forked from Archive/PX4-Autopilot
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:
parent
907471d5dc
commit
bfc578860c
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@ -148,3 +148,5 @@
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driver.
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driver.
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* apps/examples/pwm: Add an NSH PWM command to drive and test a PWM
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* apps/examples/pwm: Add an NSH PWM command to drive and test a PWM
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driver.
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driver.
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* apps/examples/can: Add an NSH CAN command to drive and test a CAN
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driver in loopback mode.
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@ -42,25 +42,28 @@ SUBDIRS = adc buttons dhcpd ftpc hello helloxx hidkbd igmp lcdrw mm mount \
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nxtext ostest pashello pipe poll pwm rgmp romfs sendmail serloop \
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nxtext ostest pashello pipe poll pwm rgmp romfs sendmail serloop \
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thttpd tiff touchscreen udp uip usbserial usbstorage usbterm wget wlan
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thttpd tiff touchscreen udp uip usbserial usbstorage usbterm wget wlan
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# Sub-directories that might need context setup
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# Sub-directories that might need context setup. Directories may need
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# context setup for a variety of reasons, but the most common is because
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# the example may be built as an NSH built-in function.
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#
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# Directories that may be built as NSH built-in functions may have their
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# own configuration setting (like CONFIG_EXAMPLES_HELLOXX_BUILTIN), but
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# many only depend on the generic CONFIG_NSH_BUILTIN_APPS setting. And
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# there a few which an ONLY be built as NSH built-in applications; these
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# are included in the list unconditionally.
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CNTXTDIRS = pwm
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CNTXTDIRS = pwm
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ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
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ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
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CNTXTDIRS += adc
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CNTXTDIRS += adc can dhcpd nettest
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endif
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ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
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CNTXTDIRS += dhcpd
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endif
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endif
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ifeq ($(CONFIG_EXAMPLES_HELLOXX_BUILTIN),y)
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ifeq ($(CONFIG_EXAMPLES_HELLOXX_BUILTIN),y)
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CNTXTDIRS += helloxx
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CNTXTDIRS += helloxx
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endif
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endif
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ifeq ($(CONFIG_EXAMPLES_LCDRW_BUILTIN),y)
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ifeq ($(CONFIG_EXAMPLES_LCDRW_BUILTIN),y)
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CNTXTDIRS += lcdrw
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CNTXTDIRS += lcdrw
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endif
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endif
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ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
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CNTXTDIRS += nettest
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endif
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ifeq ($(CONFIG_EXAMPLES_NX_BUILTIN),y)
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ifeq ($(CONFIG_EXAMPLES_NX_BUILTIN),y)
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CNTXTDIRS += nx
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CNTXTDIRS += nx
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endif
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endif
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@ -76,6 +76,34 @@ examples/buttons
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user-space program. As a result, this example cannot be used if a
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user-space program. As a result, this example cannot be used if a
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NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
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NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
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examples/can
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^^^^^^^^^^^^
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If the CAN device is configured in loopback mode, then this example can
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be used to test the CAN device in loop back mode. It simple sinces a
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sequence of CAN messages and verifies that those messages are returned
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exactly as sent.
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This test depends on these specific CAN configurations settings (your
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specific CAN settings might require additional settings).
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CONFIG_CAN - Enables CAN support.
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CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
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mode for testing. The STM32 CAN driver does support loopback mode.
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Specific configuration options for this example include:
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CONFIG_NSH_BUILTIN_APPS - Build the CAN test as an NSH built-in function.
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Default: Built as a standalone problem
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CONFIG_CAN_LOOPBACK
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CONFIG_EXAMPLES_CAN_DEVPATH - The path to the CAN device. Default: /dev/can0
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CONFIG_EXAMPLES_CAN_NMSGS - If CONFIG_NSH_BUILTIN_APPS
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is defined, then the number of loops is provided on the command line
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and this value is ignored. Otherwise, this number of CAN message is
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collected and the program terminates. Default: If built as an NSH
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built-in, the default is 32. Otherwise messages are sent and received
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indefinitely.
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examples/dhcpd
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examples/dhcpd
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^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^
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@ -0,0 +1,105 @@
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############################################################################
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# apps/examples/can/Makefile
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#
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# Copyright (C) 2011 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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|
# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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||||||
|
# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name NuttX nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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-include $(TOPDIR)/.config
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-include $(TOPDIR)/Make.defs
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include $(APPDIR)/Make.defs
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# NuttX NX Graphics Example.
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ASRCS =
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CSRCS = can_main.c
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AOBJS = $(ASRCS:.S=$(OBJEXT))
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COBJS = $(CSRCS:.c=$(OBJEXT))
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SRCS = $(ASRCS) $(CSRCS)
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OBJS = $(AOBJS) $(COBJS)
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ifeq ($(WINTOOL),y)
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BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
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else
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BIN = "$(APPDIR)/libapps$(LIBEXT)"
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endif
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ROOTDEPPATH = --dep-path .
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# Touchscreen built-in application info
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APPNAME = can
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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# Common build
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VPATH =
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all: .built
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.PHONY: context clean depend distclean
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$(AOBJS): %$(OBJEXT): %.S
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$(call ASSEMBLE, $<, $@)
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$(COBJS): %$(OBJEXT): %.c
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$(call COMPILE, $<, $@)
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.built: $(OBJS)
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@( for obj in $(OBJS) ; do \
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$(call ARCHIVE, $(BIN), $${obj}); \
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done ; )
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@touch .built
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.context:
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ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
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$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
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@touch $@
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endif
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context: .context
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.depend: Makefile $(SRCS)
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@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
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@touch $@
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depend: .depend
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clean:
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@rm -f *.o *~ .*.swp .built
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$(call CLEAN)
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distclean: clean
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@rm -f Make.dep .depend
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-include Make.dep
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@ -0,0 +1,129 @@
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/****************************************************************************
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* examples/examples/can/can.h
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*
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* Copyright (C) 2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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||||||
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* 2. Redistributions in binary form must reproduce the above copyright
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||||||
|
* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef __APPS_EXAMPLES_CAN_CAN_H
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#define __APPS_EXAMPLES_CAN_CAN_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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/****************************************************************************
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* Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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/* This test depends on these specific CAN configurations settings (your
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* specific CAN settings might require additional settings).
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*
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* CONFIG_CAN - Enables CAN support.
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* CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
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* mode for testing. The STM32 CAN driver does support loopback mode.
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*
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* Specific configuration options for this example include:
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*
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* CONFIG_NSH_BUILTIN_APPS - Build the CAN test as an NSH built-in function.
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* Default: Built as a standalone problem
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* CONFIG_CAN_LOOPBACK
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* CONFIG_EXAMPLES_CAN_DEVPATH - The path to the CAN device. Default: /dev/can0
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* CONFIG_EXAMPLES_CAN_NMSGS - If CONFIG_NSH_BUILTIN_APPS
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* is defined, then the number of loops is provided on the command line
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* and this value is ignored. Otherwise, this number of CAN message is
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* collected and the program terminates. Default: If built as an NSH
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* built-in, the default is 32. Otherwise messages are sent and received
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* indefinitely.
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*/
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#ifndef CONFIG_CAN
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# error "CAN device support is not enabled (CONFIG_CAN)"
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#endif
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#ifndef CONFIG_CAN_LOOPBACK
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# warning "CAN loopback is not enabled (CONFIG_CAN_LOOPBACK)"
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#endif
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#ifndef CONFIG_EXAMPLES_CAN_DEVPATH
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# define CONFIG_EXAMPLES_CAN_DEVPATH "/dev/can0"
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#endif
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#if defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_EXAMPLES_CAN_NMSGS)
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# define CONFIG_EXAMPLES_CAN_NMSGS 32
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#endif
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/* Debug ********************************************************************/
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#ifdef CONFIG_CPP_HAVE_VARARGS
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# ifdef CONFIG_DEBUG
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# define message(...) lib_rawprintf(__VA_ARGS__)
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# define msgflush()
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# else
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# define message(...) printf(__VA_ARGS__)
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# define msgflush() fflush(stdout)
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# endif
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#else
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# ifdef CONFIG_DEBUG
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# define message lib_rawprintf
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# define msgflush()
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# else
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# define message printf
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# define msgflush() fflush(stdout)
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# endif
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#endif
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/****************************************************************************
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* Public Types
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||||||
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****************************************************************************/
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/****************************************************************************
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||||||
|
* Public Variables
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||||||
|
****************************************************************************/
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||||||
|
/****************************************************************************
|
||||||
|
* Public Function Prototypes
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||||||
|
****************************************************************************/
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||||||
|
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||||||
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/****************************************************************************
|
||||||
|
* Name: can_devinit()
|
||||||
|
*
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||||||
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* Description:
|
||||||
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* Perform architecuture-specific initialization of the CAN hardware. This
|
||||||
|
* interface must be provided by all configurations using apps/examples/can
|
||||||
|
*
|
||||||
|
****************************************************************************/
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||||||
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int can_devinit(void);
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#endif /* __APPS_EXAMPLES_CAN_CAN_H */
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@ -0,0 +1,247 @@
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/****************************************************************************
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||||||
|
* 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>
|
||||||
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#include <stdlib.h>
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||||||
|
#include <unistd.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <fcntl.h>
|
||||||
|
#include <errno.h>
|
||||||
|
#include <debug.h>
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||||||
|
|
||||||
|
#include <nuttx/can.h>
|
||||||
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|
||||||
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#include "can.h"
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||||||
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|
||||||
|
/****************************************************************************
|
||||||
|
* Pre-processor Definitions
|
||||||
|
****************************************************************************/
|
||||||
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||||||
|
#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;
|
||||||
|
}
|
|
@ -2287,6 +2287,6 @@
|
||||||
manufacturers codes. Fix a error in the wait for not busy (submitted by
|
manufacturers codes. Fix a error in the wait for not busy (submitted by
|
||||||
Mohammad Elwakeel.
|
Mohammad Elwakeel.
|
||||||
* arch/arm/src/stm32/stm32_can.c. Add a low-level STM32 CAN driver. (Initial
|
* 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.
|
||||||
|
|
||||||
|
|
||||||
|
|
|
@ -4376,6 +4376,11 @@ build
|
||||||
<li>
|
<li>
|
||||||
<code>CONFIG_CAN_NPENDINGRTR</code>: The size of the list of pending RTR requests. Default: 4
|
<code>CONFIG_CAN_NPENDINGRTR</code>: The size of the list of pending RTR requests. Default: 4
|
||||||
</li>
|
</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>
|
</ul>
|
||||||
|
|
||||||
<h3>SPI driver</h3>
|
<h3>SPI driver</h3>
|
||||||
|
|
|
@ -340,11 +340,6 @@ extern void up_usbuninitialize(void);
|
||||||
# define up_usbuninitialize()
|
# define up_usbuninitialize()
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/* CAN **********************************************************************/
|
|
||||||
|
|
||||||
struct can_dev_s; /* Forward reference */
|
|
||||||
extern FAR struct can_dev_s *up_caninitialize(int port);
|
|
||||||
|
|
||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
* Name: up_check_stack
|
* 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)
|
#if defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_STACK)
|
||||||
extern size_t up_check_stack(void);
|
extern size_t up_check_stack(void);
|
||||||
extern size_t up_check_tcbstack(FAR _TCB);
|
extern size_t up_check_tcbstack(FAR _TCB);
|
||||||
|
|
|
@ -354,7 +354,7 @@ static int can_interrupt(int irq, void *context)
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
* Name: up_caninitialize
|
* Name: lpc17_caninitialize
|
||||||
*
|
*
|
||||||
* Description:
|
* Description:
|
||||||
* Initialize the selected can port
|
* 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;
|
uint32_t regval;
|
||||||
irqstate_t flags;
|
irqstate_t flags;
|
||||||
|
|
|
@ -786,6 +786,25 @@ FAR struct adc_dev_s *stm32_adcinitialize(void);
|
||||||
EXTERN FAR struct dac_dev_s *lpc17_dacinitialize(void);
|
EXTERN FAR struct dac_dev_s *lpc17_dacinitialize(void);
|
||||||
#endif
|
#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
|
#undef EXTERN
|
||||||
#if defined(__cplusplus)
|
#if defined(__cplusplus)
|
||||||
}
|
}
|
||||||
|
|
|
@ -60,34 +60,11 @@
|
||||||
#include "stm32_internal.h"
|
#include "stm32_internal.h"
|
||||||
#include "stm32_can.h"
|
#include "stm32_can.h"
|
||||||
|
|
||||||
#ifdef CONFIG_CAN
|
#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
|
||||||
|
|
||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
* Pre-processor Definitions
|
* 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 *******************************************************************/
|
/* Delays *******************************************************************/
|
||||||
/* Time out for INAK bit */
|
/* 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 */
|
/* 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 */
|
/* 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);
|
canvdbg("TS1: %d TS2: %d BRP: %d\n", ts1, ts2, brp);
|
||||||
|
|
||||||
/* Configure bit timing. This also does the the following, less obvious
|
/* Configure bit timing. This also does the the following, less obvious
|
||||||
* things:
|
* things. Unless loopback mode is enabled, it:
|
||||||
*
|
*
|
||||||
* - Disables silent mode.
|
* - Disables silent mode.
|
||||||
* - Disables loopback 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) |
|
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);
|
((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);
|
can_putreg(priv, STM32_CAN_BTR_OFFSET, tmp);
|
||||||
return OK;
|
return OK;
|
||||||
}
|
}
|
||||||
|
@ -1126,7 +1107,7 @@ static int can_filterinit(struct stm32_can_s *priv)
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
* Name: up_caninitialize
|
* Name: stm32_caninitialize
|
||||||
*
|
*
|
||||||
* Description:
|
* Description:
|
||||||
* Initialize the selected CAN port
|
* 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;
|
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.
|
* file must have been disambiguated in the board.h file.
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
#ifndef CONFIG_CAN_LOOPBACK
|
||||||
stm32_configgpio(GPIO_CAN1_RX);
|
stm32_configgpio(GPIO_CAN1_RX);
|
||||||
stm32_configgpio(GPIO_CAN1_TX);
|
stm32_configgpio(GPIO_CAN1_TX);
|
||||||
|
#endif
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
#endif
|
#endif
|
||||||
|
@ -1174,19 +1157,20 @@ FAR struct can_dev_s *up_caninitialize(int port)
|
||||||
* file must have been disambiguated in the board.h file.
|
* file must have been disambiguated in the board.h file.
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
#ifndef CONFIG_CAN_LOOPBACK
|
||||||
stm32_configgpio(GPIO_CAN2_RX);
|
stm32_configgpio(GPIO_CAN2_RX);
|
||||||
stm32_configgpio(GPIO_CAN2_TX);
|
stm32_configgpio(GPIO_CAN2_TX);
|
||||||
|
#endif
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
#endif
|
#endif
|
||||||
{
|
{
|
||||||
candbg("Unsupported port %d\n", priv->port);
|
candbg("Unsupported port %d\n", port);
|
||||||
return NULL;
|
return NULL;
|
||||||
}
|
}
|
||||||
|
|
||||||
return dev;
|
return dev;
|
||||||
}
|
}
|
||||||
|
|
||||||
#endif /* CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2 */
|
#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */
|
||||||
#endif /* CONFIG_CAN */
|
|
||||||
|
|
||||||
|
|
|
@ -50,17 +50,73 @@
|
||||||
/************************************************************************************
|
/************************************************************************************
|
||||||
* Pre-processor Definitions
|
* 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
|
* Public Types
|
||||||
************************************************************************************/
|
************************************************************************************/
|
||||||
|
|
||||||
|
#ifndef __ASSEMBLY__
|
||||||
|
|
||||||
/************************************************************************************
|
/************************************************************************************
|
||||||
* Public Data
|
* Public Data
|
||||||
************************************************************************************/
|
************************************************************************************/
|
||||||
|
|
||||||
|
#undef EXTERN
|
||||||
|
#if defined(__cplusplus)
|
||||||
|
#define EXTERN extern "C"
|
||||||
|
extern "C" {
|
||||||
|
#else
|
||||||
|
#define EXTERN extern
|
||||||
|
#endif
|
||||||
|
|
||||||
/************************************************************************************
|
/************************************************************************************
|
||||||
* Public Functions
|
* 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 */
|
#endif /* __ARCH_ARM_SRC_STM32_STM32_CAN_H */
|
||||||
|
|
|
@ -641,6 +641,9 @@ defconfig -- This is a configuration file similar to the Linux
|
||||||
Default: 8
|
Default: 8
|
||||||
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
||||||
Default: 4
|
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
|
SPI driver
|
||||||
|
|
||||||
|
|
|
@ -495,6 +495,8 @@ HY-Mini specific Configuration Options
|
||||||
Default: 8
|
Default: 8
|
||||||
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
||||||
Default: 4
|
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_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_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
|
||||||
|
|
||||||
|
|
|
@ -583,6 +583,8 @@ STM3210E-EVAL-specific Configuration Options
|
||||||
Default: 8
|
Default: 8
|
||||||
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
||||||
Default: 4
|
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_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_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
|
||||||
|
|
||||||
|
|
|
@ -124,6 +124,11 @@ int adc_devinit(void)
|
||||||
/* Call stm32_adcinitialize() to get an instance of the ADC interface */
|
/* Call stm32_adcinitialize() to get an instance of the ADC interface */
|
||||||
|
|
||||||
adc = stm32_adcinitialize(1, g_chanlist, ADC_NCHANNELS);
|
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" */
|
/* Register the ADC driver at "/dev/adc0" */
|
||||||
|
|
||||||
|
@ -133,7 +138,7 @@ int adc_devinit(void)
|
||||||
adbg("adc_register failed: %d\n", ret);
|
adbg("adc_register failed: %d\n", ret);
|
||||||
}
|
}
|
||||||
|
|
||||||
return OK;
|
return ret;
|
||||||
}
|
}
|
||||||
|
|
||||||
#endif /* CONFIG_STM32_ADC || CONFIG_STM32_ADC2 || CONFIG_STM32_ADC3 */
|
#endif /* CONFIG_STM32_ADC || CONFIG_STM32_ADC2 || CONFIG_STM32_ADC3 */
|
||||||
|
|
|
@ -524,6 +524,8 @@ STM3240G-EVAL-specific Configuration Options
|
||||||
Default: 8
|
Default: 8
|
||||||
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
||||||
Default: 4
|
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_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_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
|
||||||
|
|
||||||
|
|
|
@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y
|
||||||
# Default: 8
|
# Default: 8
|
||||||
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
||||||
# Default: 4
|
# 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_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_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
|
||||||
#
|
#
|
||||||
CONFIG_CAN=n
|
CONFIG_CAN=n
|
||||||
#CONFIG_CAN_FIFOSIZE
|
#CONFIG_CAN_FIFOSIZE
|
||||||
#CONFIG_CAN_NPENDINGRTR
|
#CONFIG_CAN_NPENDINGRTR
|
||||||
CONFIG_CAN1_BAUD=115200
|
CONFIG_CAN_LOOPBACK=n
|
||||||
CONFIG_CAN2_BAUD=115200
|
CONFIG_CAN1_BAUD=700000
|
||||||
|
CONFIG_CAN2_BAUD=700000
|
||||||
|
|
||||||
#
|
#
|
||||||
# STM32F40xxx Ethernet device driver settings
|
# STM32F40xxx Ethernet device driver settings
|
||||||
|
|
|
@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y
|
||||||
# Default: 8
|
# Default: 8
|
||||||
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
||||||
# Default: 4
|
# 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_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_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
|
||||||
#
|
#
|
||||||
CONFIG_CAN=n
|
CONFIG_CAN=n
|
||||||
#CONFIG_CAN_FIFOSIZE
|
#CONFIG_CAN_FIFOSIZE
|
||||||
#CONFIG_CAN_NPENDINGRTR
|
#CONFIG_CAN_NPENDINGRTR
|
||||||
CONFIG_CAN1_BAUD=115200
|
CONFIG_CAN_LOOPBACK=n
|
||||||
CONFIG_CAN2_BAUD=115200
|
CONFIG_CAN1_BAUD=700000
|
||||||
|
CONFIG_CAN2_BAUD=700000
|
||||||
|
|
||||||
#
|
#
|
||||||
# STM32F40xxx Ethernet device driver settings
|
# STM32F40xxx Ethernet device driver settings
|
||||||
|
|
|
@ -54,4 +54,7 @@ ifeq ($(CONFIG_PWM),y)
|
||||||
CONFIGURED_APPS += examples/pwm
|
CONFIGURED_APPS += examples/pwm
|
||||||
endif
|
endif
|
||||||
|
|
||||||
|
ifeq ($(CONFIG_CAN),y)
|
||||||
|
CONFIGURED_APPS += examples/can
|
||||||
|
endif
|
||||||
|
|
||||||
|
|
|
@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y
|
||||||
# Default: 8
|
# Default: 8
|
||||||
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
||||||
# Default: 4
|
# 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_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_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
|
||||||
#
|
#
|
||||||
CONFIG_CAN=n
|
CONFIG_CAN=n
|
||||||
#CONFIG_CAN_FIFOSIZE
|
#CONFIG_CAN_FIFOSIZE
|
||||||
#CONFIG_CAN_NPENDINGRTR
|
#CONFIG_CAN_NPENDINGRTR
|
||||||
CONFIG_CAN1_BAUD=115200
|
CONFIG_CAN_LOOPBACK=n
|
||||||
CONFIG_CAN2_BAUD=115200
|
CONFIG_CAN1_BAUD=700000
|
||||||
|
CONFIG_CAN2_BAUD=700000
|
||||||
|
|
||||||
#
|
#
|
||||||
# STM32F40xxx Ethernet device driver settings
|
# STM32F40xxx Ethernet device driver settings
|
||||||
|
|
|
@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y
|
||||||
# Default: 8
|
# Default: 8
|
||||||
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
|
||||||
# Default: 4
|
# 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_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_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
|
||||||
#
|
#
|
||||||
CONFIG_CAN=n
|
CONFIG_CAN=n
|
||||||
#CONFIG_CAN_FIFOSIZE
|
#CONFIG_CAN_FIFOSIZE
|
||||||
#CONFIG_CAN_NPENDINGRTR
|
#CONFIG_CAN_NPENDINGRTR
|
||||||
CONFIG_CAN1_BAUD=115200
|
CONFIG_CAN_LOOPBACK=n
|
||||||
CONFIG_CAN2_BAUD=115200
|
CONFIG_CAN1_BAUD=700000
|
||||||
|
CONFIG_CAN2_BAUD=700000
|
||||||
|
|
||||||
#
|
#
|
||||||
# STM32F40xxx Ethernet device driver settings
|
# STM32F40xxx Ethernet device driver settings
|
||||||
|
|
|
@ -50,6 +50,10 @@ ifeq ($(CONFIG_PWM),y)
|
||||||
CSRCS += up_pwm.c
|
CSRCS += up_pwm.c
|
||||||
endif
|
endif
|
||||||
|
|
||||||
|
ifeq ($(CONFIG_CAN),y)
|
||||||
|
CSRCS += up_can.c
|
||||||
|
endif
|
||||||
|
|
||||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||||
|
|
||||||
SRCS = $(ASRCS) $(CSRCS)
|
SRCS = $(ASRCS) $(CSRCS)
|
||||||
|
|
|
@ -48,7 +48,7 @@
|
||||||
/****************************************************************************************************
|
/****************************************************************************************************
|
||||||
* Definitions
|
* Definitions
|
||||||
****************************************************************************************************/
|
****************************************************************************************************/
|
||||||
|
/* Configuration ************************************************************************************/
|
||||||
/* How many SPI modules does this chip support? */
|
/* How many SPI modules does this chip support? */
|
||||||
|
|
||||||
#if STM32_NSPI < 1
|
#if STM32_NSPI < 1
|
||||||
|
@ -62,6 +62,36 @@
|
||||||
# undef CONFIG_STM32_SPI3
|
# undef CONFIG_STM32_SPI3
|
||||||
#endif
|
#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 ******************************************************************************/
|
/* STM3240G-EVAL GPIOs ******************************************************************************/
|
||||||
/* LEDs */
|
/* LEDs */
|
||||||
|
|
||||||
|
|
|
@ -91,11 +91,19 @@
|
||||||
*
|
*
|
||||||
************************************************************************************/
|
************************************************************************************/
|
||||||
|
|
||||||
void adc_devinit(void)
|
int adc_devinit(void)
|
||||||
{
|
{
|
||||||
|
static bool initialized = false;
|
||||||
struct adc_dev_s *adc;
|
struct adc_dev_s *adc;
|
||||||
int ret;
|
int ret;
|
||||||
|
|
||||||
|
/* Check if we have already initialized */
|
||||||
|
|
||||||
|
if (!initialized)
|
||||||
|
{
|
||||||
|
/* Configure the pins as analog inputs for the selected channels */
|
||||||
|
#warning "Missing Logic"
|
||||||
|
|
||||||
/* Call stm32_adcinitialize() to get an instance of the ADC interface */
|
/* Call stm32_adcinitialize() to get an instance of the ADC interface */
|
||||||
#warning "Missing Logic"
|
#warning "Missing Logic"
|
||||||
|
|
||||||
|
@ -105,7 +113,15 @@ void adc_devinit(void)
|
||||||
if (ret < 0)
|
if (ret < 0)
|
||||||
{
|
{
|
||||||
adbg("adc_register failed: %d\n", ret);
|
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 */
|
#endif /* CONFIG_STM32_ADC || CONFIG_STM32_ADC2 || CONFIG_STM32_ADC3 */
|
||||||
|
|
|
@ -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 */
|
|
@ -65,12 +65,15 @@ include wireless/Make.defs
|
||||||
|
|
||||||
ifneq ($(CONFIG_NFILE_DESCRIPTORS),0)
|
ifneq ($(CONFIG_NFILE_DESCRIPTORS),0)
|
||||||
CSRCS += dev_null.c dev_zero.c loop.c
|
CSRCS += dev_null.c dev_zero.c loop.c
|
||||||
|
|
||||||
ifneq ($(CONFIG_DISABLE_MOUNTPOINT),y)
|
ifneq ($(CONFIG_DISABLE_MOUNTPOINT),y)
|
||||||
CSRCS += ramdisk.c rwbuffer.c
|
CSRCS += ramdisk.c rwbuffer.c
|
||||||
endif
|
endif
|
||||||
ifneq ($(CONFIG_CAN),y)
|
|
||||||
|
ifeq ($(CONFIG_CAN),y)
|
||||||
CSRCS += can.c
|
CSRCS += can.c
|
||||||
endif
|
endif
|
||||||
|
|
||||||
ifeq ($(CONFIG_PWM),y)
|
ifeq ($(CONFIG_PWM),y)
|
||||||
CSRCS += pwm.c
|
CSRCS += pwm.c
|
||||||
endif
|
endif
|
||||||
|
|
|
@ -89,13 +89,14 @@
|
||||||
/* CAN message support */
|
/* 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_ID(hdr) ((uint16_t)(hdr) >> 5)
|
||||||
#define CAN_RTR(hdr) (((hdr) & 0x0010) != 0)
|
#define CAN_RTR(hdr) (((hdr) & 0x0010) != 0)
|
||||||
#define CAN_DLC(hdr) ((hdr) & 0x0f)
|
#define CAN_DLC(hdr) ((hdr) & 0x0f)
|
||||||
#define CAN_MSGLEN(hdr) (sizeof(struct can_msg_s) - (CAN_MAXDATALEN - CAN_DLC(hdr)))
|
#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
|
/* Built-in ioctl commands
|
||||||
*
|
*
|
||||||
|
|
Loading…
Reference in New Issue