nuttx/boards/arm/sama5/sama5d3-xplained/src/sam_can.c

/****************************************************************************
 *  boards/arm/sama5/sama5d3-xplained/src/sam_can.c
 *
 *  Licensed to the Apache Software Foundation (ASF) under one or more
 *  contributor license agreements.  See the NOTICE file distributed with
 *  this work for additional information regarding copyright ownership.  The
 *  ASF licenses this file to you under the Apache License, Version 2.0 (the
 *  "License"); you may not use this file except in compliance with the
 *  License.  You may obtain a copy of the License at
 *
 *    http://www.apache.org/licenses/LICENSE-2.0
 *
 *  Unless required by applicable law or agreed to in writing, software
 *  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 *  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
 *  License for the specific language governing permissions and limitations
 *  under the License.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <errno.h>
#include <debug.h>

#include <nuttx/can/can.h>
#include <arch/board/board.h>

#include "chip.h"
#include "up_arch.h"

#include "sam_can.h"
#include "sama5d3-xplained.h"

#ifdef CONFIG_CAN

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

/* Configuration ************************************************************/

#if defined(CONFIG_SAMA5_CAN0) && defined(CONFIG_SAMA5_CAN1)
#  warning "Both CAN0 and CAN1 are enabled.  Assuming only CAN0."
#  undef CONFIG_SAMA5_CAN1
#endif

#ifdef CONFIG_SAMA5_CAN0
#  define CAN_PORT 0
#else
#  define CAN_PORT 1
#endif

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: sam_can_setup
 *
 * Description:
 *  Initialize CAN and register the CAN device
 *
 ****************************************************************************/

int sam_can_setup(void)
{
#if defined(CONFIG_SAMA5_CAN0) || defined(CONFIG_SAMA5_CAN1)
  struct can_dev_s *can;
  int ret;

  /* Call stm32_caninitialize() to get an instance of the CAN interface */

  can = sam_caninitialize(CAN_PORT);
  if (can == NULL)
    {
      canerr("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)
    {
      canerr("ERROR: can_register failed: %d\n", ret);
      return ret;
    }

  return OK;
#else
  return -ENODEV;
#endif
}

#endif /* CONFIG_CAN */