diff --git a/boards/arm/stm32/nucleo-f302r8/configs/can/defconfig b/boards/arm/stm32/nucleo-f302r8/configs/can/defconfig new file mode 100644 index 0000000000..c195c9827d --- /dev/null +++ b/boards/arm/stm32/nucleo-f302r8/configs/can/defconfig @@ -0,0 +1,63 @@ +# +# 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="arm" +CONFIG_ARCH_BOARD="nucleo-f302r8" +CONFIG_ARCH_BOARD_NUCLEO_F302R8=y +CONFIG_ARCH_BUTTONS=y +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32=y +CONFIG_ARCH_CHIP_STM32F302R8=y +CONFIG_ARCH_STACKDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=16717 +CONFIG_BUILTIN=y +CONFIG_CAN_ERRORS=y +CONFIG_CAN_EXTID=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_EXAMPLES_CAN=y +CONFIG_EXAMPLES_CAN_WRITE=y +CONFIG_FDCLONE_STDIO=y +CONFIG_FS_LARGEFILE=y +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=1024 +CONFIG_INTELHEX_BINARY=y +CONFIG_NAME_MAX=16 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_ARGCAT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_CMDPARMS=y +CONFIG_NSH_FILEIOSIZE=256 +CONFIG_NSH_QUOTE=y +CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=512 +CONFIG_PREALLOC_TIMERS=2 +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_PTHREAD_STACK_DEFAULT=1024 +CONFIG_PTHREAD_STACK_MIN=1024 +CONFIG_RAM_SIZE=16386 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_RR_INTERVAL=200 +CONFIG_SCHED_WAITPID=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SIG_PREALLOC_IRQ_ACTIONS=8 +CONFIG_START_DAY=6 +CONFIG_START_MONTH=12 +CONFIG_START_YEAR=2011 +CONFIG_STDIO_BUFFER_SIZE=255 +CONFIG_STM32_CAN1=y +CONFIG_STM32_CAN_TSEG1=15 +CONFIG_STM32_CAN_TSEG2=2 +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_PWR=y +CONFIG_STM32_USART2=y +CONFIG_SYSTEM_NSH=y +CONFIG_SYSTEM_TIME64=y +CONFIG_TASK_NAME_SIZE=0 +CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=512 +CONFIG_USART2_SERIAL_CONSOLE=y diff --git a/boards/arm/stm32/nucleo-f302r8/configs/cansock/defconfig b/boards/arm/stm32/nucleo-f302r8/configs/cansock/defconfig new file mode 100644 index 0000000000..d4a132386d --- /dev/null +++ b/boards/arm/stm32/nucleo-f302r8/configs/cansock/defconfig @@ -0,0 +1,62 @@ +# +# 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="nucleo-f302r8" +CONFIG_ARCH_BOARD_NUCLEO_F302R8=y +CONFIG_ARCH_BUTTONS=y +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32=y +CONFIG_ARCH_CHIP_STM32F302R8=y +CONFIG_ARCH_INTERRUPTSTACK=1024 +CONFIG_ARCH_STACKDUMP=y +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=8499 +CONFIG_BUILTIN=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEFAULT_SMALL=y +CONFIG_DEFAULT_TASK_STACKSIZE=1024 +CONFIG_FS_LARGEFILE=y +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=2048 +CONFIG_INTELHEX_BINARY=y +CONFIG_IOB_BUFSIZE=128 +CONFIG_IOB_NBUFFERS=10 +CONFIG_LIBC_LONG_LONG=y +CONFIG_NET=y +CONFIG_NETDEVICES=y +CONFIG_NETDEV_IFINDEX=y +CONFIG_NETDEV_LATEINIT=y +CONFIG_NET_CAN=y +CONFIG_NET_CAN_ERRORS=y +CONFIG_NET_NACTIVESOCKETS=16 +CONFIG_NET_SOCKOPTS=y +CONFIG_NET_STATISTICS=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_PTHREAD_MUTEX_ROBUST=y +CONFIG_RAM_SIZE=16386 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_RR_INTERVAL=200 +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_WAITPID=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SIG_PREALLOC_IRQ_ACTIONS=8 +CONFIG_START_DAY=14 +CONFIG_START_MONTH=10 +CONFIG_START_YEAR=2014 +CONFIG_STM32_CAN1=y +CONFIG_STM32_CAN_SOCKET=y +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_PWR=y +CONFIG_STM32_USART2=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=0 +CONFIG_USART2_SERIAL_CONSOLE=y diff --git a/boards/arm/stm32/nucleo-f302r8/include/board.h b/boards/arm/stm32/nucleo-f302r8/include/board.h index 297fbae53e..ee64e05161 100644 --- a/boards/arm/stm32/nucleo-f302r8/include/board.h +++ b/boards/arm/stm32/nucleo-f302r8/include/board.h @@ -213,6 +213,11 @@ #define GPIO_USART1_RX GPIO_USART1_RX_2 /* PB7 */ #define GPIO_USART1_TX GPIO_USART1_TX_2 /* PB6 */ +/* CAN */ + +#define GPIO_CAN1_RX GPIO_CAN_RX_3 /* PB8 */ +#define GPIO_CAN1_TX GPIO_CAN_TX_3 /* PB9 */ + /* PWM configuration ********************************************************/ /* TIM1 PWM */ diff --git a/boards/arm/stm32/nucleo-f302r8/src/Make.defs b/boards/arm/stm32/nucleo-f302r8/src/Make.defs index 1a8896280f..bada08581f 100644 --- a/boards/arm/stm32/nucleo-f302r8/src/Make.defs +++ b/boards/arm/stm32/nucleo-f302r8/src/Make.defs @@ -48,6 +48,15 @@ ifeq ($(CONFIG_BOARD_STM32_IHM07M1),y) CSRCS += stm32_foc_ihm07m1.c endif +ifeq ($(CONFIG_STM32_CAN),y) +ifeq ($(CONFIG_STM32_CAN_CHARDRIVER),y) +CSRCS += stm32_can.c +endif +ifeq ($(CONFIG_STM32_CAN_SOCKET),y) +CSRCS += stm32_cansock.c +endif +endif + DEPPATH += --dep-path board VPATH += :board CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board) diff --git a/boards/arm/stm32/nucleo-f302r8/src/nucleo-f302r8.h b/boards/arm/stm32/nucleo-f302r8/src/nucleo-f302r8.h index 4e4edf86ac..e3ea23d313 100644 --- a/boards/arm/stm32/nucleo-f302r8/src/nucleo-f302r8.h +++ b/boards/arm/stm32/nucleo-f302r8/src/nucleo-f302r8.h @@ -152,4 +152,28 @@ int stm32_foc_setup(void); int stm32_adc_setup(void); #endif +/**************************************************************************** + * Name: stm32_can_setup + * + * Description: + * Initialize CAN and register the CAN device + * + ****************************************************************************/ + +#ifdef CONFIG_STM32_CAN_CHARDRIVER +int stm32_can_setup(void); +#endif + +/**************************************************************************** + * Name: stm32_cansock_setup + * + * Description: + * Initialize CAN socket interface + * + ****************************************************************************/ + +#ifdef CONFIG_STM32_CAN_SOCKET +int stm32_cansock_setup(void); +#endif + #endif /* __BOARDS_ARM_STM32_NUCLEO_F302R8_SRC_NUCLEO_F302R8_H */ diff --git a/boards/arm/stm32/nucleo-f302r8/src/stm32_bringup.c b/boards/arm/stm32/nucleo-f302r8/src/stm32_bringup.c index 0d81f27d5f..1745a9063d 100644 --- a/boards/arm/stm32/nucleo-f302r8/src/stm32_bringup.c +++ b/boards/arm/stm32/nucleo-f302r8/src/stm32_bringup.c @@ -164,6 +164,26 @@ int stm32_bringup(void) } #endif +#ifdef CONFIG_STM32_CAN_CHARDRIVER + /* Initialize CAN and register the CAN driver. */ + + ret = stm32_can_setup(); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: stm32_can_setup failed: %d\n", ret); + } +#endif + +#ifdef CONFIG_STM32_CAN_SOCKET + /* Initialize CAN socket interface */ + + ret = stm32_cansock_setup(); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: stm32_cansock_setup failed: %d\n", ret); + } +#endif + UNUSED(ret); return OK; } diff --git a/boards/arm/stm32/nucleo-f302r8/src/stm32_can.c b/boards/arm/stm32/nucleo-f302r8/src/stm32_can.c new file mode 100644 index 0000000000..95932a71f3 --- /dev/null +++ b/boards/arm/stm32/nucleo-f302r8/src/stm32_can.c @@ -0,0 +1,71 @@ +/**************************************************************************** + * boards/arm/stm32/nucleo-f302r8/src/stm32_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 + +#include +#include +#include + +#include + +#include "stm32.h" + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_can_setup + * + * Description: + * Initialize CAN and register the CAN device + * + ****************************************************************************/ + +int stm32_can_setup(void) +{ + struct can_dev_s *can; + int ret; + + /* Call stm32_caninitialize() to get an instance of the CAN interface */ + + can = stm32_caninitialize(1); + 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; +} diff --git a/boards/arm/stm32/nucleo-f302r8/src/stm32_cansock.c b/boards/arm/stm32/nucleo-f302r8/src/stm32_cansock.c new file mode 100644 index 0000000000..8290936d84 --- /dev/null +++ b/boards/arm/stm32/nucleo-f302r8/src/stm32_cansock.c @@ -0,0 +1,57 @@ +/**************************************************************************** + * boards/arm/stm32/nucleo-f302r8/src/stm32_cansock.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 + +#include + +#include "stm32_can.h" + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_cansock_setup + * + * Description: + * Initialize CAN socket interface + * + ****************************************************************************/ + +int stm32_cansock_setup(void) +{ + int ret; + + /* Call stm32_caninitialize() to get an instance of the CAN interface */ + + ret = stm32_cansockinitialize(1); + if (ret < 0) + { + canerr("ERROR: Failed to get CAN interface %d\n", ret); + return ret; + } + + return OK; +}