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

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git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4213 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo 2011-12-22 15:59:50 +00:00
parent 60f0ba5fcb
commit 9c6c3a3bbb
23 changed files with 343 additions and 60 deletions
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2
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
*