From f6039bbfa7d64c3d4d54f82e703d39f53794f66b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 21 Apr 2020 14:21:00 +0200
Subject: [PATCH] stm32f7: add CANIOC_SET_NART and CANIOC_SET_ABOM ioctl's to
 can driver

---
 arch/arm/src/stm32f7/stm32_can.c | 44 ++++++++++++++++++++++++++++++++
 include/nuttx/can/can.h          | 22 +++++++++++++++-
 2 files changed, 65 insertions(+), 1 deletion(-)

diff --git a/arch/arm/src/stm32f7/stm32_can.c b/arch/arm/src/stm32f7/stm32_can.c
index d68c4ab934..6c76472af5 100644
--- a/arch/arm/src/stm32f7/stm32_can.c
+++ b/arch/arm/src/stm32f7/stm32_can.c
@@ -1134,6 +1134,50 @@ static int stm32can_ioctl(FAR struct can_dev_s *dev, int cmd,
         }
         break;
 
+      case CANIOC_SET_NART:
+        {
+          uint32_t regval;
+          ret = stm32can_enterinitmode(priv);
+          if (ret != 0)
+            {
+              return ret;
+            }
+          regval = stm32can_getreg(priv, STM32_CAN_MCR_OFFSET);
+          if (arg == 1)
+            {
+              regval |= CAN_MCR_NART;
+            }
+          else
+            {
+              regval &= ~CAN_MCR_NART;
+            }
+          stm32can_putreg(priv, STM32_CAN_MCR_OFFSET, regval);
+          return stm32can_exitinitmode(priv);
+        }
+        break;
+
+      case CANIOC_SET_ABOM:
+        {
+          uint32_t regval;
+          ret = stm32can_enterinitmode(priv);
+          if (ret != 0)
+            {
+              return ret;
+            }
+          regval = stm32can_getreg(priv, STM32_CAN_MCR_OFFSET);
+          if (arg == 1)
+            {
+              regval |= CAN_MCR_ABOM;
+            }
+          else
+            {
+              regval &= ~CAN_MCR_ABOM;
+            }
+          stm32can_putreg(priv, STM32_CAN_MCR_OFFSET, regval);
+          return stm32can_exitinitmode(priv);
+        }
+        break;
+
       /* Unsupported/unrecognized command */
 
       default:
diff --git a/include/nuttx/can/can.h b/include/nuttx/can/can.h
index f462832af5..d1cd37dffe 100644
--- a/include/nuttx/can/can.h
+++ b/include/nuttx/can/can.h
@@ -197,6 +197,24 @@
  *                   is returned with the errno variable set to indicate the
  *                   nature of the error.
  *   Dependencies:   None
+ *
+ * CANIOC_SET_NART:
+ *   Description:    Enable/Disable NART (No Automatic Retry)
+ *   Argument:       Set to 1 to enable NART, 0 to disable. Default is
+ *                   disabled.
+ *   Returned Value: Zero (OK) is returned on success.  Otherwise -1 (ERROR)
+ *                   is returned with the errno variable set to indicate the
+ *                   nature of the error.
+ *   Dependencies:   None
+ *
+ * CANIOC_SET_ABOM:
+ *   Description:    Enable/Disable ABOM (Automatic Bus-off Management)
+ *   Argument:       Set to 1 to enable ABOM, 0 to disable. Default is
+ *                   disabled.
+ *   Returned Value: Zero (OK) is returned on success.  Otherwise -1 (ERROR)
+ *                   is returned with the errno variable set to indicate the
+ *                   nature of the error.
+ *   Dependencies:   None
  */
 
 #define CANIOC_RTR                _CANIOC(1)
@@ -209,9 +227,11 @@
 #define CANIOC_GET_CONNMODES      _CANIOC(8)
 #define CANIOC_SET_CONNMODES      _CANIOC(9)
 #define CANIOC_BUSOFF_RECOVERY    _CANIOC(10)
+#define CANIOC_SET_NART           _CANIOC(11)
+#define CANIOC_SET_ABOM           _CANIOC(12)
 
 #define CAN_FIRST                 0x0001         /* First common command */
-#define CAN_NCMDS                 10             /* Ten common commands */
+#define CAN_NCMDS                 12             /* Ten common commands */
 
 /* User defined ioctl commands are also supported. These will be forwarded
  * by the upper-half CAN driver to the lower-half CAN driver via the co_ioctl()