diff --git a/Documentation/platforms/arm/stm32c0/boards/nucleo-c092rc/index.rst b/Documentation/platforms/arm/stm32c0/boards/nucleo-c092rc/index.rst index 1aae7b79a51..45aa8e787c5 100644 --- a/Documentation/platforms/arm/stm32c0/boards/nucleo-c092rc/index.rst +++ b/Documentation/platforms/arm/stm32c0/boards/nucleo-c092rc/index.rst @@ -44,3 +44,15 @@ Enabled features: - ADC with DMA enabled using A0 and A1 pins - button with software debouncing enabled (no RC filter on the board) + +can +--- + +Configuration with FDCAN enabled as character driver and +``examples/can`` included as builtin application. + +cansock +------- + +Configuration with FDCAN enabled as SocketCAN interface with ``candump`` +and ``cansend`` utils included as builtin applications. diff --git a/Documentation/platforms/arm/stm32c0/index.rst b/Documentation/platforms/arm/stm32c0/index.rst index ebaa3c2a937..f989b889c47 100644 --- a/Documentation/platforms/arm/stm32c0/index.rst +++ b/Documentation/platforms/arm/stm32c0/index.rst @@ -40,7 +40,7 @@ WWDG Yes I2C Yes USART Yes SPI Yes -FDCAN No +FDCAN Yes USB No ========== ======= ===== diff --git a/boards/arm/stm32f0l0g0/nucleo-c092rc/configs/can/defconfig b/boards/arm/stm32f0l0g0/nucleo-c092rc/configs/can/defconfig new file mode 100644 index 00000000000..9149c2562c4 --- /dev/null +++ b/boards/arm/stm32f0l0g0/nucleo-c092rc/configs/can/defconfig @@ -0,0 +1,53 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_STM32F0G0L0_USE_LEGACY_PINMAP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD="nucleo-c092rc" +CONFIG_ARCH_BOARD_NUCLEO_C092RC=y +CONFIG_ARCH_BUTTONS=y +CONFIG_ARCH_CHIP="stm32f0l0g0" +CONFIG_ARCH_CHIP_STM32C092RC=y +CONFIG_ARCH_CHIP_STM32C092XX=y +CONFIG_ARCH_CHIP_STM32C0=y +CONFIG_ARCH_IRQBUTTONS=y +CONFIG_ARCH_STACKDUMP=y +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=3997 +CONFIG_BUILTIN=y +CONFIG_CAN_ERRORS=y +CONFIG_CAN_EXTID=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_EXAMPLES_CAN=y +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_STACKSIZE=1536 +CONFIG_INTELHEX_BINARY=y +CONFIG_LINE_MAX=64 +CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6 +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=64 +CONFIG_NSH_READLINE=y +CONFIG_POSIX_SPAWN_DEFAULT_STACKSIZE=1536 +CONFIG_PTHREAD_MUTEX_UNSAFE=y +CONFIG_PTHREAD_STACK_DEFAULT=1536 +CONFIG_RAM_SIZE=30720 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_RR_INTERVAL=200 +CONFIG_SCHED_WAITPID=y +CONFIG_START_DAY=19 +CONFIG_START_MONTH=5 +CONFIG_START_YEAR=2013 +CONFIG_STDIO_DISABLE_BUFFERING=y +CONFIG_STM32F0L0G0_FDCAN1=y +CONFIG_STM32F0L0G0_FDCAN1_BITRATE=250000 +CONFIG_STM32F0L0G0_FDCAN1_NTSEG1=143 +CONFIG_STM32F0L0G0_FDCAN1_NTSEG2=48 +CONFIG_STM32F0L0G0_USART2=y +CONFIG_SYSTEM_NSH=y +CONFIG_USART2_SERIAL_CONSOLE=y diff --git a/boards/arm/stm32f0l0g0/nucleo-c092rc/configs/cansock/defconfig b/boards/arm/stm32f0l0g0/nucleo-c092rc/configs/cansock/defconfig new file mode 100644 index 00000000000..a7017a8a64c --- /dev/null +++ b/boards/arm/stm32f0l0g0/nucleo-c092rc/configs/cansock/defconfig @@ -0,0 +1,59 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_NET_ETHERNET is not set +# CONFIG_NET_IPv4 is not set +# CONFIG_STM32F0G0L0_USE_LEGACY_PINMAP is not set +CONFIG_ALLOW_BSD_COMPONENTS=y +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD="nucleo-c092rc" +CONFIG_ARCH_BOARD_NUCLEO_C092RC=y +CONFIG_ARCH_BUTTONS=y +CONFIG_ARCH_CHIP="stm32f0l0g0" +CONFIG_ARCH_CHIP_STM32C092RC=y +CONFIG_ARCH_CHIP_STM32C092XX=y +CONFIG_ARCH_CHIP_STM32C0=y +CONFIG_ARCH_INTERRUPTSTACK=1024 +CONFIG_ARCH_STACKDUMP=y +CONFIG_BOARD_LATE_INITIALIZE=y +CONFIG_BOARD_LOOPSPERMSEC=3997 +CONFIG_BUILTIN=y +CONFIG_CANUTILS_CANDUMP=y +CONFIG_CANUTILS_CANSEND=y +CONFIG_CANUTILS_LIBCANUTILS=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INTELHEX_BINARY=y +CONFIG_IOB_BUFSIZE=128 +CONFIG_IOB_NBUFFERS=10 +CONFIG_LINE_MAX=64 +CONFIG_NET=y +CONFIG_NETDEV_IFINDEX=y +CONFIG_NETDEV_LATEINIT=y +CONFIG_NET_CAN=y +CONFIG_NET_SOCKOPTS=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_READLINE=y +CONFIG_RAM_SIZE=30720 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_RR_INTERVAL=200 +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_WAITPID=y +CONFIG_START_DAY=14 +CONFIG_START_MONTH=10 +CONFIG_START_YEAR=2014 +CONFIG_STM32F0L0G0_FDCAN1=y +CONFIG_STM32F0L0G0_FDCAN1_BITRATE=250000 +CONFIG_STM32F0L0G0_FDCAN1_NTSEG1=143 +CONFIG_STM32F0L0G0_FDCAN1_NTSEG2=48 +CONFIG_STM32F0L0G0_FDCAN_SOCKET=y +CONFIG_STM32F0L0G0_USART2=y +CONFIG_SYSTEM_NSH=y +CONFIG_USART2_SERIAL_CONSOLE=y diff --git a/boards/arm/stm32f0l0g0/nucleo-c092rc/include/board.h b/boards/arm/stm32f0l0g0/nucleo-c092rc/include/board.h index e7734c41715..ca9271a361c 100644 --- a/boards/arm/stm32f0l0g0/nucleo-c092rc/include/board.h +++ b/boards/arm/stm32f0l0g0/nucleo-c092rc/include/board.h @@ -72,6 +72,11 @@ #define STM32_RCC_CFGR_PPRE RCC_CFGR_PPRE_HCLK #define STM32_PCLK1_FREQUENCY STM32_HCLK_FREQUENCY +/* FDCAN1 clock is PCLK (48 MHz) */ + +#define STM32_FDCAN1_SEL RCC_CCIPR1_FDCAN1SEL_PCLK +#define STM32_FDCAN_FREQUENCY STM32_PCLK1_FREQUENCY + /* LED definitions **********************************************************/ /* LED index values for use with board_userled() */ @@ -153,6 +158,11 @@ #define GPIO_USART2_RX (GPIO_USART2_RX_1|GPIO_SPEED_HIGH) /* PA3 */ #define GPIO_USART2_TX (GPIO_USART2_TX_1|GPIO_SPEED_HIGH) /* PA2 */ +/* FDCAN */ + +#define GPIO_FDCAN1_RX (GPIO_FDCAN1_RX_8|GPIO_SPEED_HIGH) /* PD0 */ +#define GPIO_FDCAN1_TX (GPIO_FDCAN1_TX_9|GPIO_SPEED_HIGH) /* PD1 */ + /* DMA channels *************************************************************/ /* ADC */ diff --git a/boards/arm/stm32f0l0g0/nucleo-c092rc/src/CMakeLists.txt b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/CMakeLists.txt index 6ef6d850a2d..63782e9618a 100644 --- a/boards/arm/stm32f0l0g0/nucleo-c092rc/src/CMakeLists.txt +++ b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/CMakeLists.txt @@ -40,6 +40,15 @@ if(CONFIG_ADC) list(APPEND SRCS stm32_adc.c) endif() +if(CONFIG_STM32F0L0G0_FDCAN) + if(CONFIG_STM32F0L0G0_FDCAN_CHARDRIVER) + list(APPEND SRCS stm32_can.c) + endif() + if(CONFIG_STM32F0L0G0_FDCAN_SOCKET) + list(APPEND SRCS stm32_cansock.c) + endif() +endif() + target_sources(board PRIVATE ${SRCS}) set_property(GLOBAL PROPERTY LD_SCRIPT "${NUTTX_BOARD_DIR}/scripts/flash.ld") diff --git a/boards/arm/stm32f0l0g0/nucleo-c092rc/src/Make.defs b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/Make.defs index 35d7b5e76c1..8c4bb580a14 100644 --- a/boards/arm/stm32f0l0g0/nucleo-c092rc/src/Make.defs +++ b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/Make.defs @@ -42,6 +42,15 @@ ifeq ($(CONFIG_ADC),y) CSRCS += stm32_adc.c endif +ifeq ($(CONFIG_STM32F0L0G0_FDCAN),y) +ifeq ($(CONFIG_STM32F0L0G0_FDCAN_CHARDRIVER),y) +CSRCS += stm32_can.c +endif +ifeq ($(CONFIG_STM32F0L0G0_FDCAN_SOCKET),y) +CSRCS += stm32_cansock.c +endif +endif + DEPPATH += --dep-path board VPATH += :board CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board diff --git a/boards/arm/stm32f0l0g0/nucleo-c092rc/src/nucleo-c092rc.h b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/nucleo-c092rc.h index e0a2d4c7a52..bd06aed3642 100644 --- a/boards/arm/stm32f0l0g0/nucleo-c092rc/src/nucleo-c092rc.h +++ b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/nucleo-c092rc.h @@ -62,6 +62,13 @@ #define GPIO_BTN_USER (GPIO_INPUT | GPIO_PULLUP | GPIO_EXTI | \ GPIO_PORTC | GPIO_PIN13) +/* FDCAN: + * MCP2562FDT STBY - PD2 + */ + +#define GPIO_FDCAN_STBY (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_MEDIUM | \ + GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN2) + /**************************************************************************** * Public Types ****************************************************************************/ @@ -104,5 +111,29 @@ int stm32_bringup(void); int stm32_adc_setup(void); #endif +/**************************************************************************** + * Name: stm32_can_setup + * + * Description: + * Initialize CAN and register the CAN device + * + ****************************************************************************/ + +#ifdef CONFIG_STM32F0L0G0_FDCAN_CHARDRIVER +int stm32_can_setup(void); +#endif + +/**************************************************************************** + * Name: stm32_cansock_setup + * + * Description: + * Initialize CAN socket interface + * + ****************************************************************************/ + +#ifdef CONFIG_STM32F0L0G0_FDCAN_SOCKET +int stm32_cansock_setup(void); +#endif + #endif /* __ASSEMBLY__ */ #endif /* __BOARDS_ARM_STM32F0L0G0_NUCLEO_C092RC_SRC_NUCLEO_C092RC_H */ diff --git a/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_bringup.c b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_bringup.c index 0507750c805..8f58d20534b 100644 --- a/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_bringup.c +++ b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_bringup.c @@ -109,6 +109,26 @@ int stm32_bringup(void) } #endif +#ifdef CONFIG_STM32F0L0G0_FDCAN_CHARDRIVER + /* Initialize CAN and register the CAN driver. */ + + ret = stm32_can_setup(); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: stm32_fdcan_setup failed: %d\n", ret); + } +#endif + +#ifdef CONFIG_STM32F0L0G0_FDCAN_SOCKET + /* Initialize CAN socket interface */ + + ret = stm32_cansock_setup(); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: stm32_cansock_setup failed: %d\n", ret); + } +#endif + UNUSED(ret); return OK; } diff --git a/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_can.c b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_can.c new file mode 100644 index 00000000000..1c1f31c6d8c --- /dev/null +++ b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_can.c @@ -0,0 +1,78 @@ +/**************************************************************************** + * boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_can.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include "stm32_fdcan.h" +#include "nucleo-c092rc.h" + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_can_setup + * + * Description: + * Initialize CAN and register the CAN device + * + ****************************************************************************/ + +int stm32_can_setup(void) +{ + struct can_dev_s *can; + int ret; + + /* Configure STBY pin for output */ + + stm32_configgpio(GPIO_FDCAN_STBY); + + /* Set STBY pin low */ + + stm32_gpiowrite(GPIO_FDCAN_STBY, false); + + /* Call stm32_fdcaninitialize() to get an instance of the CAN interface */ + + can = stm32_fdcaninitialize(1); + 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; +} diff --git a/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_cansock.c b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_cansock.c new file mode 100644 index 00000000000..4eea74a86a8 --- /dev/null +++ b/boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_cansock.c @@ -0,0 +1,68 @@ +/**************************************************************************** + * boards/arm/stm32f0l0g0/nucleo-c092rc/src/stm32_cansock.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include "stm32_fdcan.h" +#include "nucleo-c092rc.h" + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: stm32_cansock_setup + * + * Description: + * Initialize CAN socket interface + * + ****************************************************************************/ + +int stm32_cansock_setup(void) +{ + int ret; + + /* Configure STBY pin for output */ + + stm32_configgpio(GPIO_FDCAN_STBY); + + /* Set STBY pin low */ + + stm32_gpiowrite(GPIO_FDCAN_STBY, false); + + /* Call stm32_fdcaninitialize() to get an instance of the FDCAN interface */ + + ret = stm32_fdcansockinitialize(1); + if (ret < 0) + { + canerr("ERROR: Failed to get FDCAN interface %d\n", ret); + return ret; + } + + return OK; +}