esp32: Add board config to support MCP2515

boards/xtensa/esp32/common/include/esp32_mcp2515.h

@@ -0,0 +1,83 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_mcp2515.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_MCP2515_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_MCP2515_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Type Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Inline Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_mcp2515_initialize
+ *
+ * Description:
+ *   Initialize and register the MCP2515 CAN driver.
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/can0"
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_mcp2515_initialize(int devno);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_BOARD_BMP180_H */

boards/xtensa/esp32/common/src/Make.defs

@@ -34,6 +34,10 @@ ifeq ($(CONFIG_SENSORS_BMP180),y)
   CSRCS += esp32_bmp180.c
 endif
 
+ifeq ($(CONFIG_CAN_MCP2515),y)
+  CSRCS += esp32_mcp2515.c
+endif
+
 DEPPATH += --dep-path src
 VPATH += :src
-CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src)
+CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src)

boards/xtensa/esp32/common/src/esp32_mcp2515.c

@@ -0,0 +1,256 @@
+/****************************************************************************
+ * boards/xtensa/esp32/esp32devkitc/src/esp32_mcp2515.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 <stdio.h>
+#include <debug.h>
+
+#include <nuttx/spi/spi.h>
+#include <nuttx/can/mcp2515.h>
+
+#include "esp32_spi.h"
+#include "esp32-devkitc.h"
+#include "esp32_gpio.h"
+#include "hardware/esp32_gpio_sigmap.h"
+
+#if defined(CONFIG_SPI) && defined(CONFIG_ESP32_SPI3) && \
+    defined(CONFIG_CAN_MCP2515)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define MCP2515_SPI_PORTNO    3   /* On SPI3 */
+
+#if !defined(CONFIG_ESP32_GPIO_IRQ)
+#  error "GPIO interrupts aren't enabled and it is required"
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct esp32_mcp2515config_s
+{
+  /* Configuration structure as seen by the MCP2515 driver */
+
+  struct mcp2515_config_s config;
+
+  /* Additional private definitions only known to this driver */
+
+  FAR struct mcp2515_can_s *handle; /* The MCP2515 driver handle */
+  mcp2515_handler_t handler;        /* The MCP2515 interrupt handler */
+  FAR void *arg;                    /* Argument to pass to the interrupt handler */
+};
+
+/****************************************************************************
+ * Static Function Prototypes
+ ****************************************************************************/
+
+/* IRQ/GPIO access callbacks.  These operations all hidden behind callbacks
+ * to isolate the MCP2515 driver from differences in GPIO interrupt handling
+ * by varying boards and MCUs.
+ *
+ *   attach  - Attach the MCP2515 interrupt handler to the GPIO interrupt
+ */
+
+static int  mcp2515_attach(FAR struct mcp2515_config_s *state,
+                           mcp2515_handler_t handler, FAR void *arg);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/* A reference to a structure of this type must be passed to the MCP2515
+ * driver.  This structure provides information about the configuration
+ * of the MCP2515 and provides some board-specific hooks.
+ *
+ * Memory for this structure is provided by the caller.  It is not copied
+ * by the driver and is presumed to persist while the driver is active. The
+ * memory must be writable because, under certain circumstances, the driver
+ * may modify frequency or X plate resistance values.
+ */
+
+static struct esp32_mcp2515config_s g_mcp2515config =
+{
+  .config =
+  {
+    .spi        = NULL,
+    .baud       = 0,
+    .btp        = 0,
+    .devid      = 0,
+    .mode       = 0,
+    .nfilters   = 6,
+#ifdef MCP2515_LOOPBACK
+    .loopback   = false;
+#endif
+    .attach     = mcp2515_attach,
+  },
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/* This is the MCP2515 Interrupt handler */
+
+int mcp2515_interrupt(int irq, FAR void *context, FAR void *arg)
+{
+  FAR struct esp32_mcp2515config_s *priv =
+             (FAR struct esp32_mcp2515config_s *)arg;
+
+  DEBUGASSERT(priv != NULL);
+
+  /* Verify that we have a handler attached */
+
+  if (priv->handler)
+    {
+      /* Yes.. forward with interrupt along with its argument */
+
+      priv->handler(&priv->config, priv->arg);
+    }
+
+  return OK;
+}
+
+static int mcp2515_attach(FAR struct mcp2515_config_s *state,
+                          mcp2515_handler_t handler, FAR void *arg)
+{
+  FAR struct esp32_mcp2515config_s *priv =
+             (FAR struct esp32_mcp2515config_s *)state;
+  irqstate_t flags;
+  int irq = ESP32_PIN2IRQ(GPIO_MCP2515_IRQ);
+  int ret;
+
+  caninfo("Saving handler %p\n", handler);
+
+  flags = enter_critical_section();
+
+  priv->handler = handler;
+  priv->arg = arg;
+
+  /* Configure the interrupt */
+
+  esp32_gpioirqdisable(irq);
+
+  ret = irq_attach(irq, mcp2515_interrupt, priv);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: gpint_attach() failed: %d\n", ret);
+      return ret;
+    }
+
+  leave_critical_section(flags);
+
+  return OK;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_mcp2515_initialize
+ *
+ * Description:
+ *   Initialize and register the MCP2515 CAN driver.
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/can0"
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_mcp2515_initialize(int devno)
+{
+  FAR struct spi_dev_s     *spi;
+  FAR struct can_dev_s     *can;
+  FAR struct mcp2515_can_s *mcp2515;
+  char devpath[10];
+  int ret;
+
+  /* Check if we are already initialized */
+
+  if (!g_mcp2515config.handle)
+    {
+      sninfo("Initializing\n");
+
+      /* Configure the MCP2515 interrupt pin as an input */
+
+      esp32_configgpio(GPIO_MCP2515_IRQ, INPUT_FUNCTION_3 | PULLDOWN);
+
+      spi = esp32_spibus_initialize(MCP2515_SPI_PORTNO);
+      if (!spi)
+        {
+          return -ENODEV;
+        }
+
+      /* Save the SPI instance in the mcp2515_config_s structure */
+
+      g_mcp2515config.config.spi = spi;
+
+      /* Instantiate the MCP2515 CAN Driver */
+
+      mcp2515 = mcp2515_instantiate(&g_mcp2515config.config);
+      if (mcp2515 == NULL)
+        {
+          canerr("ERROR:  Failed to get MCP2515 Driver Loaded\n");
+          return -ENODEV;
+        }
+
+      /* Save the opaque structure */
+
+      g_mcp2515config.handle = mcp2515;
+
+      /* Initialize the CAN Device with the MCP2515 operations */
+
+      can = mcp2515_initialize(mcp2515);
+      if (can == NULL)
+        {
+          canerr("ERROR:  Failed to get CAN interface\n");
+          return -ENODEV;
+        }
+
+      /* Create the '/dev/canX' name based on 'devno' */
+
+      snprintf(devpath, 10, "/dev/can%d", devno);
+
+      /* Register the CAN driver at "/dev/can0" */
+
+      ret = can_register(devpath, can);
+      if (ret < 0)
+        {
+          canerr("ERROR: can_register failed: %d\n", ret);
+          return ret;
+        }
+    }
+
+  return OK;
+}
+
+#endif /* CONFIG_SPI && CONFIG_CAN_MCP2515 */

boards/xtensa/esp32/esp32-devkitc/README.txt

@@ -796,6 +796,17 @@ NOTES:
        crash in the waitpid() test.  At the time of the crash, there is
        extensive memory corruption and a user exception occurs (cause=28).
 
+  mcp2515:
+
+    This config is used to communicate with MCP2515 CAN over SPI chip.
+    SPI3 is used and kept with the default IOMUX pins, i.e.:
+        CS   --> 5
+        SCK  --> 18
+        MOSI --> 23
+        MISO --> 19
+    The MCP2515 interrupt (INT) pin is connected to the pin 22 of the
+    ESP32-Devkit.
+
   mmcsdspi:
 
     This config tests the SPI driver by connecting an SD Card reader over SPI.

boards/xtensa/esp32/esp32-devkitc/configs/mcp2515/defconfig

@@ -0,0 +1,55 @@
+#
+# 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_ARCH_LEDS is not set
+# CONFIG_ESP32_SPI3_DMA is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+# CONFIG_NSH_CMDPARMS is not set
+CONFIG_ARCH="xtensa"
+CONFIG_ARCH_BOARD="esp32-devkitc"
+CONFIG_ARCH_BOARD_ESP32_DEVKITC=y
+CONFIG_ARCH_CHIP="esp32"
+CONFIG_ARCH_CHIP_ESP32=y
+CONFIG_ARCH_CHIP_ESP32WROVER=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_XTENSA=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_CAN=y
+CONFIG_CAN_MCP2515=y
+CONFIG_CAN_TXREADY=y
+CONFIG_ESP32_SPI3=y
+CONFIG_ESP32_UART0=y
+CONFIG_EXAMPLES_CAN=y
+CONFIG_EXAMPLES_CAN_READ=y
+CONFIG_FS_PROCFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=3072
+CONFIG_INTELHEX_BINARY=y
+CONFIG_MAX_TASKS=16
+CONFIG_MM_REGIONS=2
+CONFIG_NFILE_DESCRIPTORS=8
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=114688
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_START_DAY=6
+CONFIG_START_MONTH=12
+CONFIG_START_YEAR=2011
+CONFIG_SYSTEM_NSH=y
+CONFIG_UART0_SERIAL_CONSOLE=y
+CONFIG_USER_ENTRYPOINT="nsh_main"

boards/xtensa/esp32/esp32-devkitc/src/esp32-devkitc.h

@@ -55,7 +55,11 @@
  * This is an externally connected LED used for testing.
  */
 
-#define GPIO_LED1     2
+#define GPIO_LED1             2
+
+/* MCP2515 Interrupt pin */
+
+#define GPIO_MCP2515_IRQ      22
 
 /****************************************************************************
  * Public Types

boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c

@@ -62,6 +62,10 @@
 #  include <nuttx/leds/userled.h>
 #endif
 
+#ifdef CONFIG_CAN_MCP2515
+#  include "esp32_mcp2515.h"
+#endif
+
 #ifdef CONFIG_TIMER
 #  include "esp32_board_tim.h"
 #endif
@@ -247,6 +251,16 @@ int esp32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_CAN_MCP2515
+  /* Configure and initialize the MCP2515 CAN device */
+
+  ret = board_mcp2515_initialize(0);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: board_mcp2515_initialize() failed: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_WATCHDOG
   /* Configure watchdog timer */
 

boards/xtensa/esp32/esp32-devkitc/src/esp32_spi.c

@@ -54,3 +54,14 @@ uint8_t esp32_spi2_status(FAR struct spi_dev_s *dev, uint32_t devid)
 
   return status;
 }
+
+/****************************************************************************
+ * Name:  esp32_spi3_status
+ ****************************************************************************/
+
+uint8_t esp32_spi3_status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+  uint8_t status = 0;
+
+  return status;
+}