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Merged in slorquet/nuttx/can (pull request #22)

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CAN support for STM32L4
This commit is contained in:
Gregory Nutt 2016-05-19 14:00:58 -06:00
commit 5ec7ac21a8
5 changed files with 2211 additions and 1 deletions
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24
arch/arm/src/stm32l4/Kconfig
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@ -863,4 +863,28 @@ config STM32L4_I2C_DUTY16_9
endmenu
menu "CAN driver configuration"
depends on STM32L4_CAN1
config CAN1_BAUD
int "CAN1 BAUD"
default 250000
depends on STM32L4_CAN1
---help---
CAN1 BAUD rate. Required if STM32L4_CAN1 is defined.
config CAN_TSEG1
int "TSEG1 quanta"
default 6
---help---
The number of CAN time quanta in segment 1. Default: 6
config CAN_TSEG2
int "TSEG2 quanta"
default 7
---help---
The number of CAN time quanta in segment 2. Default: 7
endmenu
endif # ARCH_CHIP_STM32L4

7
arch/arm/src/stm32l4/Make.defs
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@ -1,7 +1,7 @@
############################################################################
# arch/arm/src/stm32l4/Make.defs
#
# Copyright (C) 2015 Sebastien Lorquet. All rights reserved.
# Copyright (C) 2015-2016 Sebastien Lorquet. All rights reserved.
# Author: Sebastien Lorquet <sebastien@lorquet.fr>
#
# Redistribution and use in source and binary forms, with or without
@ -161,3 +161,8 @@ endif
ifeq ($(CONFIG_STM32L4_QSPI),y)
CHIP_CSRCS += stm32l4_qspi.c
endif
ifeq ($(CONFIG_STM32L4_CAN),y)
CHIP_CSRCS += stm32l4_can.c
endif

447
arch/arm/src/stm32l4/chip/stm32l4_can.h Normal file
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@ -0,0 +1,447 @@
/************************************************************************************
* arch/arm/src/stm32l4/chip/stm32l4_can.h
*
* Copyright (C) 2009, 2011, 2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Adaptations for stm32l4:
* Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
* Author: Sebastien Lorquet <sebastien@lorquet.fr>
*
* 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_STM32L4_CHIP_STM32L4_CAN_H
#define __ARCH_ARM_SRC_STM32L4_CHIP_STM32L4_CAN_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include "chip.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* 3 TX mailboxes */
#define CAN_TXMBOX1 0
#define CAN_TXMBOX2 1
#define CAN_TXMBOX3 2
/* 2 RX mailboxes */
#define CAN_RXMBOX1 0
#define CAN_RXMBOX2 1
/* Number of filters depends on silicon */
#define CAN_NFILTERS 14
/* Register Offsets *****************************************************************/
/* CAN control and status registers */
#define STM32L4_CAN_MCR_OFFSET 0x0000 /* CAN master control register */
#define STM32L4_CAN_MSR_OFFSET 0x0004 /* CAN master status register */
#define STM32L4_CAN_TSR_OFFSET 0x0008 /* CAN transmit status register */
#define STM32L4_CAN_RF0R_OFFSET 0x000c /* CAN receive FIFO 0 register */
#define STM32L4_CAN_RF1R_OFFSET 0x0010 /* CAN receive FIFO 1 register */
#define STM32L4_CAN_IER_OFFSET 0x0014 /* CAN interrupt enable register */
#define STM32L4_CAN_ESR_OFFSET 0x0018 /* CAN error status register */
#define STM32L4_CAN_BTR_OFFSET 0x001c /* CAN bit timing register */
/* CAN mailbox registers (3 TX and 2 RX) */
#define STM32L4_CAN_TIR_OFFSET(m) (0x0180+((m)<<4))
#define STM32L4_CAN_TI0R_OFFSET 0x0180 /* TX mailbox identifier register 0 */
#define STM32L4_CAN_TI1R_OFFSET 0x0190 /* TX mailbox identifier register 1 */
#define STM32L4_CAN_TI2R_OFFSET 0x01a0 /* TX mailbox identifier register 2 */
#define STM32L4_CAN_TDTR_OFFSET(m) (0x0184+((m)<<4))
#define STM32L4_CAN_TDT0R_OFFSET 0x0184 /* Mailbox data length control and time stamp register 0 */
#define STM32L4_CAN_TDT1R_OFFSET 0x0194 /* Mailbox data length control and time stamp register 1 */
#define STM32L4_CAN_TDT2R_OFFSET 0x01a4 /* Mailbox data length control and time stamp register 2 */
#define STM32L4_CAN_TDLR_OFFSET(m) (0x0188+((m)<<4))
#define STM32L4_CAN_TDL0R_OFFSET 0x0188 /* Mailbox data low register 0 */
#define STM32L4_CAN_TDL1R_OFFSET 0x0198 /* Mailbox data low register 1 */
#define STM32L4_CAN_TDL2R_OFFSET 0x01a8 /* Mailbox data low register 2 */
#define STM32L4_CAN_TDHR_OFFSET(m) (0x018c+((m)<<4))
#define STM32L4_CAN_TDH0R_OFFSET 0x018c /* Mailbox data high register 0 */
#define STM32L4_CAN_TDH1R_OFFSET 0x019c /* Mailbox data high register 1 */
#define STM32L4_CAN_TDH2R_OFFSET 0x01ac /* Mailbox data high register 2 */
#define STM32L4_CAN_RIR_OFFSET(m) (0x01b0+((m)<<4))
#define STM32L4_CAN_RI0R_OFFSET 0x01b0 /* Rx FIFO mailbox identifier register 0 */
#define STM32L4_CAN_RI1R_OFFSET 0x01c0 /* Rx FIFO mailbox identifier register 1 */
#define STM32L4_CAN_RDTR_OFFSET(m) (0x01b4+((m)<<4))
#define STM32L4_CAN_RDT0R_OFFSET 0x01b4 /* Rx FIFO mailbox data length control and time stamp register 0 */
#define STM32L4_CAN_RDT1R_OFFSET 0x01c4 /* Rx FIFO mailbox data length control and time stamp register 1 */
#define STM32L4_CAN_RDLR_OFFSET(m) (0x01b8+((m)<<4))
#define STM32L4_CAN_RDL0R_OFFSET 0x01b8 /* Receive FIFO mailbox data low register 0 */
#define STM32L4_CAN_RDL1R_OFFSET 0x01c8 /* Receive FIFO mailbox data low register 1 */
#define STM32L4_CAN_RDHR_OFFSET(m) (0x01bc+((m)<<4))
#define STM32L4_CAN_RDH0R_OFFSET 0x01bc /* Receive FIFO mailbox data high register 0 */
#define STM32L4_CAN_RDH1R_OFFSET 0x01cc /* Receive FIFO mailbox data high register 1 */
/* CAN filter registers */
#define STM32L4_CAN_FMR_OFFSET 0x0200 /* CAN filter master register */
#define STM32L4_CAN_FM1R_OFFSET 0x0204 /* CAN filter mode register */
#define STM32L4_CAN_FS1R_OFFSET 0x020c /* CAN filter scale register */
#define STM32L4_CAN_FFA1R_OFFSET 0x0214 /* CAN filter FIFO assignment register */
#define STM32L4_CAN_FA1R_OFFSET 0x021c /* CAN filter activation register */
/* There are 14 or 28 filter banks (depending) on the device. Each filter bank is
* composed of two 32-bit registers, CAN_FiR:
* F0R1 Offset 0x240
* F0R2 Offset 0x244
* F1R1 Offset 0x248
* F1R2 Offset 0x24c
* ...
*/
#define STM32L4_CAN_FIR_OFFSET(f,i) (0x240+((f)<<3)+(((i)-1)<<2))
/* Register Addresses ***************************************************************/
#if STM32L4_NCAN > 0
# define STM32L4_CAN1_MCR (STM32L4_CAN1_BASE+STM32L4_CAN_MCR_OFFSET)
# define STM32L4_CAN1_MSR (STM32L4_CAN1_BASE+STM32L4_CAN_MSR_OFFSET)
# define STM32L4_CAN1_TSR (STM32L4_CAN1_BASE+STM32L4_CAN_TSR_OFFSET)
# define STM32L4_CAN1_RF0R (STM32L4_CAN1_BASE+STM32L4_CAN_RF0R_OFFSET)
# define STM32L4_CAN1_RF1R (STM32L4_CAN1_BASE+STM32L4_CAN_RF1R_OFFSET)
# define STM32L4_CAN1_IER (STM32L4_CAN1_BASE+STM32L4_CAN_IER_OFFSET)
# define STM32L4_CAN1_ESR (STM32L4_CAN1_BASE+STM32L4_CAN_ESR_OFFSET)
# define STM32L4_CAN1_BTR (STM32L4_CAN1_BASE+STM32L4_CAN_BTR_OFFSET)
# define STM32L4_CAN1_TIR(m) (STM32L4_CAN1_BASE+STM32L4_CAN_TIR_OFFSET(m))
# define STM32L4_CAN1_TI0R (STM32L4_CAN1_BASE+STM32L4_CAN_TI0R_OFFSET)
# define STM32L4_CAN1_TI1R (STM32L4_CAN1_BASE+STM32L4_CAN_TI1R_OFFSET)
# define STM32L4_CAN1_TI2R (STM32L4_CAN1_BASE+STM32L4_CAN_TI2R_OFFSET)
# define STM32L4_CAN1_TDTR(m) (STM32L4_CAN1_BASE+STM32L4_CAN_TDTR_OFFSET(m))
# define STM32L4_CAN1_TDT0R (STM32L4_CAN1_BASE+STM32L4_CAN_TDT0R_OFFSET)
# define STM32L4_CAN1_TDT1R (STM32L4_CAN1_BASE+STM32L4_CAN_TDT1R_OFFSET)
# define STM32L4_CAN1_TDT2R (STM32L4_CAN1_BASE+STM32L4_CAN_TDT2R_OFFSET)
# define STM32L4_CAN1_TDLR(m) (STM32L4_CAN1_BASE+STM32L4_CAN_TDLR_OFFSET(m))
# define STM32L4_CAN1_TDL0R (STM32L4_CAN1_BASE+STM32L4_CAN_TDL0R_OFFSET)
# define STM32L4_CAN1_TDL1R (STM32L4_CAN1_BASE+STM32L4_CAN_TDL1R_OFFSET)
# define STM32L4_CAN1_TDL2R (STM32L4_CAN1_BASE+STM32L4_CAN_TDL2R_OFFSET)
# define STM32L4_CAN1_TDHR(m) (STM32L4_CAN1_BASE+STM32L4_CAN_TDHR_OFFSET(m))
# define STM32L4_CAN1_TDH0R (STM32L4_CAN1_BASE+STM32L4_CAN_TDH0R_OFFSET)
# define STM32L4_CAN1_TDH1R (STM32L4_CAN1_BASE+STM32L4_CAN_TDH1R_OFFSET)
# define STM32L4_CAN1_TDH2R (STM32L4_CAN1_BASE+STM32L4_CAN_TDH2R_OFFSET)
# define STM32L4_CAN1_RIR(m) (STM32L4_CAN1_BASE+STM32L4_CAN_RIR_OFFSET(m))
# define STM32L4_CAN1_RI0R (STM32L4_CAN1_BASE+STM32L4_CAN_RI0R_OFFSET)
# define STM32L4_CAN1_RI1R (STM32L4_CAN1_BASE+STM32L4_CAN_RI1R_OFFSET)
# define STM32L4_CAN1_RDTR(m) (STM32L4_CAN1_BASE+STM32L4_CAN_RDTR_OFFSET(m))
# define STM32L4_CAN1_RDT0R (STM32L4_CAN1_BASE+STM32L4_CAN_RDT0R_OFFSET)
# define STM32L4_CAN1_RDT1R (STM32L4_CAN1_BASE+STM32L4_CAN_RDT1R_OFFSET)
# define STM32L4_CAN1_RDLR(m) (STM32L4_CAN1_BASE+STM32L4_CAN_RDLR_OFFSET(m))
# define STM32L4_CAN1_RDL0R (STM32L4_CAN1_BASE+STM32L4_CAN_RDL0R_OFFSET)
# define STM32L4_CAN1_RDL1R (STM32L4_CAN1_BASE+STM32L4_CAN_RDL1R_OFFSET)
# define STM32L4_CAN1_RDHR(m) (STM32L4_CAN1_BASE+STM32L4_CAN_RDHR_OFFSET(m))
# define STM32L4_CAN1_RDH0R (STM32L4_CAN1_BASE+STM32L4_CAN_RDH0R_OFFSET)
# define STM32L4_CAN1_RDH1R (STM32L4_CAN1_BASE+STM32L4_CAN_RDH1R_OFFSET)
# define STM32L4_CAN1_FMR (STM32L4_CAN1_BASE+STM32L4_CAN_FMR_OFFSET)
# define STM32L4_CAN1_FM1R (STM32L4_CAN1_BASE+STM32L4_CAN_FM1R_OFFSET)
# define STM32L4_CAN1_FS1R (STM32L4_CAN1_BASE+STM32L4_CAN_FS1R_OFFSET)
# define STM32L4_CAN1_FFA1R (STM32L4_CAN1_BASE+STM32L4_CAN_FFA1R_OFFSET)
# define STM32L4_CAN1_FA1R (STM32L4_CAN1_BASE+STM32L4_CAN_FA1R_OFFSET)
# define STM32L4_CAN1_FIR(b,i) (STM32L4_CAN1_BASE+STM32L4_CAN_FIR_OFFSET(b,i))
#endif
/* Register Bitfield Definitions ****************************************************/
/* CAN master control register */
#define CAN_MCR_INRQ (1 << 0) /* Bit 0: Initialization Request */
#define CAN_MCR_SLEEP (1 << 1) /* Bit 1: Sleep Mode Request */
#define CAN_MCR_TXFP (1 << 2) /* Bit 2: Transmit FIFO Priority */
#define CAN_MCR_RFLM (1 << 3) /* Bit 3: Receive FIFO Locked Mode */
#define CAN_MCR_NART (1 << 4) /* Bit 4: No Automatic Retransmission */
#define CAN_MCR_AWUM (1 << 5) /* Bit 5: Automatic Wakeup Mode */
#define CAN_MCR_ABOM (1 << 6) /* Bit 6: Automatic Bus-Off Management */
#define CAN_MCR_TTCM (1 << 7) /* Bit 7: Time Triggered Communication Mode Enable */
#define CAN_MCR_RESET (1 << 15) /* Bit 15: bxCAN software master reset */
#define CAN_MCR_DBF (1 << 16) /* Bit 16: Debug freeze */
/* CAN master status register */
#define CAN_MSR_INAK (1 << 0) /* Bit 0: Initialization Acknowledge */
#define CAN_MSR_SLAK (1 << 1) /* Bit 1: Sleep Acknowledge */
#define CAN_MSR_ERRI (1 << 2) /* Bit 2: Error Interrupt */
#define CAN_MSR_WKUI (1 << 3) /* Bit 3: Wakeup Interrupt */
#define CAN_MSR_SLAKI (1 << 4) /* Bit 4: Sleep acknowledge interrupt */
#define CAN_MSR_TXM (1 << 8) /* Bit 8: Transmit Mode */
#define CAN_MSR_RXM (1 << 9) /* Bit 9: Receive Mode */
#define CAN_MSR_SAMP (1 << 10) /* Bit 10: Last Sample Point */
#define CAN_MSR_RX (1 << 11) /* Bit 11: CAN Rx Signal */
/* CAN transmit status register */
#define CAN_TSR_RQCP0 (1 << 0) /* Bit 0: Request Completed Mailbox 0 */
#define CAN_TSR_TXOK0 (1 << 1) /* Bit 1 : Transmission OK of Mailbox 0 */
#define CAN_TSR_ALST0 (1 << 2) /* Bit 2 : Arbitration Lost for Mailbox 0 */
#define CAN_TSR_TERR0 (1 << 3) /* Bit 3 : Transmission Error of Mailbox 0 */
#define CAN_TSR_ABRQ0 (1 << 7) /* Bit 7 : Abort Request for Mailbox 0 */
#define CAN_TSR_RQCP1 (1 << 8) /* Bit 8 : Request Completed Mailbox 1 */
#define CAN_TSR_TXOK1 (1 << 9) /* Bit 9 : Transmission OK of Mailbox 1 */
#define CAN_TSR_ALST1 (1 << 10) /* Bit 10 : Arbitration Lost for Mailbox 1 */
#define CAN_TSR_TERR1 (1 << 11) /* Bit 11 : Transmission Error of Mailbox 1 */
#define CAN_TSR_ABRQ1 (1 << 15) /* Bit 15 : Abort Request for Mailbox 1 */
#define CAN_TSR_RQCP2 (1 << 16) /* Bit 16 : Request Completed Mailbox 2 */
#define CAN_TSR_TXOK2 (1 << 17) /* Bit 17 : Transmission OK of Mailbox 2 */
#define CAN_TSR_ALST2 (1 << 18) /* Bit 18: Arbitration Lost for Mailbox 2 */
#define CAN_TSR_TERR2 (1 << 19) /* Bit 19: Transmission Error of Mailbox 2 */
#define CAN_TSR_ABRQ2 (1 << 23) /* Bit 23: Abort Request for Mailbox 2 */
#define CAN_TSR_CODE_SHIFT (24) /* Bits 25-24: Mailbox Code */
#define CAN_TSR_CODE_MASK (3 << CAN_TSR_CODE_SHIFT)
#define CAN_TSR_TME0 (1 << 26) /* Bit 26: Transmit Mailbox 0 Empty */
#define CAN_TSR_TME1 (1 << 27) /* Bit 27: Transmit Mailbox 1 Empty */
#define CAN_TSR_TME2 (1 << 28) /* Bit 28: Transmit Mailbox 2 Empty */
#define CAN_TSR_LOW0 (1 << 29) /* Bit 29: Lowest Priority Flag for Mailbox 0 */
#define CAN_TSR_LOW1 (1 << 30) /* Bit 30: Lowest Priority Flag for Mailbox 1 */
#define CAN_TSR_LOW2 (1 << 31) /* Bit 31: Lowest Priority Flag for Mailbox 2 */
/* CAN receive FIFO 0/1 registers */
#define CAN_RFR_FMP_SHIFT (0) /* Bits 1-0: FIFO Message Pending */
#define CAN_RFR_FMP_MASK (3 << CAN_RFR_FMP_SHIFT)
#define CAN_RFR_FULL (1 << 3) /* Bit 3: FIFO 0 Full */
#define CAN_RFR_FOVR (1 << 4) /* Bit 4: FIFO 0 Overrun */
#define CAN_RFR_RFOM (1 << 5) /* Bit 5: Release FIFO 0 Output Mailbox */
/* CAN interrupt enable register */
#define CAN_IER_TMEIE (1 << 0) /* Bit 0: Transmit Mailbox Empty Interrupt Enable */
#define CAN_IER_FMPIE0 (1 << 1) /* Bit 1: FIFO Message Pending Interrupt Enable */
#define CAN_IER_FFIE0 (1 << 2) /* Bit 2: FIFO Full Interrupt Enable */
#define CAN_IER_FOVIE0 (1 << 3) /* Bit 3: FIFO Overrun Interrupt Enable */
#define CAN_IER_FMPIE1 (1 << 4) /* Bit 4: FIFO Message Pending Interrupt Enable */
#define CAN_IER_FFIE1 (1 << 5) /* Bit 5: FIFO Full Interrupt Enable */
#define CAN_IER_FOVIE1 (1 << 6) /* Bit 6: FIFO Overrun Interrupt Enable */
#define CAN_IER_EWGIE (1 << 8) /* Bit 8: Error Warning Interrupt Enable */
#define CAN_IER_EPVIE (1 << 9) /* Bit 9: Error Passive Interrupt Enable */
#define CAN_IER_BOFIE (1 << 10) /* Bit 10: Bus-Off Interrupt Enable */
#define CAN_IER_LECIE (1 << 11) /* Bit 11: Last Error Code Interrupt Enable */
#define CAN_IER_ERRIE (1 << 15) /* Bit 15: Error Interrupt Enable */
#define CAN_IER_WKUIE (1 << 16) /* Bit 16: Wakeup Interrupt Enable */
#define CAN_IER_SLKIE (1 << 17) /* Bit 17: Sleep Interrupt Enable */
/* CAN error status register */
#define CAN_ESR_EWGF (1 << 0) /* Bit 0: Error Warning Flag */
#define CAN_ESR_EPVF (1 << 1) /* Bit 1: Error Passive Flag */
#define CAN_ESR_BOFF (1 << 2) /* Bit 2: Bus-Off Flag */
#define CAN_ESR_LEC_SHIFT (4) /* Bits 6-4: Last Error Code */
#define CAN_ESR_LEC_MASK (7 << CAN_ESR_LEC_SHIFT)
# define CAN_ESR_NOERROR (0 << CAN_ESR_LEC_SHIFT) /* 000: No Error */
# define CAN_ESR_STUFFERROR (1 << CAN_ESR_LEC_SHIFT) /* 001: Stuff Error */
# define CAN_ESR_FORMERROR (2 << CAN_ESR_LEC_SHIFT) /* 010: Form Error */
# define CAN_ESR_ACKERROR (3 << CAN_ESR_LEC_SHIFT) /* 011: Acknowledgment Error */
# define CAN_ESR_BRECERROR (4 << CAN_ESR_LEC_SHIFT) /* 100: Bit recessive Error */
# define CAN_ESR_BDOMERROR (5 << CAN_ESR_LEC_SHIFT) /* 101: Bit dominant Error */
# define CAN_ESR_CRCERRPR (6 << CAN_ESR_LEC_SHIFT) /* 110: CRC Error */
# define CAN_ESR_SWERROR (7 << CAN_ESR_LEC_SHIFT) /* 111: Set by software */
#define CAN_ESR_TEC_SHIFT (16) /* Bits 23-16: LS byte of the 9-bit Transmit Error Counter */
#define CAN_ESR_TEC_MASK (0xff << CAN_ESR_TEC_SHIF)
#define CAN_ESR_REC_SHIFT (24) /* Bits 31-24: Receive Error Counter */
#define CAN_ESR_REC_MASK (0xff << CAN_ESR_REC_SHIFT)
/* CAN bit timing register */
#define CAN_BTR_BRP_SHIFT (0) /* Bits 9-0: Baud Rate Prescaler */
#define CAN_BTR_BRP_MASK (0x03ff << CAN_BTR_BRP_SHIFT)
#define CAN_BTR_TS1_SHIFT (16) /* Bits 19-16: Time Segment 1 */
#define CAN_BTR_TS1_MASK (0x0f << CAN_BTR_TS1_SHIFT)
#define CAN_BTR_TS2_SHIFT (20) /* Bits 22-20: Time Segment 2 */
#define CAN_BTR_TS2_MASK (7 << CAN_BTR_TS2_SHIFT)
#define CAN_BTR_SJW_SHIFT (24) /* Bits 25-24: Resynchronization Jump Width */
#define CAN_BTR_SJW_MASK (3 << CAN_BTR_SJW_SHIFT)
#define CAN_BTR_LBKM (1 << 30) /* Bit 30: Loop Back Mode (Debug) */
#define CAN_BTR_SILM (1 << 31) /* Bit 31: Silent Mode (Debug) */
#define CAN_BTR_BRP_MAX (1024) /* Maximum BTR value (without decrement) */
#define CAN_BTR_TSEG1_MAX (16) /* Maximum TSEG1 value (without decrement) */
#define CAN_BTR_TSEG2_MAX (8) /* Maximum TSEG2 value (without decrement) */
/* TX mailbox identifier register */
#define CAN_TIR_TXRQ (1 << 0) /* Bit 0: Transmit Mailbox Request */
#define CAN_TIR_RTR (1 << 1) /* Bit 1: Remote Transmission Request */
#define CAN_TIR_IDE (1 << 2) /* Bit 2: Identifier Extension */
#define CAN_TIR_EXID_SHIFT (3) /* Bit 3-31: Extended Identifier */
#define CAN_TIR_EXID_MASK (0x1fffffff << CAN_TIR_EXID_SHIFT)
#define CAN_TIR_STID_SHIFT (21) /* Bits 21-31: Standard Identifier */
#define CAN_TIR_STID_MASK (0x07ff << CAN_TIR_STID_SHIFT)
/* Mailbox data length control and time stamp register */
#define CAN_TDTR_DLC_SHIFT (0) /* Bits 3:0: Data Length Code */
#define CAN_TDTR_DLC_MASK (0x0f << CAN_TDTR_DLC_SHIFT)
#define CAN_TDTR_TGT (1 << 8) /* Bit 8: Transmit Global Time */
#define CAN_TDTR_TIME_SHIFT (16) /* Bits 31:16: Message Time Stamp */
#define CAN_TDTR_TIME_MASK (0xffff << CAN_TDTR_TIME_SHIFT)
/* Mailbox data low register */
#define CAN_TDLR_DATA0_SHIFT (0) /* Bits 7-0: Data Byte 0 */
#define CAN_TDLR_DATA0_MASK (0xff << CAN_TDLR_DATA0_SHIFT)
#define CAN_TDLR_DATA1_SHIFT (8) /* Bits 15-8: Data Byte 1 */
#define CAN_TDLR_DATA1_MASK (0xff << CAN_TDLR_DATA1_SHIFT)
#define CAN_TDLR_DATA2_SHIFT (16) /* Bits 23-16: Data Byte 2 */
#define CAN_TDLR_DATA2_MASK (0xff << CAN_TDLR_DATA2_SHIFT)
#define CAN_TDLR_DATA3_SHIFT (24) /* Bits 31-24: Data Byte 3 */
#define CAN_TDLR_DATA3_MASK (0xff << CAN_TDLR_DATA3_SHIFT)
/* Mailbox data high register */
#define CAN_TDHR_DATA4_SHIFT (0) /* Bits 7-0: Data Byte 4 */
#define CAN_TDHR_DATA4_MASK (0xff << CAN_TDHR_DATA4_SHIFT)
#define CAN_TDHR_DATA5_SHIFT (8) /* Bits 15-8: Data Byte 5 */
#define CAN_TDHR_DATA5_MASK (0xff << CAN_TDHR_DATA5_SHIFT)
#define CAN_TDHR_DATA6_SHIFT (16) /* Bits 23-16: Data Byte 6 */
#define CAN_TDHR_DATA6_MASK (0xff << CAN_TDHR_DATA6_SHIFT)
#define CAN_TDHR_DATA7_SHIFT (24) /* Bits 31-24: Data Byte 7 */
#define CAN_TDHR_DATA7_MASK (0xff << CAN_TDHR_DATA7_SHIFT)
/* Rx FIFO mailbox identifier register */
#define CAN_RIR_RTR (1 << 1) /* Bit 1: Remote Transmission Request */
#define CAN_RIR_IDE (1 << 2) /* Bit 2: Identifier Extension */
#define CAN_RIR_EXID_SHIFT (3) /* Bit 3-31: Extended Identifier */
#define CAN_RIR_EXID_MASK (0x1fffffff << CAN_RIR_EXID_SHIFT)
#define CAN_RIR_STID_SHIFT (21) /* Bits 21-31: Standard Identifier */
#define CAN_RIR_STID_MASK (0x07ff << CAN_RIR_STID_SHIFT)
/* Receive FIFO mailbox data length control and time stamp register */
#define CAN_RDTR_DLC_SHIFT (0) /* Bits 3:0: Data Length Code */
#define CAN_RDTR_DLC_MASK (0x0f << CAN_RDTR_DLC_SHIFT)
#define CAN_RDTR_FM_SHIFT (8) /* Bits 15-8: Filter Match Index */
#define CAN_RDTR_FM_MASK (0xff << CAN_RDTR_FM_SHIFT)
#define CAN_RDTR_TIME_SHIFT (16) /* Bits 31:16: Message Time Stamp */
#define CAN_RDTR_TIME_MASK (0xffff << CAN_RDTR_TIME_SHIFT)
/* Receive FIFO mailbox data low register */
#define CAN_RDLR_DATA0_SHIFT (0) /* Bits 7-0: Data Byte 0 */
#define CAN_RDLR_DATA0_MASK (0xff << CAN_RDLR_DATA0_SHIFT)
#define CAN_RDLR_DATA1_SHIFT (8) /* Bits 15-8: Data Byte 1 */
#define CAN_RDLR_DATA1_MASK (0xff << CAN_RDLR_DATA1_SHIFT)
#define CAN_RDLR_DATA2_SHIFT (16) /* Bits 23-16: Data Byte 2 */
#define CAN_RDLR_DATA2_MASK (0xff << CAN_RDLR_DATA2_SHIFT)
#define CAN_RDLR_DATA3_SHIFT (24) /* Bits 31-24: Data Byte 3 */
#define CAN_RDLR_DATA3_MASK (0xff << CAN_RDLR_DATA3_SHIFT)
/* Receive FIFO mailbox data high register */
#define CAN_RDHR_DATA4_SHIFT (0) /* Bits 7-0: Data Byte 4 */
#define CAN_RDHR_DATA4_MASK (0xff << CAN_RDHR_DATA4_SHIFT)
#define CAN_RDHR_DATA5_SHIFT (8) /* Bits 15-8: Data Byte 5 */
#define CAN_RDHR_DATA5_MASK (0xff << CAN_RDHR_DATA5_SHIFT)
#define CAN_RDHR_DATA6_SHIFT (16) /* Bits 23-16: Data Byte 6 */
#define CAN_RDHR_DATA6_MASK (0xff << CAN_RDHR_DATA6_SHIFT)
#define CAN_RDHR_DATA7_SHIFT (24) /* Bits 31-24: Data Byte 7 */
#define CAN_RDHR_DATA7_MASK (0xff << CAN_RDHR_DATA7_SHIFT)
/* CAN filter master register */
#define CAN_FMR_FINIT (1 << 0) /* Bit 0: Filter Init Mode */
/* CAN filter mode register */
#if defined(CONFIG_STM32L4_CONNECTIVITYLINE) || defined(CONFIG_STM32L4_STM32F20XX) || defined(CONFIG_STM32L4_STM32F40XX)
# define CAN_FM1R_FBM_SHIFT (0) /* Bits 13:0: Filter Mode */
# define CAN_FM1R_FBM_MASK (0x3fff << CAN_FM1R_FBM_SHIFT)
#else
# define CAN_FM1R_FBM_SHIFT (0) /* Bits 27:0: Filter Mode */
# define CAN_FM1R_FBM_MASK (0x0fffffff << CAN_FM1R_FBM_SHIFT)
#endif
/* CAN filter scale register */
#if defined(CONFIG_STM32L4_CONNECTIVITYLINE) || defined(CONFIG_STM32L4_STM32F20XX) || defined(CONFIG_STM32L4_STM32F40XX)
# define CAN_FS1R_FSC_SHIFT (0) /* Bits 13:0: Filter Scale Configuration */
# define CAN_FS1R_FSC_MASK (0x3fff << CAN_FS1R_FSC_SHIFT)
#else
# define CAN_FS1R_FSC_SHIFT (0) /* Bits 27:0: Filter Scale Configuration */
# define CAN_FS1R_FSC_MASK (0x0fffffff << CAN_FS1R_FSC_SHIFT)
#endif
/* CAN filter FIFO assignment register */
#if defined(CONFIG_STM32L4_CONNECTIVITYLINE) || defined(CONFIG_STM32L4_STM32F20XX) || defined(CONFIG_STM32L4_STM32F40XX)
# define CAN_FFA1R_FFA_SHIFT (0) /* Bits 13:0: Filter FIFO Assignment */
# define CAN_FFA1R_FFA_MASK (0x3fff << CAN_FFA1R_FFA_SHIFT)
#else
# define CAN_FFA1R_FFA_SHIFT (0) /* Bits 27:0: Filter FIFO Assignment */
# define CAN_FFA1R_FFA_MASK (0x0fffffff << CAN_FFA1R_FFA_SHIFT)
#endif
/* CAN filter activation register */
#if defined(CONFIG_STM32L4_CONNECTIVITYLINE) || defined(CONFIG_STM32L4_STM32F20XX) || defined(CONFIG_STM32L4_STM32F40XX)
# define CAN_FA1R_FACT_SHIFT (0) /* Bits 13:0: Filter Active */
# define CAN_FA1R_FACT_MASK (0x3fff << CAN_FA1R_FACT_SHIFT)
#else
# define CAN_FA1R_FACT_SHIFT (0) /* Bits 27:0: Filter Active */
# define CAN_FA1R_FACT_MASK (0x0fffffff << CAN_FA1R_FACT_SHIFT)
#endif
/************************************************************************************
* Public Types
************************************************************************************/
/************************************************************************************
* Public Data
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
#endif /* __ARCH_ARM_SRC_STM32L4_CHIP_STM32L4_CAN_H */

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/************************************************************************************
* arch/arm/src/stm32l4/stm32l4_can.h
*
* Copyright (C) 2009, 2011, 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Adaptations for stm32l4:
* Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
* Author: Sebastien Lorquet <sebastien@lorquet.fr>
*
* 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_STM32L4_STM32L4_CAN_H
#define __ARCH_ARM_SRC_STM32L4_STM32L4_CAN_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include "chip.h"
#include "chip/stm32l4_can.h"
#include <nuttx/can.h>
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
/* Up to 1 CAN interfaces are supported */
#if STM32L4_NCAN < 1
# undef CONFIG_STM32L4_CAN1
#endif
#if defined(CONFIG_CAN) && defined(CONFIG_STM32L4_CAN1)
/* CAN BAUD */
#if defined(CONFIG_STM32L4_CAN1) && !defined(CONFIG_CAN1_BAUD)
# error "CONFIG_CAN1_BAUD is not defined"
#endif
/* User-defined TSEG1 and TSEG2 settings may be used.
*
* CONFIG_CAN_TSEG1 = the number of CAN time quanta in segment 1
* CONFIG_CAN_TSEG2 = the number of CAN time quanta in segment 2
* CAN_BIT_QUANTA = The number of CAN time quanta in on bit time
*/
#ifndef CONFIG_CAN_TSEG1
# define CONFIG_CAN_TSEG1 6
#endif
#if CONFIG_CAN_TSEG1 < 1 || CONFIG_CAN_TSEG1 > CAN_BTR_TSEG1_MAX
# errror "CONFIG_CAN_TSEG1 is out of range"
#endif
#ifndef CONFIG_CAN_TSEG2
# define CONFIG_CAN_TSEG2 7
#endif
#if CONFIG_CAN_TSEG2 < 1 || CONFIG_CAN_TSEG2 > CAN_BTR_TSEG2_MAX
# errror "CONFIG_CAN_TSEG2 is out of range"
#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: stm32l4_caninitialize
*
* Description:
* Initialize the selected CAN port
*
* Input Parameter:
* Port number (for hardware that has mutiple CAN interfaces)
*
* Returned Value:
* Valid CAN device structure reference on succcess; a NULL on failure
*
****************************************************************************/
struct can_dev_s;
FAR struct can_dev_s *stm32l4_caninitialize(int port);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* CONFIG_CAN && CONFIG_STM32L4_CAN1 */
#endif /* __ARCH_ARM_SRC_STM32L4_STM32L4_CAN_H */