dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Add loopback support to STM32 CAN driver; Add apps/examples/can loopback test 

git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4213 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
patacongo 2011-12-22 15:59:50 +00:00
parent 907471d5dc
commit bfc578860c
41 changed files with 865 additions and 68 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
apps/ChangeLog.txt
View File

@ -148,3 +148,5 @@
driver.
* apps/examples/pwm: Add an NSH PWM command to drive and test a PWM
driver.
* apps/examples/can: Add an NSH CAN command to drive and test a CAN
driver in loopback mode.

19
apps/examples/Makefile
View File

@ -42,25 +42,28 @@ SUBDIRS = adc buttons dhcpd ftpc hello helloxx hidkbd igmp lcdrw mm mount \
nxtext ostest pashello pipe poll pwm rgmp romfs sendmail serloop \
thttpd tiff touchscreen udp uip usbserial usbstorage usbterm wget wlan
# Sub-directories that might need context setup
# Sub-directories that might need context setup. Directories may need
# context setup for a variety of reasons, but the most common is because
# the example may be built as an NSH built-in function.
#
# Directories that may be built as NSH built-in functions may have their
# own configuration setting (like CONFIG_EXAMPLES_HELLOXX_BUILTIN), but
# many only depend on the generic CONFIG_NSH_BUILTIN_APPS setting. And
# there a few which an ONLY be built as NSH built-in applications; these
# are included in the list unconditionally.
CNTXTDIRS = pwm
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
CNTXTDIRS += adc
endif
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
CNTXTDIRS += dhcpd
CNTXTDIRS += adc can dhcpd nettest
endif
ifeq ($(CONFIG_EXAMPLES_HELLOXX_BUILTIN),y)
CNTXTDIRS += helloxx
endif
ifeq ($(CONFIG_EXAMPLES_LCDRW_BUILTIN),y)
CNTXTDIRS += lcdrw
endif
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
CNTXTDIRS += nettest
endif
ifeq ($(CONFIG_EXAMPLES_NX_BUILTIN),y)
CNTXTDIRS += nx
endif

28
apps/examples/README.txt
View File

@ -76,6 +76,34 @@ examples/buttons
user-space program. As a result, this example cannot be used if a
NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
examples/can
^^^^^^^^^^^^
If the CAN device is configured in loopback mode, then this example can
be used to test the CAN device in loop back mode. It simple sinces a
sequence of CAN messages and verifies that those messages are returned
exactly as sent.
This test depends on these specific CAN configurations settings (your
specific CAN settings might require additional settings).
CONFIG_CAN - Enables CAN support.
CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
mode for testing. The STM32 CAN driver does support loopback mode.
Specific configuration options for this example include:
CONFIG_NSH_BUILTIN_APPS - Build the CAN test as an NSH built-in function.
Default: Built as a standalone problem
CONFIG_CAN_LOOPBACK
CONFIG_EXAMPLES_CAN_DEVPATH - The path to the CAN device. Default: /dev/can0
CONFIG_EXAMPLES_CAN_NMSGS - If CONFIG_NSH_BUILTIN_APPS
is defined, then the number of loops is provided on the command line
and this value is ignored. Otherwise, this number of CAN message is
collected and the program terminates. Default: If built as an NSH
built-in, the default is 32. Otherwise messages are sent and received
indefinitely.
examples/dhcpd
^^^^^^^^^^^^^^

0
apps/examples/adc/adc.h Executable file → Normal file
View File

105
apps/examples/can/Makefile Normal file
View File

@ -0,0 +1,105 @@
############################################################################
# apps/examples/can/Makefile
#
# 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.
#
############################################################################
-include $(TOPDIR)/.config
-include $(TOPDIR)/Make.defs
include $(APPDIR)/Make.defs
# NuttX NX Graphics Example.
ASRCS =
CSRCS = can_main.c
AOBJS = $(ASRCS:.S=$(OBJEXT))
COBJS = $(CSRCS:.c=$(OBJEXT))
SRCS = $(ASRCS) $(CSRCS)
OBJS = $(AOBJS) $(COBJS)
ifeq ($(WINTOOL),y)
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
else
BIN = "$(APPDIR)/libapps$(LIBEXT)"
endif
ROOTDEPPATH = --dep-path .
# Touchscreen built-in application info
APPNAME = can
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
# Common build
VPATH =
all: .built
.PHONY: context clean depend distclean
$(AOBJS): %$(OBJEXT): %.S
$(call ASSEMBLE, $<, $@)
$(COBJS): %$(OBJEXT): %.c
$(call COMPILE, $<, $@)
.built: $(OBJS)
@( for obj in $(OBJS) ; do \
$(call ARCHIVE, $(BIN), $${obj}); \
done ; )
@touch .built
.context:
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
@touch $@
endif
context: .context
.depend: Makefile $(SRCS)
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
@touch $@
depend: .depend
clean:
@rm -f *.o *~ .*.swp .built
$(call CLEAN)
distclean: clean
@rm -f Make.dep .depend
-include Make.dep

129
apps/examples/can/can.h Normal file
View File

@ -0,0 +1,129 @@
/****************************************************************************
* examples/examples/can/can.h
*
* 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.
*
****************************************************************************/
#ifndef __APPS_EXAMPLES_CAN_CAN_H
#define __APPS_EXAMPLES_CAN_CAN_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* This test depends on these specific CAN configurations settings (your
* specific CAN settings might require additional settings).
*
* CONFIG_CAN - Enables CAN support.
* CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
* mode for testing. The STM32 CAN driver does support loopback mode.
*
* Specific configuration options for this example include:
*
* CONFIG_NSH_BUILTIN_APPS - Build the CAN test as an NSH built-in function.
* Default: Built as a standalone problem
* CONFIG_CAN_LOOPBACK
* CONFIG_EXAMPLES_CAN_DEVPATH - The path to the CAN device. Default: /dev/can0
* CONFIG_EXAMPLES_CAN_NMSGS - If CONFIG_NSH_BUILTIN_APPS
* is defined, then the number of loops is provided on the command line
* and this value is ignored. Otherwise, this number of CAN message is
* collected and the program terminates. Default: If built as an NSH
* built-in, the default is 32. Otherwise messages are sent and received
* indefinitely.
*/
#ifndef CONFIG_CAN
# error "CAN device support is not enabled (CONFIG_CAN)"
#endif
#ifndef CONFIG_CAN_LOOPBACK
# warning "CAN loopback is not enabled (CONFIG_CAN_LOOPBACK)"
#endif
#ifndef CONFIG_EXAMPLES_CAN_DEVPATH
# define CONFIG_EXAMPLES_CAN_DEVPATH "/dev/can0"
#endif
#if defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_EXAMPLES_CAN_NMSGS)
# define CONFIG_EXAMPLES_CAN_NMSGS 32
#endif
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lib_rawprintf(__VA_ARGS__)
# define msgflush()
# else
# define message(...) printf(__VA_ARGS__)
# define msgflush() fflush(stdout)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lib_rawprintf
# define msgflush()
# else
# define message printf
# define msgflush() fflush(stdout)
# endif
#endif
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* Public Variables
****************************************************************************/
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: can_devinit()
*
* Description:
* Perform architecuture-specific initialization of the CAN hardware. This
* interface must be provided by all configurations using apps/examples/can
*
****************************************************************************/
int can_devinit(void);
#endif /* __APPS_EXAMPLES_CAN_CAN_H */

247
apps/examples/can/can_main.c Normal file
View File

@ -0,0 +1,247 @@
/****************************************************************************
* examples/can/can_main.c
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* 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 <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can.h>
#include "can.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
# define MAIN_NAME can_main
# define MAIN_STRING "can_main: "
#else
# define MAIN_NAME user_start
# define MAIN_STRING "user_start: "
#endif
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: user_start/can_main
****************************************************************************/
int MAIN_NAME(int argc, char *argv[])
{
struct can_msg_s txmsg;
struct can_msg_s rxmsg;
size_t msgsize;
ssize_t nbytes;
uint8_t msgdata;
#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_CAN_NMSGS)
long nmsgs;
#endif
int msgdlc;
int msgid;
int fd;
int errval = 0;
int ret;
int i;
/* If this example is configured as an NX add-on, then limit the number of
* samples that we collect before returning. Otherwise, we never return
*/
#if defined(CONFIG_NSH_BUILTIN_APPS)
nmsgs = CONFIG_EXAMPLES_CAN_NMSGS;
if (argc > 1)
{
nmsgs = strtol(argv[1], NULL, 10);
}
message(MAIN_STRING "nmsgs: %d\n", nmsgs);
#elif defined(CONFIG_EXAMPLES_CAN_NMSGS)
message(MAIN_STRING "nmsgs: %d\n", CONFIG_EXAMPLES_CAN_NMSGS);
#endif
/* Initialization of the CAN hardware is performed by logic external to
* this test.
*/
message(MAIN_STRING "Initializing external CAN device\n");
ret = can_devinit();
if (ret != OK)
{
message(MAIN_STRING "can_devinit failed: %d\n", ret);
errval = 1;
goto errout;
}
/* Open the CAN device for reading */
message(MAIN_STRING "Hardware initialized. Opening the CAN device\n");
fd = open(CONFIG_EXAMPLES_CAN_DEVPATH, O_RDWR);
if (fd < 0)
{
message(MAIN_STRING "open %s failed: %d\n",
CONFIG_EXAMPLES_CAN_DEVPATH, errno);
errval = 2;
goto errout_with_dev;
}
/* Now loop the appropriate number of times, performing one loopback test
* on each pass.
*/
msgdlc = 1;
msgid = 1;
msgdata = 0;
#if defined(CONFIG_NSH_BUILTIN_APPS)
for (; nmsgs > 0; nmsgs--)
#elif defined(CONFIG_EXAMPLES_CAN_NMSGS)
for (nmsgs = 0; nmsgs < CONFIG_EXAMPLES_CAN_NMSGS; nmsgs++)
#else
for (;;)
#endif
{
/* Flush any output before the loop entered or from the previous pass
* through the loop.
*/
msgflush();
/* Construct the next TX message */
txmsg.cm_hdr = CAN_HDR(msgid, 0, msgdlc);
for (i = 0; i < msgdlc; i++)
{
txmsg.cm_data[i] = msgdata + i;
}
/* Send the TX message */
msgsize = CAN_MSGLEN(txmsg.cm_hdr);
nbytes = write(fd, &txmsg, msgsize);
if (nbytes != msgsize)
{
message("ERROR: write(%d) returned %d\n", msgsize, nbytes);
errval = 3;
goto errout_with_dev;
}
/* Read the RX message */
msgsize = sizeof(struct can_msg_s);
nbytes = read(fd, &rxmsg, msgsize);
if (nbytes < CAN_MSGLEN(0) || nbytes >= msgsize)
{
message("ERROR: read(%d) returned %d\n", msgsize, nbytes);
errval = 4;
goto errout_with_dev;
}
/* Verify that the received messages are the same */
if (txmsg.cm_hdr != rxmsg.cm_hdr)
{
message("ERROR: Sent header %04x; received header %04x\n", txmsg.cm_hdr, rxmsg.cm_hdr);
errval = 4;
goto errout_with_dev;
}
if (memcmp(txmsg.cm_data, rxmsg.cm_data, msgdlc) != 0)
{
message("ERROR: Data does not match. DLC=%d\n", msgdlc);
for (i = 0; i < msgdlc; i++)
{
message(" %d: TX %02x RX %02x\n", txmsg.cm_data[i], rxmsg.cm_data[i]);
errval = 5;
goto errout_with_dev;
}
}
/* Set up for the next pass */
msgdata += msgdlc;
if (++msgid >= 2048)
{
msgid = 1;
}
if (++msgdlc > CAN_MAXDATALEN)
{
msgdlc = 1;
}
}
errout_with_dev:
close(fd);
errout:
message("Terminating!\n");
msgflush();
return errval;
}

0
apps/examples/ftpc/ftpc_cmds.c Executable file → Normal file
View File

0
apps/examples/ftpc/ftpc_main.c Executable file → Normal file
View File

0
apps/examples/igmp/igmp.c Executable file → Normal file
View File

0
apps/examples/igmp/igmp.h Executable file → Normal file
View File

0
apps/examples/nximage/nximage.h Executable file → Normal file
View File

0
apps/examples/nximage/nximage_bkgd.c Executable file → Normal file
View File

0
apps/examples/nximage/nximage_main.c Executable file → Normal file
View File

0
apps/examples/pwm/pwm.h Executable file → Normal file
View File

0
apps/examples/sendmail/hostdefs.h Executable file → Normal file
View File

0
apps/examples/wget/hostdefs.h Executable file → Normal file
View File

0
apps/examples/wlan/wlan_main.c Executable file → Normal file
View File

2
nuttx/ChangeLog
View File

@ -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.

5
nuttx/Documentation/NuttxPortingGuide.html
View File

@ -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>

6
nuttx/arch/arm/src/common/up_internal.h
View File

@ -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);

4
nuttx/arch/arm/src/lpc17xx/lpc17_can.c
View File

@ -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;

19
nuttx/arch/arm/src/lpc17xx/lpc17_internal.h
View File

@ -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)
}

46
nuttx/arch/arm/src/stm32/stm32_can.c
View File

@ -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) */

56
nuttx/arch/arm/src/stm32/stm32_can.h
View File

@ -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 */

3
nuttx/configs/README.txt
View File

@ -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

2
nuttx/configs/hymini-stm32v/README.txt
View File

@ -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.

2
nuttx/configs/stm3210e-eval/README.txt
View File

@ -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.

7
nuttx/configs/stm3210e-eval/src/up_adc.c
View File

@ -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 */

2
nuttx/configs/stm3240g-eval/README.txt
View File

@ -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.

7
nuttx/configs/stm3240g-eval/dhcpd/defconfig
View File

@ -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

7
nuttx/configs/stm3240g-eval/nettest/defconfig
View File

@ -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

3
nuttx/configs/stm3240g-eval/nsh/appconfig
View File

@ -54,4 +54,7 @@ ifeq ($(CONFIG_PWM),y)
CONFIGURED_APPS += examples/pwm
endif
ifeq ($(CONFIG_CAN),y)
CONFIGURED_APPS += examples/can
endif

7
nuttx/configs/stm3240g-eval/nsh/defconfig
View File

@ -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

7
nuttx/configs/stm3240g-eval/ostest/defconfig
View File

@ -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

4
nuttx/configs/stm3240g-eval/src/Makefile
View File

@ -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)

32
nuttx/configs/stm3240g-eval/src/stm3240g-internal.h
View File

@ -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 */

30
nuttx/configs/stm3240g-eval/src/up_adc.c
View File

@ -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 */

142
nuttx/configs/stm3240g-eval/src/up_can.c Normal file
View File

@ -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 */

5
nuttx/drivers/Makefile
View File

@ -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

5
nuttx/include/nuttx/can.h
View File

@ -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
*