/****************************************************************************
 * boards/arm/stm32l4/nucleo-l476rg/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.
 *
 ****************************************************************************/

/* Added by: Ben vd Veen (DisruptiveNL) -- www.nuttx.nl */

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <stdbool.h>
#include <errno.h>
#include <debug.h>

#include <nuttx/can/can.h>

#include "stm32l4_can.h"
#include "nucleo-l476rg.h"

#ifdef CONFIG_CAN

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

#if defined(CONFIG_STM32L4_CAN1)
#  warning "Both CAN1 and CAN2 are enabled.  Only CAN1 is connected."
#endif

#ifdef CONFIG_STM32L4_CAN1
#  define CAN_PORT 1
#endif

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: stm32l4_can_setup
 *
 * Description:
 *  Initialize CAN and register the CAN device
 *
 ****************************************************************************/

int stm32l4_can_setup(void)
{
#ifdef CONFIG_STM32L4_CAN1
  struct can_dev_s *can;
  int ret;

  /* Call stm32l4can_initialize() to get an instance of the CAN interface */

  can = stm32l4can_initialize(CAN_PORT);
  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;
    }

  return OK;
#else
  return -ENODEV;
#endif
}

#endif /* CONFIG_CAN */