SAMA5: Beginning of a CAN driver

arch/arm/src/sama5/chip/sam_can.h

@@ -47,7 +47,8 @@
  * Pre-processor Definitions
  ************************************************************************************/
 
-#define SAM_CAN_NMAILBOXES  8
+#define SAM_CAN_NMAILBOXES       8
+#define SAM_CAN_MAXPERCLK        66000000
 
 /* CAN Register Offsets *************************************************************/
 
@@ -163,6 +164,7 @@
 #define CAN_INT_MB5              (1 << 5)  /* Bit 5:  Mailbox 5 Event */
 #define CAN_INT_MB6              (1 << 6)  /* Bit 6:  Mailbox 6 Event */
 #define CAN_INT_MB7              (1 << 7)  /* Bit 7:  Mailbox 7 Event */
+#define CAN_INT_MBALL            (0x000000ff)
 
 #define CAN_INT_ERRA             (1 << 16) /* Bit 16: Error Active Mode */
 #define CAN_INT_WARN             (1 << 17) /* Bit 17: Warning Limit */
@@ -200,6 +202,8 @@
 #define CAN_BR_BRP_MASK          (0x7f << CAN_BR_BRP_SHIFT)
 #  define CAN_BR_BRP(n)          ((uint32_t)(n) << CAN_BR_BRP_SHIFT)
 #define CAN_BR_SMP               (1 << 24) /* Bit 24: Sampling Mode */
+#  define CAN_BR_ONCE            (0)        /* Bit 24: 0:Bit stream sampled once at sample point */
+#  define CAN_BR_THREE           CAN_BR_SMP /* Bit 24: 1:Sampling three times */
 
 /* Timer Register */
 

arch/arm/src/sama5/sam_can.h

@@ -0,0 +1,113 @@
+/************************************************************************************
+ * arch/arm/src/sama5/sam_can.h
+ *
+ *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_ARM_SRC_SAMA5_SAM_CAN_H
+#define __ARCH_ARM_SRC_SAMA5_SAM_CAN_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "chip.h"
+#include "chip/sam_can.h"
+
+#include <nuttx/can.h>
+
+#if defined(CONFIG_CAN) && (defined(CONFIG_SAMA5_CAN0) || defined(CONFIG_SAMA5_CAN1))
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+/* CAN BAUD */
+
+#if defined(CONFIG_SAMA5_CAN0) && !defined(CONFIG_CAN0_BAUD)
+#  error "CONFIG_CAN0_BAUD is not defined"
+#endif
+
+#if defined(CONFIG_SAMA5_CAN1) && !defined(CONFIG_CAN1_BAUD)
+#  error "CONFIG_CAN1_BAUD is not defined"
+#endif
+
+/************************************************************************************
+ * Public Types
+ ************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/****************************************************************************
+ * Name: sama5_caninitialize
+ *
+ * Description:
+ *   Initialize the selected CAN port
+ *
+ * Input Parameter:
+ *   Port number: 0=CAN0, 1=CAN1
+ *
+ * Returned Value:
+ *   Valid CAN device structure reference on succcess; a NULL on failure
+ *
+ ****************************************************************************/
+
+struct can_dev_s;
+FAR struct can_dev_s *sama5_caninitialize(int port);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* CONFIG_CAN && (CONFIG_SAMA5_CAN0 || CONFIG_SAMA5_CAN1) */
+#endif /* __ARCH_ARM_SRC_SAMA5_SAM_CAN_H */