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SAMV71-XULT: Add support for MCAN1 loopback test

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This commit is contained in:
Gregory Nutt 2015-08-05 08:05:26 -06:00
parent 81dcadf70a
commit 6f0cbfbd64
4 changed files with 242 additions and 17 deletions
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102
configs/samv71-xult/README.txt
View File

@ -20,6 +20,7 @@ Contents
- Networking
- Audio Interface
- maXTouch Xplained Pro
- MCAN1 Loopback Test
- Debugging
- Configurations
@ -951,8 +952,8 @@ MXT Configuration Options
ILI9488 Configuration Options
-----------------------------
Currently only the parallel mode is supported. This means that the LCD can
only be used in connected in the LCD (EXT4) connection.
Currently only the parallel mode is supported. This means that the LCD can
only be used in connected in the LCD (EXT4) connection.
System Type -> SAMV7 Peripheral Support
CONFIG_SAMV7_SMC=y : Needed by the ILI9466 driver controller
@ -990,27 +991,94 @@ only be used in connected in the LCD (EXT4) connection.
CONFIG_EXAMPLES_NXLINES_VPLANE=0
CONFIG_EXAMPLES_NXLINES_DEVNO=0
MCAN1 Loopback Test
===================
MCAN1
-----
SAM V71 Xplained Ultra has two MCAN modules that performs communication according
to ISO11898-1 (Bosch CAN specification 2.0 part A,B) and Bosch CAN FD
specification V1.0. MCAN1 is connected to an on-board ATA6561 CAN physical-layer
transceiver.
------- -------- -------- -------------
SAM V71 FUNCTION ATA6561 SHARED
PIN FUNCTION FUNCTIONALITY
------- -------- -------- -------------
PC14 CANTX1 TXD Shield
PC12 CANRX1 RXD Shield
------- -------- -------- -------------
Enabling MCAN1
--------------
These modifications may be applied to the samv71-xult/nsh configuration in order
to enable MCAN1:
Device Drivers -> CAN Driver support
CONFIG_CAN=y # Enable the upper-half CAN driver
CONFIG_CAN_FIFOSIZE=8
CONFIG_CAN_NPENDINGRTR=4
System Type -> SAMV7 Peripheral Selections
CONFIG_SAMV7_MCAN1=y # Enable MCAN1 as the lower-half
System Type ->MCAN device driver options
CONFIG_SAMV7_MCAN_CLKSRC_MAIN=y # Use the MAIN clock as the source
CONFIG_SAMV7_MCAN_CLKSRC_PRESCALER=1
System Type ->MCAN device driver options -> MCAN1 device driver options
CONFIG_SAMV7_MCAN1_ISO11899_1=y # Loopback test only support ISO11899-1
CONFIG_SAMV7_MCAN1_LOOPBACK=y # Needed for loopback test
CONFIG_SAMV7_MCAN1_BITRATE=500000 # Not critical for loopback test
CONFIG_SAMV7_MCAN1_PROPSEG=2 # Bit timing setup
CONFIG_SAMV7_MCAN1_PHASESEG1=11 # " " " " " "
CONFIG_SAMV7_MCAN1_PHASESEG2=11 # " " " " " "
CONFIG_SAMV7_MCAN1_FSJW=4 # " " " " " "
CONFIG_SAMV7_MCAN1_FBITRATE=2000000 # CAN_FD BTW mode is not used
CONFIG_SAMV7_MCAN1_FPROPSEG=2 # " " " " " " "" " " " "
CONFIG_SAMV7_MCAN1_FPHASESEG1=4 # " " " " " " "" " " " "
CONFIG_SAMV7_MCAN1_FPHASESEG2=4 # " " " " " " "" " " " "
CONFIG_SAMV7_MCAN1_FFSJW=2 # " " " " " " "" " " " "
CONFIG_SAMV7_MCAN1_NSTDFILTERS=0 # Filters are not used in the loopback test
CONFIG_SAMV7_MCAN1_NEXTFILTERS=0 # " " " " " " " " "" " " " " " "
CONFIG_SAMV7_MCAN1_RXFIFO0_32BYTES=y # Each RX FIFO0 element is 32 bytes
CONFIG_SAMV7_MCAN1_RXFIFO0_SIZE=8 # There are 8 queue elements
CONFIG_SAMV7_MCAN1_RXFIFO0_32BYTES=y # Each RX FIFO1 element is 32 bytes
CONFIG_SAMV7_MCAN1_RXFIFO0_SIZE=8 # There are 8 queue elements
CONFIG_SAMV7_MCAN1_RXBUFFER_32BYTES=y # Each RX BUFFER is 32 bytes
CONFIG_SAMV7_MCAN1_TXBUFFER_32BYTES=y # Each TX BUFFER is 32 bytes
CONFIG_SAMV7_MCAN1_TXFIFOQ_SIZE=8 # There are 8 queue elements
CONFIG_SAMV7_MCAN1_TXEVENTFIFO_SIZE=0 # The event FIFO is not used
Enabling the CAN Loopback Test
------------------------------
Application Configuration -> Examples -> CAN Example
CONFIG_EXAMPLES_CAN=y # Enables the CAN test
Enabling CAN Debug Output
-------------------------
Debugging
=========
The on-board EDBG appears to work only with Atmel Studio. You can however,
simply connect a SAM-ICE or J-Link to the JTAG/SWD connector on the board
and that works great. The only tricky thing is getting the correct
orientation of the JTAG connection.
The on-board EDBG appears to work only with Atmel Studio. You can however,
simply connect a SAM-ICE or J-Link to the JTAG/SWD connector on the board
and that works great. The only tricky thing is getting the correct
orientation of the JTAG connection.
I have been using Atmel Studio to write code to flash then I use the Segger
J-Link GDB server to debug. I have been using the 'Device Programming' I
available under the Atmel Studio 'Tool' menu. I have to disconnect the
SAM-ICE while programming with the EDBG. I am sure that you could come up
with a GDB server-only solution if you wanted.
I have been using Atmel Studio to write code to flash then I use the Segger
J-Link GDB server to debug. I have been using the 'Device Programming' I
available under the Atmel Studio 'Tool' menu. I have to disconnect the
SAM-ICE while programming with the EDBG. I am sure that you could come up
with a GDB server-only solution if you wanted.
I run GDB like this from the directory containing the NuttX ELF file:
I run GDB like this from the directory containing the NuttX ELF file:
arm-none-eabi-gdb
(gdb) target remote localhost:2331
(gdb) mon reset
(gdb) file nuttx
(gdb) ... start debugging ...
arm-none-eabi-gdb
(gdb) target remote localhost:2331
(gdb) mon reset
(gdb) file nuttx
(gdb) ... start debugging ...
Configurations
==============

19
configs/samv71-xult/include/board.h
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@ -503,6 +503,25 @@
# endif
#endif /* CONFIG_SAMV71XULT_MXTXPLND */
/* MCAN1
*
* SAM V71 Xplained Ultra has two MCAN modules that performs communication according
* to ISO11898-1 (Bosch CAN specification 2.0 part A,B) and Bosch CAN FD
* specification V1.0. MCAN1 is connected to an on-board ATA6561 CAN physical-layer
* transceiver.
*
* ------- -------- -------- -------------
* SAM V71 FUNCTION ATA6561 SHARED
* PIN FUNCTION FUNCTIONALITY
* ------- -------- -------- -------------
* PC14 CANTX1 TXD Shield
* PC12 CANRX1 RXD Shield
* ------- -------- -------- -------------
*/
#define GPIO_MCAN1_TX GPIO_MCAN1_TX_2
#define GPIO_MCAN1_RX GPIO_MCAN1_RX_2
/************************************************************************************
* Public Types
************************************************************************************/

4
configs/samv71-xult/src/Makefile
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@ -90,6 +90,10 @@ ifeq ($(CONFIG_USBMSC),y)
CSRCS += sam_usbmsc.c
endif
ifeq ($(CONFIG_SAMV7_MCAN),y)
CSRCS += sam_mcan.c
endif
ifeq ($(CONFIG_AUDIO_WM8904),y)
ifeq ($(CONFIG_SAMV7_TWIHS0),y)
ifeq ($(CONFIG_SAMV7_SSC0),y)

134
configs/samv71-xult/src/sam_mcan.c Normal file
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@ -0,0 +1,134 @@
/************************************************************************************
* configs/samv71-xultk/src/sam_mcan.c
*
* Copyright (C) 2015 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.
*
************************************************************************************/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <stdbool.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can.h>
#include <arch/board/board.h>
#include "sam_mcan.h"
#include "samv71-xult.h"
#if defined(CONFIG_CAN) && (defined(CONFIG_SAMV7_MCAN0) || defined(CONFIG_SAMV7_MCAN1))
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
#if defined(CONFIG_SAMV7_MCAN0) && defined(CONFIG_SAMV7_MCAN1)
# warning "Both MCAN0 and MCAN1 are enabled. Assuming only CAN1."
# undef CONFIG_SAMV7_MCAN0
#endif
#ifdef CONFIG_SAMV7_MCAN0
# define CAN_PORT 0
#else
# define CAN_PORT 1
#endif
/* Debug ***************************************************************************/
/* Non-standard debug that may be enabled just for testing CAN */
#ifdef CONFIG_DEBUG_CAN
# define candbg dbg
# define canvdbg vdbg
# define canlldbg lldbg
# define canllvdbg llvdbg
#else
# define candbg(x...)
# define canvdbg(x...)
# define canlldbg(x...)
# define canllvdbg(x...)
#endif
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: can_devinit
*
* Description:
* All STM32 architectures must provide the following interface to work with
* examples/can.
*
************************************************************************************/
int can_devinit(void)
{
static bool initialized = false;
struct can_dev_s *can;
int ret;
/* Check if we have already initialized */
if (!initialized)
{
/* Call stm32_caninitialize() to get an instance of the CAN interface */
can = sam_mcan_initialize(CAN_PORT);
if (can == NULL)
{
candbg("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)
{
candbg("ERROR: can_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
initialized = true;
}
return OK;
}
#endif /* CONFIG_CAN && (CONFIG_SAMV7_MCAN0 || CONFIG_SAMV7_MCAN1) */