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imxrt1060-evk: Added support for FlexCAN driver

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Signed-off-by: Michal Lenc <lencmich@fel.cvut.cz>
This commit is contained in:
Michal Lenc 2020-10-16 16:02:25 +02:00 committed by Alan Carvalho de Assis
parent 1670709187
commit 1f323fe6be
9 changed files with 342 additions and 1 deletions
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25
boards/arm/imxrt/imxrt1060-evk/README.txt
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@ -184,6 +184,31 @@ Configurations
Configuration sub-directories
-----------------------------
can:
This is an nsh configuration (see below) with added support of CAN driver.
FlexCAN3 is chosen as default, the change can be made at System type peripheral
selection. Please note that only FlexCAN3 and FlexCAN2 is available on this board.
Bitrate and sample point can be also changed at System type peripheral selection,
basic values are 1 MHz for bitrate and 0.80 for sample point. The FlexCAN driver
for imxrt runs at 80 MHz clock frequency.
The configuration also includes CAN utilities as candump and cansend.
canfd:
This is an nsh configuration (see below) with added support of CAN_FD driver.
FlexCAN3 is chosen as default, please note that only FlexCAN3 is capable of
providing CAN_FD support.
Bitrate and sample point can be also changed at System type peripheral selection,
basic values are 1 MHz for bitrate and 0.80 for sample point for arbitration phase
and 4 MHz (bitrate) and 0.90 (sample point) for data phase. The FlexCAN driver
for imxrt runs at 80 MHz clock frequency.
The configuration also includes CAN utilities as candump and cansend.
knsh:
This is identical to the nsh configuration below except that NuttX

80
boards/arm/imxrt/imxrt1060-evk/configs/can/defconfig Normal file
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@ -0,0 +1,80 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_NET_CAN_CANFD is not set
# CONFIG_NET_ETHERNET is not set
# CONFIG_NET_IPv4 is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD="imxrt1060-evk"
CONFIG_ARCH_BOARD_IMXRT1060_EVK=y
CONFIG_ARCH_CHIP="imxrt"
CONFIG_ARCH_CHIP_IMXRT=y
CONFIG_ARCH_CHIP_MIMXRT1062DVL6A=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARMV7M_DCACHE=y
CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
CONFIG_ARMV7M_ICACHE=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_BOARD_LOOPSPERMSEC=104926
CONFIG_BUILTIN=y
CONFIG_CAN=y
CONFIG_CANUTILS_CANDUMP=y
CONFIG_CANUTILS_CANSEND=y
CONFIG_DEBUG_BINFMT=y
CONFIG_DEBUG_BINFMT_ERROR=y
CONFIG_DEBUG_BINFMT_INFO=y
CONFIG_DEBUG_BINFMT_WARN=y
CONFIG_DEBUG_CAN=y
CONFIG_DEBUG_CAN_ERROR=y
CONFIG_DEBUG_CAN_INFO=y
CONFIG_DEBUG_CAN_WARN=y
CONFIG_DEBUG_ERROR=y
CONFIG_DEBUG_FEATURES=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_INFO=y
CONFIG_DEBUG_IRQ=y
CONFIG_DEBUG_IRQ_ERROR=y
CONFIG_DEBUG_IRQ_INFO=y
CONFIG_DEBUG_IRQ_WARN=y
CONFIG_DEBUG_NET=y
CONFIG_DEBUG_NET_ERROR=y
CONFIG_DEBUG_NET_INFO=y
CONFIG_DEBUG_NET_WARN=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEBUG_WARN=y
CONFIG_FS_PROCFS=y
CONFIG_IDLETHREAD_STACKSIZE=2048
CONFIG_IMXRT_FLEXCAN3=y
CONFIG_IMXRT_LPUART1=y
CONFIG_INTELHEX_BINARY=y
CONFIG_LPUART1_SERIAL_CONSOLE=y
CONFIG_MAX_TASKS=16
CONFIG_NET=y
CONFIG_NETDEVICES=y
CONFIG_NETDEV_IFINDEX=y
CONFIG_NETDEV_LATEINIT=y
CONFIG_NETDEV_STATISTICS=y
CONFIG_NET_CAN=y
CONFIG_NET_CAN_NOTIFIER=y
CONFIG_NET_SOCKOPTS=y
CONFIG_NET_STATISTICS=y
CONFIG_NET_TIMESTAMP=y
CONFIG_NFILE_DESCRIPTORS=8
CONFIG_NFILE_STREAMS=8
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_LINELEN=64
CONFIG_NSH_READLINE=y
CONFIG_RAM_SIZE=1048576
CONFIG_RAM_START=0x20200000
CONFIG_SCHED_HPWORK=y
CONFIG_SIG_DEFAULT=y
CONFIG_START_DAY=14
CONFIG_START_MONTH=3
CONFIG_SYSTEM_NSH=y
CONFIG_USER_ENTRYPOINT="nsh_main"

81
boards/arm/imxrt/imxrt1060-evk/configs/canfd/defconfig Normal file
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@ -0,0 +1,81 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_NET_ETHERNET is not set
# CONFIG_NET_IPv4 is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD="imxrt1060-evk"
CONFIG_ARCH_BOARD_IMXRT1060_EVK=y
CONFIG_ARCH_CHIP="imxrt"
CONFIG_ARCH_CHIP_IMXRT=y
CONFIG_ARCH_CHIP_MIMXRT1062DVL6A=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARMV7M_DCACHE=y
CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
CONFIG_ARMV7M_ICACHE=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_BOARD_LOOPSPERMSEC=104926
CONFIG_BUILTIN=y
CONFIG_CAN=y
CONFIG_CANUTILS_CANDUMP=y
CONFIG_CANUTILS_CANSEND=y
CONFIG_CAN_EXTID=y
CONFIG_CAN_FD=y
CONFIG_DEBUG_BINFMT=y
CONFIG_DEBUG_BINFMT_ERROR=y
CONFIG_DEBUG_BINFMT_INFO=y
CONFIG_DEBUG_BINFMT_WARN=y
CONFIG_DEBUG_CAN=y
CONFIG_DEBUG_CAN_ERROR=y
CONFIG_DEBUG_CAN_INFO=y
CONFIG_DEBUG_CAN_WARN=y
CONFIG_DEBUG_ERROR=y
CONFIG_DEBUG_FEATURES=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_INFO=y
CONFIG_DEBUG_IRQ=y
CONFIG_DEBUG_IRQ_ERROR=y
CONFIG_DEBUG_IRQ_INFO=y
CONFIG_DEBUG_IRQ_WARN=y
CONFIG_DEBUG_NET=y
CONFIG_DEBUG_NET_ERROR=y
CONFIG_DEBUG_NET_INFO=y
CONFIG_DEBUG_NET_WARN=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEBUG_WARN=y
CONFIG_FS_PROCFS=y
CONFIG_IDLETHREAD_STACKSIZE=2048
CONFIG_IMXRT_FLEXCAN3=y
CONFIG_IMXRT_LPUART1=y
CONFIG_INTELHEX_BINARY=y
CONFIG_LPUART1_SERIAL_CONSOLE=y
CONFIG_MAX_TASKS=16
CONFIG_NET=y
CONFIG_NETDEVICES=y
CONFIG_NETDEV_IFINDEX=y
CONFIG_NETDEV_LATEINIT=y
CONFIG_NETDEV_STATISTICS=y
CONFIG_NET_CAN=y
CONFIG_NET_CAN_NOTIFIER=y
CONFIG_NET_CAN_SOCK_OPTS=y
CONFIG_NET_STATISTICS=y
CONFIG_NET_TIMESTAMP=y
CONFIG_NFILE_DESCRIPTORS=8
CONFIG_NFILE_STREAMS=8
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_LINELEN=64
CONFIG_NSH_READLINE=y
CONFIG_RAM_SIZE=1048576
CONFIG_RAM_START=0x20200000
CONFIG_SCHED_HPWORK=y
CONFIG_SIG_DEFAULT=y
CONFIG_START_DAY=14
CONFIG_START_MONTH=3
CONFIG_SYSTEM_NSH=y
CONFIG_USER_ENTRYPOINT="nsh_main"

12
boards/arm/imxrt/imxrt1060-evk/include/board.h
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@ -126,6 +126,9 @@
#define IMXRT_LPI2C_CLK_SELECT CCM_CSCDR2_LPI2C_CLK_SEL_PLL3_60M
#define IMXRT_LSI2C_PODF_DIVIDER 5
#define IMXRT_CAN_CLK_SELECT CCM_CSCMR2_CAN_CLK_SEL_PLL3_SW_80
#define IMXRT_CAN_PODF_DIVIDER 1
#define IMXRT_SYS_PLL_SELECT CCM_ANALOG_PLL_SYS_DIV_SELECT_22
#define IMXRT_USB1_PLL_DIV_SELECT CCM_ANALOG_PLL_USB1_DIV_SELECT_20
@ -323,6 +326,15 @@
#define GPIO_LPSPI3_MISO (GPIO_LPSPI3_SDI_2|IOMUX_LPSPI_DEFAULT) /* GPIO_AD_B0_02 */
#define GPIO_LPSPI3_MOSI (GPIO_LPSPI3_SDO_2|IOMUX_LPSPI_DEFAULT) /* GPIO_AD_B0_01 */
/* FlexCAN */
#define GPIO_FLEXCAN2_TX (GPIO_FLEXCAN2_TX_3|IOMUX_CAN_DEFAULT)
#define GPIO_FLEXCAN2_RX (GPIO_FLEXCAN2_RX_3|IOMUX_CAN_DEFAULT)
#define GPIO_FLEXCAN3_TX (GPIO_FLEXCAN3_TX_2|IOMUX_CAN_DEFAULT)
#define GPIO_FLEXCAN3_RX (GPIO_FLEXCAN3_RX_2|IOMUX_CAN_DEFAULT)
/****************************************************************************
* Public Types
****************************************************************************/

4
boards/arm/imxrt/imxrt1060-evk/src/Makefile
View File

@ -89,4 +89,8 @@ ifeq ($(CONFIG_IMXRT_USBOTG),y)
CSRCS += imxrt_usbhost.c
endif
ifeq ($(CONFIG_IMXRT_FLEXCAN),y)
CSRCS += imxrt_flexcan.c
endif
include $(TOPDIR)/boards/Board.mk

14
boards/arm/imxrt/imxrt1060-evk/src/imxrt1060-evk.h
View File

@ -88,6 +88,8 @@
#define GPIO_LED (GPIO_OUTPUT | IOMUX_LED_DEFAULT | \
GPIO_OUTPUT_ZERO | GPIO_PORT1 | GPIO_PIN9) /* AD_BO_09 */
#define LED_DRIVER_PATH "/dev/userleds"
/* Buttons ******************************************************************/
/* The IMXRT board has one external user button
@ -275,6 +277,18 @@ void imxrt_autoled_initialize(void);
int imxrt_gpio_initialize(void);
#endif
/****************************************************************************
* Name: imxrt_can_setup
*
* Description:
* Initialize CAN and register the CAN device
*
****************************************************************************/
#ifdef CONFIG_IMXRT_FLEXCAN
int imxrt_can_setup(void);
#endif
/****************************************************************************
* Name: imxrt_adc_initialize
*

17
boards/arm/imxrt/imxrt1060-evk/src/imxrt_appinit.c
View File

@ -39,13 +39,17 @@
****************************************************************************/
#include <nuttx/config.h>
#include <syslog.h>
#include <sys/types.h>
#include <nuttx/board.h>
#include "imxrt1060-evk.h"
#if !defined(CONFIG_ARCH_LEDS) && defined(CONFIG_USERLED_LOWER)
# define HAVE_LEDS 0
#endif
#ifdef CONFIG_LIB_BOARDCTL
/****************************************************************************
@ -79,6 +83,17 @@
int board_app_initialize(uintptr_t arg)
{
#ifdef HAVE_LEDS
/* Register the LED driver */
int ret;
ret = userled_lower_initialize(LED_DRIVER_PATH);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: userled_lower_initialize() failed: %d\n", ret);
return ret;
}
#endif
#ifndef CONFIG_BOARD_LATE_INITIALIZE
/* Perform board initialization */

14
boards/arm/imxrt/imxrt1060-evk/src/imxrt_bringup.c
View File

@ -63,6 +63,7 @@
# include <nuttx/usb/pl2303.h>
#endif
#include "imxrt_enet.h"
#include "imxrt1060-evk.h"
#include <arch/board/board.h> /* Must always be included last */
@ -212,6 +213,19 @@ int imxrt_bringup(void)
}
#endif
#if defined(CONFIG_IMXRT_ENET) && defined(CONFIG_NETDEV_LATEINIT)
ret = imxrt_netinitialize(0);
#endif
#ifdef CONFIG_IMXRT_FLEXCAN
ret = imxrt_can_setup();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: imxrt_can_setup() failed: %d\n", ret);
return ret;
}
#endif
#ifdef CONFIG_DEV_GPIO
/* Initialize the GPIO driver */

96
boards/arm/imxrt/imxrt1060-evk/src/imxrt_flexcan.c Normal file
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@ -0,0 +1,96 @@
/****************************************************************************
* boards/arm/imxrt/imxrt1060-evk/src/imxrt_flexcan.c
*
*
* 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 <stdbool.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can/can.h>
#include "imxrt_flexcan.h"
#include "imxrt1060-evk.h"
#ifdef CONFIG_IMXRT_FLEXCAN
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: imxrt_can_setup
*
* Description:
* Initialize CAN and register the CAN device
*
****************************************************************************/
int imxrt_can_setup(void)
{
int ret;
#if defined(CONFIG_IMXRT_FLEXCAN3) && defined(CONFIG_IMXRT_FLEXCAN2)
canerr("ERROR: Only one FlexCAN interface can be defined at the same time on imxrt1060-evk\n");
return -ENODEV;
#endif
#ifdef CONFIG_IMXRT_FLEXCAN3
/* Call arm_caninitialize() to get an instance of the CAN interface */
ret = imxrt_caninitialize(3);
if (ret < 0)
{
canerr("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
#elif CONFIG_IMXRT_FLEXCAN2
ret = imxrt_caninitialize(2);
if (ret < 0)
{
canerr("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
#elif CONFIG_IMXRT_FLEXCAN1
canerr("ERROR: FlexCAN1 is not available on imxrt1060-evk. Please choose FlexCAN2 or FlexCAN3 (CAN_FD available)\n");
return -ENODEV;
#else
return -ENODEV;
#endif
return OK;
}
#endif /* CONFIG_IMXRT_FLEXCAN */