158 lines
4.2 KiB
C
158 lines
4.2 KiB
C
/****************************************************************************
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* boards/arm/tiva/tm4c1294-launchpad/src/tm4c_can.c
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* Based heavily on tiva_can.c from the tm4c1293-launchpad board
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/can/can.h>
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#include <arch/board/board.h>
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#include "chip.h"
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#include "arm_internal.h"
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#include "tiva_can.h"
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#include "tm4c1294-launchpad.h"
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#include "tiva_enableclks.h"
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#include "tiva_gpio.h"
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#include "hardware/tiva_pinmap.h"
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#ifdef CONFIG_TIVA_CAN
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: tm4c_can_setup
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*
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* Description:
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* Initialize CAN and register the CAN device
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*
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****************************************************************************/
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int tm4c_can_setup(void)
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{
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int ret = ERROR;
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# ifdef CONFIG_TIVA_CAN0
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tiva_can0_enableclk();
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ret = tiva_configgpio(GPIO_CAN0_RX);
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if (ret < 0)
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{
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goto configgpio_error;
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}
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ret = tiva_configgpio(GPIO_CAN0_TX);
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if (ret < 0)
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{
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goto configgpio_error;
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}
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# ifdef CONFIG_TIVA_CHAR_DEV_CAN
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/* Call tiva_can_initialize() to get an instance of CAN interface 0
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* and register it.
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*/
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ret = tiva_can_initialize("/dev/can0", 0);
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if (ret < 0)
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{
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canerr("ERROR: Failed to get/register CAN interface 0\n");
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return ret;
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}
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# endif /* CONFIG_TIVA_CHAR_DEV_CAN */
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# if defined(CONFIG_TIVA_SOCKET_CAN)
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/* Call tiva_cansockinitialize() to get an instance of CAN interface 0
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* and register it.
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*/
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ret = tiva_cansockinitialize(0);
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if (ret < 0)
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{
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canerr("ERROR: Failed to get/register CAN interface 0\n");
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return ret;
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}
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# endif /* CONFIG_TIVA_SOCKET_CAN */
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# endif /* CONFIG_TIVA_CAN0 */
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# ifdef CONFIG_TIVA_CAN1
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tiva_can1_enableclk();
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ret = tiva_configgpio(GPIO_CAN1_RX);
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if (ret < 0)
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{
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goto configgpio_error;
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}
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ret = tiva_configgpio(GPIO_CAN1_TX);
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if (ret < 0)
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{
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goto configgpio_error;
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}
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# ifdef CONFIG_TIVA_CHAR_DEV_CAN
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/* Call tiva_can_initialize() to get an instance of CAN interface 1
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* and register it.
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*/
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ret = tiva_can_initialize("/dev/can1", 1);
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if (ret < 0)
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{
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canerr("ERROR: Failed to get/register CAN interface 1\n");
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return ret;
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}
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# endif /* CONFIG_TIVA_CHAR_DEV_CAN */
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# if defined(CONFIG_TIVA_SOCKET_CAN)
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/* Call tiva_cansockinitialize() to get an instance of CAN interface 0
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* and register it.
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*/
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ret = tiva_cansockinitialize(0);
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if (ret < 0)
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{
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canerr("ERROR: Failed to get/register CAN interface 0\n");
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return ret;
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}
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# endif /* CONFIG_TIVA_SOCKET_CAN */
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# endif /* CONFIG_TIVA_CAN1 */
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return OK;
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configgpio_error:
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canerr("ERROR: failed to configure CAN GPIO pin.\n");
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return ret;
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}
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#endif /* CONFIG_TIVA_CAN */
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