG_CAN1_BAUD=115200 -CONFIG_CAN2_BAUD=115200 +CONFIG_CAN_LOOPBACK=n +CONFIG_CAN1_BAUD=700000 +CONFIG_CAN2_BAUD=700000 # # STM32F40xxx Ethernet device driver settings diff --git a/nuttx/configs/stm3240g-eval/nettest/defconfig b/nuttx/configs/stm3240g-eval/nettest/defconfig index afcd39512..216cbee48 100755 --- a/nuttx/configs/stm3240g-eval/nettest/defconfig +++ b/nuttx/configs/stm3240g-eval/nettest/defconfig @@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y # 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=n #CONFIG_CAN_FIFOSIZE #CONFIG_CAN_NPENDINGRTR -CONFIG_CAN1_BAUD=115200 -CONFIG_CAN2_BAUD=115200 +CONFIG_CAN_LOOPBACK=n +CONFIG_CAN1_BAUD=700000 +CONFIG_CAN2_BAUD=700000 # # STM32F40xxx Ethernet device driver settings diff --git a/nuttx/configs/stm3240g-eval/nsh/appconfig b/nuttx/configs/stm3240g-eval/nsh/appconfig index 6951578da..6e9df6c9c 100644 --- a/nuttx/configs/stm3240g-eval/nsh/appconfig +++ b/nuttx/configs/stm3240g-eval/nsh/appconfig @@ -54,4 +54,7 @@ ifeq ($(CONFIG_PWM),y) CONFIGURED_APPS += examples/pwm endif +ifeq ($(CONFIG_CAN),y) +CONFIGURED_APPS += examples/can +endif diff --git a/nuttx/configs/stm3240g-eval/nsh/defconfig b/nuttx/configs/stm3240g-eval/nsh/defconfig index 72ab549ef..efc95eccb 100755 --- a/nuttx/configs/stm3240g-eval/nsh/defconfig +++ b/nuttx/configs/stm3240g-eval/nsh/defconfig @@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y # 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=n #CONFIG_CAN_FIFOSIZE #CONFIG_CAN_NPENDINGRTR -CONFIG_CAN1_BAUD=115200 -CONFIG_CAN2_BAUD=115200 +CONFIG_CAN_LOOPBACK=n +CONFIG_CAN1_BAUD=700000 +CONFIG_CAN2_BAUD=700000 # # STM32F40xxx Ethernet device driver settings diff --git a/nuttx/configs/stm3240g-eval/ostest/defconfig b/nuttx/configs/stm3240g-eval/ostest/defconfig index e0b696dfe..4811aaf39 100755 --- a/nuttx/configs/stm3240g-eval/ostest/defconfig +++ b/nuttx/configs/stm3240g-eval/ostest/defconfig @@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y # 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=n #CONFIG_CAN_FIFOSIZE #CONFIG_CAN_NPENDINGRTR -CONFIG_CAN1_BAUD=115200 -CONFIG_CAN2_BAUD=115200 +CONFIG_CAN_LOOPBACK=n +CONFIG_CAN1_BAUD=700000 +CONFIG_CAN2_BAUD=700000 # # STM32F40xxx Ethernet device driver settings diff --git a/nuttx/configs/stm3240g-eval/src/Makefile b/nuttx/configs/stm3240g-eval/src/Makefile index 7d09e145a..6cda7250d 100644 --- a/nuttx/configs/stm3240g-eval/src/Makefile +++ b/nuttx/configs/stm3240g-eval/src/Makefile @@ -50,6 +50,10 @@ ifeq ($(CONFIG_PWM),y) CSRCS += up_pwm.c endif +ifeq ($(CONFIG_CAN),y) +CSRCS += up_can.c +endif + COBJS = $(CSRCS:.c=$(OBJEXT)) SRCS = $(ASRCS) $(CSRCS) diff --git a/nuttx/configs/stm3240g-eval/src/stm3240g-internal.h b/nuttx/configs/stm3240g-eval/src/stm3240g-internal.h index fb4ce466b..32b9ff577 100644 --- a/nuttx/configs/stm3240g-eval/src/stm3240g-internal.h +++ b/nuttx/configs/stm3240g-eval/src/stm3240g-internal.h @@ -48,7 +48,7 @@ /**************************************************************************************************** * Definitions ****************************************************************************************************/ - +/* Configuration ************************************************************************************/ /* How many SPI modules does this chip support? */ #if STM32_NSPI < 1 @@ -62,6 +62,36 @@ # undef CONFIG_STM32_SPI3 #endif +/* You can use either CAN1 or CAN2, but you can't use both because they share the same transceiver */ + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) +# warning "The STM3250G-EVAL will only support one of CAN1 and CAN2" +#endif + +/* You can't use CAN1 with FSMC: + * + * PD0 = FSMC_D2 & CAN1_RX + * PD1 = FSMC_D3 & CAN1_TX + */ + +#ifndef CONFIG_CAN_LOOPBACK +# if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_FSMC) +# warning "The STM3250G-EVAL will only support one of CAN1 and FSMC" +# endif +#endif + +/* The USB OTG HS ULPI bus is shared with CAN2 bus: + * + * PB13 = ULPI_D6 & CAN2_TX + * PB5 = ULPI_D7 & CAN2_RX + */ + +#ifndef CONFIG_CAN_LOOPBACK +# if defined(CONFIG_STM32_CAN2) && defined(CONFIG_STM32_OTGHS) +# warning "The STM3250G-EVAL will only support one of CAN2 and USB OTG HS" +# endif +#endif + /* STM3240G-EVAL GPIOs ******************************************************************************/ /* LEDs */ diff --git a/nuttx/configs/stm3240g-eval/src/up_adc.c b/nuttx/configs/stm3240g-eval/src/up_adc.c index c96c2b606..c7db7a3c3 100644 --- a/nuttx/configs/stm3240g-eval/src/up_adc.c +++ b/nuttx/configs/stm3240g-eval/src/up_adc.c @@ -91,21 +91,37 @@ * ************************************************************************************/ -void adc_devinit(void) +int adc_devinit(void) { + static bool initialized = false; struct adc_dev_s *adc; int ret; - /* Call stm32_adcinitialize() to get an instance of the ADC interface */ + /* Check if we have already initialized */ + + if (!initialized) + { + /* Configure the pins as analog inputs for the selected channels */ #warning "Missing Logic" - /* Register the ADC driver at "/dev/adc0" */ + /* Call stm32_adcinitialize() to get an instance of the ADC interface */ +#warning "Missing Logic" - ret = adc_register("/dev/adc0", adc); - if (ret < 0) - { - adbg("adc_register failed: %d\n", ret); + /* Register the ADC driver at "/dev/adc0" */ + + ret = adc_register("/dev/adc0", adc); + if (ret < 0) + { + adbg("adc_register failed: %d\n", ret); + return ret; + } + + /* Now we are initialized */ + + initialized = true; } + + return OK; } #endif /* CONFIG_STM32_ADC || CONFIG_STM32_ADC2 || CONFIG_STM32_ADC3 */ diff --git a/nuttx/configs/stm3240g-eval/src/up_can.c b/nuttx/configs/stm3240g-eval/src/up_can.c new file mode 100644 index 000000000..eafcec0bf --- /dev/null +++ b/nuttx/configs/stm3240g-eval/src/up_can.c @@ -0,0 +1,142 @@ +/************************************************************************************ + * configs/stm3240g-eval/src/up_can.c + * arch/arm/src/board/up_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 <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 "stm3240g-internal.h" + +#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)) + +/************************************************************************************ + * 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; +} + +#endif /* CONFIG_STM32_CAN || CONFIG_STM32_CAN2 || CONFIG_STM32_CAN3 */ diff --git a/nuttx/drivers/Makefile b/nuttx/drivers/Makefile index a6fcbe1f0..4254acac0 100644 --- a/nuttx/drivers/Makefile +++ b/nuttx/drivers/Makefile @@ -65,12 +65,15 @@ include wireless/Make.defs ifneq ($(CONFIG_NFILE_DESCRIPTORS),0) CSRCS += dev_null.c dev_zero.c loop.c + ifneq ($(CONFIG_DISABLE_MOUNTPOINT),y) CSRCS += ramdisk.c rwbuffer.c endif -ifneq ($(CONFIG_CAN),y) + +ifeq ($(CONFIG_CAN),y) CSRCS += can.c endif + ifeq ($(CONFIG_PWM),y) CSRCS += pwm.c endif diff --git a/nuttx/include/nuttx/can.h b/nuttx/include/nuttx/can.h index d839bbb17..3f77afc7a 100644 --- a/nuttx/include/nuttx/can.h +++ b/nuttx/include/nuttx/can.h @@ -88,14 +88,15 @@ /* CAN message support */ -#define CAN_MAXDATALEN 8 +#define CAN_MAXDATALEN 8 +#define CAN_MAXMSGID 0x07ff #define CAN_ID(hdr) ((uint16_t)(hdr) >> 5) #define CAN_RTR(hdr) (((hdr) & 0x0010) != 0) #define CAN_DLC(hdr) ((hdr) & 0x0f) #define CAN_MSGLEN(hdr) (sizeof(struct can_msg_s) - (CAN_MAXDATALEN - CAN_DLC(hdr))) -#define CAN_MSG(id, rtr, dlc) ((uint16_t)id << 5 | (uint16_t)rtr << 4 | (uint16_t)dlc) +#define CAN_HDR(id, rtr, dlc) ((uint16_t)id << 5 | (uint16_t)rtr << 4 | (uint16_t)dlc) /* Built-in ioctl commands * |