Add loopback support to STM32 CAN driver; Add apps/examples/can loopback test

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4213 42af7a65-404d-4744-a932-0658087f49c3

configs/README.txt

@@ -641,6 +641,9 @@ defconfig -- This is a configuration file similar to the Linux
 		  Default: 8
 		CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 		  Default: 4
+		CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+		mode for testing. If the driver does support loopback mode, the setting
+		will enable it. (If the driver does not, this setting will have no effect).
 
 	SPI driver
 

configs/hymini-stm32v/README.txt

@@ -495,6 +495,8 @@ HY-Mini specific Configuration Options
 	  Default: 8
 	CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 	  Default: 4
+	CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+	  mode for testing. The STM32 CAN driver does support loopback mode.
 	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 

configs/stm3210e-eval/README.txt

@@ -583,6 +583,8 @@ STM3210E-EVAL-specific Configuration Options
 	  Default: 8
 	CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 	  Default: 4
+	CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+	  mode for testing. The STM32 CAN driver does support loopback mode.
 	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 

configs/stm3210e-eval/src/up_adc.c

@@ -124,6 +124,11 @@ int adc_devinit(void)
   /* Call stm32_adcinitialize() to get an instance of the ADC interface */
 
   adc = stm32_adcinitialize(1, g_chanlist, ADC_NCHANNELS);
+  if (adc == NULL)
+    {
+      adbg("ERROR: Failed to get ADC interface\n");
+      return;
+    }
 
   /* Register the ADC driver at "/dev/adc0" */
 
@@ -133,7 +138,7 @@ int adc_devinit(void)
       adbg("adc_register failed: %d\n", ret);
     }
 
-  return OK;
+  return ret;
 }
 
 #endif /* CONFIG_STM32_ADC || CONFIG_STM32_ADC2 || CONFIG_STM32_ADC3 */

configs/stm3240g-eval/README.txt

@@ -524,6 +524,8 @@ STM3240G-EVAL-specific Configuration Options
 	  Default: 8
 	CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 	  Default: 4
+	CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+	  mode for testing. The STM32 CAN driver does support loopback mode.
 	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 

configs/stm3240g-eval/dhcpd/defconfig

@@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 #   Default: 4
+# CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+#   mode for testing. The STM32 CAN driver does support loopback mode.
 # CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 #
 CONFIG_CAN=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
-CONFIG_CAN1_BAUD=115200
+CONFIG_CAN_LOOPBACK=n
-CONFIG_CAN2_BAUD=115200
+CONFIG_CAN1_BAUD=700000
+CONFIG_CAN2_BAUD=700000
 
 #
 # STM32F40xxx Ethernet device driver settings

configs/stm3240g-eval/nettest/defconfig

@@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 #   Default: 4
+# CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+#   mode for testing. The STM32 CAN driver does support loopback mode.
 # CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 #
 CONFIG_CAN=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
-CONFIG_CAN1_BAUD=115200
+CONFIG_CAN_LOOPBACK=n
-CONFIG_CAN2_BAUD=115200
+CONFIG_CAN1_BAUD=700000
+CONFIG_CAN2_BAUD=700000
 
 #
 # STM32F40xxx Ethernet device driver settings

configs/stm3240g-eval/nsh/appconfig

@@ -54,4 +54,7 @@ ifeq ($(CONFIG_PWM),y)
 CONFIGURED_APPS += examples/pwm
 endif
 
+ifeq ($(CONFIG_CAN),y)
+CONFIGURED_APPS += examples/can
+endif
 

configs/stm3240g-eval/nsh/defconfig

@@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 #   Default: 4
+# CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+#   mode for testing. The STM32 CAN driver does support loopback mode.
 # CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 #
 CONFIG_CAN=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
-CONFIG_CAN1_BAUD=115200
+CONFIG_CAN_LOOPBACK=n
-CONFIG_CAN2_BAUD=115200
+CONFIG_CAN1_BAUD=700000
+CONFIG_CAN2_BAUD=700000
 
 #
 # STM32F40xxx Ethernet device driver settings

configs/stm3240g-eval/ostest/defconfig

@@ -265,14 +265,17 @@ CONFIG_SSI_POLLWAIT=y
 #   Default: 8
 # CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
 #   Default: 4
+# CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
+#   mode for testing. The STM32 CAN driver does support loopback mode.
 # CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
 # CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
 #
 CONFIG_CAN=n
 #CONFIG_CAN_FIFOSIZE
 #CONFIG_CAN_NPENDINGRTR
-CONFIG_CAN1_BAUD=115200
+CONFIG_CAN_LOOPBACK=n
-CONFIG_CAN2_BAUD=115200
+CONFIG_CAN1_BAUD=700000
+CONFIG_CAN2_BAUD=700000
 
 #
 # STM32F40xxx Ethernet device driver settings

configs/stm3240g-eval/src/Makefile

@@ -50,6 +50,10 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS		+= up_pwm.c
 endif
 
+ifeq ($(CONFIG_CAN),y)
+CSRCS		+= up_can.c
+endif
+
 COBJS		= $(CSRCS:.c=$(OBJEXT))
 
 SRCS		= $(ASRCS) $(CSRCS)

configs/stm3240g-eval/src/stm3240g-internal.h

@@ -48,7 +48,7 @@
 /****************************************************************************************************
  * Definitions
  ****************************************************************************************************/
-
+/* Configuration ************************************************************************************/
 /* How many SPI modules does this chip support? */
 
 #if STM32_NSPI < 1
@@ -62,6 +62,36 @@
 #  undef CONFIG_STM32_SPI3
 #endif
 
+/* You can use either CAN1 or CAN2, but you can't use both because they share the same transceiver */
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "The STM3250G-EVAL will only support one of CAN1 and CAN2"
+#endif
+
+/* You can't use CAN1 with FSMC:
+ *
+ *   PD0   = FSMC_D2 & CAN1_RX   
+ *   PD1   = FSMC_D3 & CAN1_TX  
+ */
+
+#ifndef CONFIG_CAN_LOOPBACK
+#  if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_FSMC)
+#    warning "The STM3250G-EVAL will only support one of CAN1 and FSMC"
+#  endif
+#endif
+
+/* The USB OTG HS ULPI bus is shared with CAN2 bus:
+ *
+ *   PB13  = ULPI_D6 & CAN2_TX
+ *   PB5   = ULPI_D7 & CAN2_RX
+ */
+
+#ifndef CONFIG_CAN_LOOPBACK
+#  if defined(CONFIG_STM32_CAN2) && defined(CONFIG_STM32_OTGHS)
+#    warning "The STM3250G-EVAL will only support one of CAN2 and USB OTG HS"
+#  endif
+#endif
+
 /* STM3240G-EVAL GPIOs ******************************************************************************/
 /* LEDs */
 

configs/stm3240g-eval/src/up_adc.c

@@ -91,11 +91,19 @@
  *
  ************************************************************************************/
 
-void adc_devinit(void)
+int adc_devinit(void)
 {
+  static bool initialized = false;
   struct adc_dev_s *adc;
   int ret;
 
+  /* Check if we have already initialized */
+
+  if (!initialized)
+    {
+      /* Configure the pins as analog inputs for the selected channels */
+#warning "Missing Logic"
+
       /* Call stm32_adcinitialize() to get an instance of the ADC interface */
 #warning "Missing Logic"
 
@@ -105,7 +113,15 @@ void adc_devinit(void)
       if (ret < 0)
         {
           adbg("adc_register failed: %d\n", ret);
+          return ret;
         }
+
+      /* Now we are initialized */
+
+      initialized = true;
+    }
+
+  return OK;
 }
 
 #endif /* CONFIG_STM32_ADC || CONFIG_STM32_ADC2 || CONFIG_STM32_ADC3 */

configs/stm3240g-eval/src/up_can.c

@@ -0,0 +1,142 @@
+/************************************************************************************
+ * configs/stm3240g-eval/src/up_can.c
+ * arch/arm/src/board/up_can.c
+ *
+ *   Copyright (C) 2011 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 <errno.h>
+#include <debug.h>
+
+#include <nuttx/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "up_arch.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "stm3240g-internal.h"
+
+#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#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
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * 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 = stm32_caninitialize(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_STM32_CAN || CONFIG_STM32_CAN2 || CONFIG_STM32_CAN3 */