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

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git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4213 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo
2011-12-22 15:59:50 +00:00
parent 11f2cc1e15
commit 07a2d59fbc
5 changed files with 92 additions and 39 deletions
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arch/arm/src/common/up_internal.h
-6
View File
@@ -340,11 +340,6 @@ extern void up_usbuninitialize(void);
# define up_usbuninitialize()
#endif
/* CAN **********************************************************************/
struct can_dev_s; /* Forward reference */
extern FAR struct can_dev_s *up_caninitialize(int port);
/****************************************************************************
* Name: up_check_stack
*
@@ -361,7 +356,6 @@ extern FAR struct can_dev_s *up_caninitialize(int port);
*
****************************************************************************/
#if defined(CONFIG_DEBUG) && defined(CONFIG_DEBUG_STACK)
extern size_t up_check_stack(void);
extern size_t up_check_tcbstack(FAR _TCB);
arch/arm/src/lpc17xx/lpc17_can.c
+2 -2
View File
@@ -354,7 +354,7 @@ static int can_interrupt(int irq, void *context)
****************************************************************************/
/****************************************************************************
* Name: up_caninitialize
* Name: lpc17_caninitialize
*
* Description:
* Initialize the selected can port
@@ -367,7 +367,7 @@ static int can_interrupt(int irq, void *context)
*
****************************************************************************/
FAR struct can_dev_s *up_caninitialize(int port)
FAR struct can_dev_s *lpc17_caninitialize(int port)
{
uint32_t regval;
irqstate_t flags;
arch/arm/src/lpc17xx/lpc17_internal.h
+19
View File
@@ -786,6 +786,25 @@ FAR struct adc_dev_s *stm32_adcinitialize(void);
EXTERN FAR struct dac_dev_s *lpc17_dacinitialize(void);
#endif
/****************************************************************************
* Name: lpc17_caninitialize
*
* Description:
* Initialize the selected can port
*
* Input Parameter:
* Port number (for hardware that has mutiple can interfaces)
*
* Returned Value:
* Valid can device structure reference on succcess; a NULL on failure
*
****************************************************************************/
#if defined(CONFIG_CAN) && (defined(CONFIG_LPC17_CAN1) || defined(CONFIG_LPC17_CAN2))
struct can_dev_s;
EXTERN FAR struct can_dev_s *lpc17_caninitialize(int port);
#endif
#undef EXTERN
#if defined(__cplusplus)
}
arch/arm/src/stm32/stm32_can.c
+15 -31
View File
@@ -60,34 +60,11 @@
#include "stm32_internal.h"
#include "stm32_can.h"
#ifdef CONFIG_CAN
#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Up to 2 CAN interfaces are supported */
#if STM32_NCAN < 2
# undef CONFIG_STM32_CAN2
#endif
#if STM32_NCAN < 1
# undef CONFIG_STM32_CAN1
#endif
#if defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)
/* CAN BAUD */
#if defined(CONFIG_STM32_CAN1) && !defined(CONFIG_CAN1_BAUD)
# error "CONFIG_CAN1_BAUD is not defined"
#endif
#if defined(CONFIG_STM32_CAN2) && !defined(CONFIG_CAN2_BAUD)
# error "CONFIG_CAN2_BAUD is not defined"
#endif
/* Delays *******************************************************************/
/* Time out for INAK bit */
@@ -762,7 +739,7 @@ static int can_rx0interrupt(int irq, void *context)
/* Provide the data to the upper half driver */
ret = can_receive(dev, (uint16_t)CAN_MSG(id, rtr, dlc), data);
ret = can_receive(dev, (uint16_t)CAN_HDR(id, rtr, dlc), data);
/* Release the FIFO0 */
@@ -925,7 +902,7 @@ static int can_bittiming(struct stm32_can_s *priv)
canvdbg("TS1: %d TS2: %d BRP: %d\n", ts1, ts2, brp);
/* Configure bit timing. This also does the the following, less obvious
* things:
* things. Unless loopback mode is enabled, it:
*
* - Disables silent mode.
* - Disables loopback mode.
@@ -936,6 +913,10 @@ static int can_bittiming(struct stm32_can_s *priv)
tmp = ((brp - 1) << CAN_BTR_BRP_SHIFT) | ((ts1 - 1) << CAN_BTR_TS1_SHIFT) |
((ts2 - 1) << CAN_BTR_TS2_SHIFT) | ((1 - 1) << CAN_BTR_SJW_SHIFT);
#ifdef CONFIG_CAN_LOOPBACK
tmp |= (CAN_BTR_LBKM | CAN_BTR_SILM);
#endif
can_putreg(priv, STM32_CAN_BTR_OFFSET, tmp);
return OK;
}
@@ -1126,7 +1107,7 @@ static int can_filterinit(struct stm32_can_s *priv)
****************************************************************************/
/****************************************************************************
* Name: up_caninitialize
* Name: stm32_caninitialize
*
* Description:
* Initialize the selected CAN port
@@ -1139,7 +1120,7 @@ static int can_filterinit(struct stm32_can_s *priv)
*
****************************************************************************/
FAR struct can_dev_s *up_caninitialize(int port)
FAR struct can_dev_s *stm32_caninitialize(int port)
{
struct can_dev_s *dev = NULL;
@@ -1158,8 +1139,10 @@ FAR struct can_dev_s *up_caninitialize(int port)
* file must have been disambiguated in the board.h file.
*/
#ifndef CONFIG_CAN_LOOPBACK
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
#endif
}
else
#endif
@@ -1174,19 +1157,20 @@ FAR struct can_dev_s *up_caninitialize(int port)
* file must have been disambiguated in the board.h file.
*/
#ifndef CONFIG_CAN_LOOPBACK
stm32_configgpio(GPIO_CAN2_RX);
stm32_configgpio(GPIO_CAN2_TX);
#endif
}
else
#endif
{
candbg("Unsupported port %d\n", priv->port);
candbg("Unsupported port %d\n", port);
return NULL;
}
return dev;
}
#endif /* CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2 */
#endif /* CONFIG_CAN */
#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */
arch/arm/src/stm32/stm32_can.h
+56
View File
@@ -50,17 +50,73 @@
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
/* Up to 2 CAN interfaces are supported */
#if STM32_NCAN < 2
# undef CONFIG_STM32_CAN2
#endif
#if STM32_NCAN < 1
# undef CONFIG_STM32_CAN1
#endif
#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
/* CAN BAUD */
#if defined(CONFIG_STM32_CAN1) && !defined(CONFIG_CAN1_BAUD)
# error "CONFIG_CAN1_BAUD is not defined"
#endif
#if defined(CONFIG_STM32_CAN2) && !defined(CONFIG_CAN2_BAUD)
# error "CONFIG_CAN2_BAUD is not defined"
#endif
/************************************************************************************
* Public Types
************************************************************************************/
#ifndef __ASSEMBLY__
/************************************************************************************
* Public Data
************************************************************************************/
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
/************************************************************************************
* Public Functions
************************************************************************************/
/****************************************************************************
* Name: stm32_caninitialize
*
* Description:
* Initialize the selected CAN port
*
* Input Parameter:
* Port number (for hardware that has mutiple CAN interfaces)
*
* Returned Value:
* Valid CAN device structure reference on succcess; a NULL on failure
*
****************************************************************************/
struct can_dev_s;
EXTERN FAR struct can_dev_s *stm32_caninitialize(int port);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */
#endif /* __ARCH_ARM_SRC_STM32_STM32_CAN_H */