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Add the beginning of an STM32 CAN driver 

git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4209 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
patacongo 2011-12-21 15:50:06 +00:00
parent 67609317a5
commit 073df6d28c
17 changed files with 986 additions and 34 deletions
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2
nuttx/ChangeLog
View File

@ -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).

60
nuttx/Documentation/NuttxPortingGuide.html
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@ -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 &quot;lower half&quot;, 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 &quot;upper half&quot; and &quot;lower half&quot; 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>&quot;Upper Half&quot; Driver</b>.
The generic, &quot;upper half&quot; PWM driver resides at <code>drivers/pwm.c</code>.
</li>
<li>
Platform-specific PWM drivers reside in <code>arch/</code><i>&lt;architecture&gt;</i><code>/src/</code><i>&lt;chip&gt;</i> directory for the specific processor <i>&lt;architecture&gt;</i> and for the specific <i>&lt;chip&gt;</i> analog peripheral devices.
<li><b>&quot;Lower Half&quot; Drivers</b>.
Platform-specific PWM drivers reside in <code>arch/</code><i>&lt;architecture&gt;</i><code>/src/</code><i>&lt;chip&gt;</i> directory for the specific processor <i>&lt;architecture&gt;</i> and for the specific <i>&lt;chip&gt;</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 &quot;upper half&quot;, generic driver that provides the comman CAN interface to application level code, and
</li>
<li>
A &quot;lower half&quot;, 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 &quot;upper half&quot; and &quot;lower half&quot; drivers.
The CAN module uses a standard character driver framework.
</li>
<li><b>&quot;Upper Half&quot; Driver</b>.
The generic, &quot;upper half&quot; CAN driver resides at <code>drivers/can.c</code>.
</li>
<li><b>&quot;Lower Half&quot; Drivers</b>.
Platform-specific CAN drivers reside in <code>arch/</code><i>&lt;architecture&gt;</i><code>/src/</code><i>&lt;chip&gt;</i> directory for the specific processor <i>&lt;architecture&gt;</i> and for the specific <i>&lt;chip&gt;</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>

13
nuttx/arch/arm/src/lpc17xx/Make.defs
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@ -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

6
nuttx/arch/arm/src/stm32/Make.defs
View File

@ -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

761
nuttx/arch/arm/src/stm32/stm32_can.c Executable file
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@ -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 */

2
nuttx/arch/arm/src/stm32/stm32_pwm.c
View File

@ -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

9
nuttx/configs/README.txt
View File

@ -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

14
nuttx/configs/hymini-stm32v/README.txt
View File

@ -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

11
nuttx/configs/stm3210e-eval/README.txt
View File

@ -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"

11
nuttx/configs/stm3240g-eval/README.txt
View File

@ -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

18
nuttx/configs/stm3240g-eval/dhcpd/defconfig
View File

@ -256,6 +256,24 @@ CONFIG_SSI1_DISABLE=y
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
#

18
nuttx/configs/stm3240g-eval/nettest/defconfig
View File

@ -256,6 +256,24 @@ CONFIG_SSI1_DISABLE=y
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
#

18
nuttx/configs/stm3240g-eval/nsh/defconfig
View File

@ -256,6 +256,24 @@ CONFIG_SSI1_DISABLE=y
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
#

18
nuttx/configs/stm3240g-eval/ostest/defconfig
View File

@ -256,6 +256,24 @@ CONFIG_SSI1_DISABLE=y
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
#

7
nuttx/drivers/Makefile
View File

@ -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

29
nuttx/drivers/can.c
View File

@ -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
@ -33,10 +33,6 @@
*
****************************************************************************/
/****************************************************************************
* 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 */

23
nuttx/include/nuttx/can.h
View File

@ -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 */