From 499c7ce4f5509639824444174ca714529cf51592 Mon Sep 17 00:00:00 2001 From: raiden00pl Date: Sat, 15 Jan 2022 13:51:58 +0100 Subject: [PATCH] boards/b-g431b-esc1: add CAN example --- boards/arm/stm32/b-g431b-esc1/Kconfig | 4 + boards/arm/stm32/b-g431b-esc1/README.txt | 3 + .../stm32/b-g431b-esc1/configs/can/defconfig | 57 ++++++++++ boards/arm/stm32/b-g431b-esc1/include/board.h | 14 +++ boards/arm/stm32/b-g431b-esc1/src/Make.defs | 4 + .../arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h | 17 +++ .../stm32/b-g431b-esc1/src/stm32_bringup.c | 10 ++ boards/arm/stm32/b-g431b-esc1/src/stm32_can.c | 104 ++++++++++++++++++ 8 files changed, 213 insertions(+) create mode 100644 boards/arm/stm32/b-g431b-esc1/configs/can/defconfig create mode 100644 boards/arm/stm32/b-g431b-esc1/src/stm32_can.c diff --git a/boards/arm/stm32/b-g431b-esc1/Kconfig b/boards/arm/stm32/b-g431b-esc1/Kconfig index 203c3cfb70..cc5e7a44ce 100644 --- a/boards/arm/stm32/b-g431b-esc1/Kconfig +++ b/boards/arm/stm32/b-g431b-esc1/Kconfig @@ -29,4 +29,8 @@ config BOARD_STM32_BG431BESC1_FOC_POT endif # STM32_FOC +config BOARD_STM32_BG431BESC1_CANTERM + bool "B-G431B-ESC1 use on-board CAN terminator resistor" + default y + endif # ARCH_BOARD_B_G431B_ESC1 diff --git a/boards/arm/stm32/b-g431b-esc1/README.txt b/boards/arm/stm32/b-g431b-esc1/README.txt index 6dc45e7765..f6ecb02ec5 100644 --- a/boards/arm/stm32/b-g431b-esc1/README.txt +++ b/boards/arm/stm32/b-g431b-esc1/README.txt @@ -48,6 +48,9 @@ Configuration Sub-directories ENCO_Z/HALL_H3 TIM4_CH3 PB8 BUTTON GPIO_PC10 PC10 PWM PA15 + CAN_RX PA11 + CAN_TX PB9 + CAN_TERM PC14 Current shunt resistance = 0.003 PGA gain = 16 diff --git a/boards/arm/stm32/b-g431b-esc1/configs/can/defconfig b/boards/arm/stm32/b-g431b-esc1/configs/can/defconfig new file mode 100644 index 0000000000..65af7ee7e7 --- /dev/null +++ b/boards/arm/stm32/b-g431b-esc1/configs/can/defconfig @@ -0,0 +1,57 @@ +# +# 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_FPU is not set +# CONFIG_NSH_ARGCAT is not set +# CONFIG_NSH_CMDOPT_HEXDUMP is not set +# CONFIG_NSH_CMDPARMS is not set +# CONFIG_NSH_DISABLE_IFCONFIG is not set +# CONFIG_NSH_DISABLE_PS is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD="b-g431b-esc1" +CONFIG_ARCH_BOARD_B_G431B_ESC1=y +CONFIG_ARCH_BUTTONS=y +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32=y +CONFIG_ARCH_CHIP_STM32G431C=y +CONFIG_ARCH_INTERRUPTSTACK=2048 +CONFIG_ARCH_STACKDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=8499 +CONFIG_BOARD_STM32_BG431BESC1_USE_HSE=y +CONFIG_BUILTIN=y +CONFIG_CAN=y +CONFIG_CAN_ERRORS=y +CONFIG_CAN_EXTID=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_EXAMPLES_CAN=y +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INTELHEX_BINARY=y +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=22528 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_RR_INTERVAL=200 +CONFIG_SCHED_WAITPID=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_START_DAY=14 +CONFIG_START_MONTH=10 +CONFIG_START_YEAR=2014 +CONFIG_STM32_FDCAN1=y +CONFIG_STM32_FDCAN1_BITRATE=250000 +CONFIG_STM32_FDCAN1_NTSEG1=13 +CONFIG_STM32_FDCAN1_NTSEG2=2 +CONFIG_STM32_JTAG_SW_ENABLE=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/b-g431b-esc1/include/board.h b/boards/arm/stm32/b-g431b-esc1/include/board.h index b35f38c86e..0026c9a35d 100644 --- a/boards/arm/stm32/b-g431b-esc1/include/board.h +++ b/boards/arm/stm32/b-g431b-esc1/include/board.h @@ -247,6 +247,15 @@ #define BOARD_TIM17_FREQUENCY (STM32_PCLK2_FREQUENCY) #define BOARD_TIM20_FREQUENCY (STM32_PCLK2_FREQUENCY) +#ifdef CONFIG_STM32_FDCAN +# ifdef CONFIG_BOARD_STM32_BG431BESC1_USE_HSE +# define STM32_CCIPR_FDCANSRC (RCC_CCIPR_FDCANSEL_HSE) +# define STM32_FDCAN_FREQUENCY (STM32_HSE_FREQUENCY) +# else +# error For now FDCAN supported only if HSE enabled +# endif +#endif + /* LED definitions **********************************************************/ /* The B-G431B-ESC1 has four user LEDs. @@ -333,4 +342,9 @@ #define DMACHAN_USART2_TX DMAMAP_DMA12_USART2TX_0 /* DMA1 */ #define DMACHAN_USART2_RX DMAMAP_DMA12_USART2RX_0 /* DMA1 */ +/* CAN configuration ********************************************************/ + +#define GPIO_FDCAN1_RX GPIO_FDCAN1_RX_1 /* PA11 */ +#define GPIO_FDCAN1_TX GPIO_FDCAN1_TX_2 /* PB9 */ + #endif /* __BOARDS_ARM_STM32_B_G431B_ESC1_INCLUDE_BOARD_H */ diff --git a/boards/arm/stm32/b-g431b-esc1/src/Make.defs b/boards/arm/stm32/b-g431b-esc1/src/Make.defs index 88fbd4dafc..618f986335 100644 --- a/boards/arm/stm32/b-g431b-esc1/src/Make.defs +++ b/boards/arm/stm32/b-g431b-esc1/src/Make.defs @@ -41,6 +41,10 @@ ifeq ($(CONFIG_STM32_FOC),y) CSRCS += stm32_foc.c endif +ifeq ($(CONFIG_STM32_FDCAN_CHARDRIVER),y) +CSRCS += stm32_can.c +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/b-g431b-esc1/src/b-g431b-esc1.h b/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h index afa2052b36..deef8ea6d6 100644 --- a/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h +++ b/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h @@ -88,6 +88,11 @@ GPIO_PORTB | GPIO_PIN8) #endif +/* CAN_TERM - PC14 */ + +#define GPIO_CANTERM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \ + GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14) + /**************************************************************************** * Public Data ****************************************************************************/ @@ -140,4 +145,16 @@ int stm32_adc_setup(void); int stm32_foc_setup(void); #endif +/**************************************************************************** + * Name: stm32_can_setup + * + * Description: + * Initialize CAN and register the CAN device + * + ****************************************************************************/ + +#ifdef CONFIG_STM32_FDCAN_CHARDRIVER +int stm32_can_setup(void); +#endif + #endif /* __BOARDS_ARM_STM32_B_G431B_ESC1_SRC_B_G431B_ESC1_H */ diff --git a/boards/arm/stm32/b-g431b-esc1/src/stm32_bringup.c b/boards/arm/stm32/b-g431b-esc1/src/stm32_bringup.c index 044e5355e9..57d2168f20 100644 --- a/boards/arm/stm32/b-g431b-esc1/src/stm32_bringup.c +++ b/boards/arm/stm32/b-g431b-esc1/src/stm32_bringup.c @@ -149,6 +149,16 @@ int stm32_bringup(void) } #endif +#ifdef CONFIG_STM32_FDCAN_CHARDRIVER + /* Initialize CAN and register the CAN driver. */ + + ret = stm32_can_setup(); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: stm32_fdcan_setup failed: %d\n", ret); + } +#endif + UNUSED(ret); return OK; } diff --git a/boards/arm/stm32/b-g431b-esc1/src/stm32_can.c b/boards/arm/stm32/b-g431b-esc1/src/stm32_can.c new file mode 100644 index 0000000000..bf5e483c84 --- /dev/null +++ b/boards/arm/stm32/b-g431b-esc1/src/stm32_can.c @@ -0,0 +1,104 @@ +/**************************************************************************** + * boards/arm/stm32/b-g431b-esc1/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 "chip.h" +#include "arm_arch.h" + +#include "stm32.h" +#include "stm32_fdcan.h" +#include "b-g431b-esc1.h" + +#ifdef CONFIG_CAN + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +#if !defined(CONFIG_STM32_FDCAN1) +# error "No CAN is enable. Please eneable at least one CAN device" +#endif + +#ifdef CONFIG_BOARD_STM32_BG431BESC1_CANTERM +# define BG431BESC1_CANTERM (true) +#else +# define BG431BESC1_CANTERM (false) +#endif + +/**************************************************************************** + * 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_fdcaninitialize() to get an instance of the CAN interface */ + + can = stm32_fdcaninitialize(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; + } + + /* Configure CAN_TERM pin for output */ + + stm32_configgpio(GPIO_CANTERM); + + /* Set CAN_TERM pin high or low */ + + stm32_gpiowrite(GPIO_CANTERM, BG431BESC1_CANTERM); + + return OK; +} + +#endif /* CONFIG_CAN */