/************************************************************************************ * configs/same70-xplainedk/src/sam_mcan.c * * Copyright (C) 2015 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * 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 #include #include #include #include #include #include "sam_mcan.h" #include "same70-xplained.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 caninfo info # define canllerr llerr # define canllinfo llinfo #else # define candbg(x...) # define caninfo(x...) # define canllerr(x...) # define canllinfo(x...) #endif /************************************************************************************ * Public Functions ************************************************************************************/ /************************************************************************************ * Name: board_can_initialize * * Description: * All STM32 architectures must provide the following interface to work with * examples/can. * ************************************************************************************/ int board_can_initialize(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) */