Remove BOARDIOC_CAN_INITIALIZE. CAN initialization is now done in the board initialization logic just like every other device driver.

configs/Kconfig

@@ -2029,15 +2029,6 @@ config BOARDCTL_TSCTEST
 		specific logic must provide board_tsc_setup() and
 		board_tsc_teardown() interfaces.
 
-config BOARDCTL_CANINIT
-	bool "Enable CAN initialize interface"
-	default n
-	depends on CAN
-	---help---
-		Enables support for the BOARDIOC_CAN_INITIALIZE boardctl() command.
-		Architecture specific logic must provide board_can_initialize()
-		interface.
-
 config BOARDCTL_GRAPHICS
 	bool "Enable custom graphics initialization interfaces"
 	default n

configs/boardctl.c

@@ -426,21 +426,6 @@ int boardctl(unsigned int cmd, uintptr_t arg)
         break;
 #endif
 
-#ifdef CONFIG_BOARDCTL_CANINIT
-      /* CMD:           BOARDIOC_CAN_INITIALIZE
-       * DESCRIPTION:   CAN device initialization
-       * ARG:           None
-       * CONFIGURATION: CONFIG_LIB_BOARDCTL && CONFIG_BOARDCTL_CANINIT
-       * DEPENDENCIES:  Board logic must provide board_can_initialize()
-       */
-
-      case BOARDIOC_CAN_INITIALIZE:
-        {
-          ret = board_can_initialize();
-        }
-        break;
-#endif
-
 #ifdef CONFIG_BOARDCTL_GRAPHICS
       /* CMD:           BOARDIOC_GRAPHICS_SETUP
        * DESCRIPTION:   Configure graphics that require special initialization

configs/nucleo-f303re/can/defconfig

@@ -545,7 +545,6 @@ CONFIG_LIB_BOARDCTL=y
 # CONFIG_BOARDCTL_RESET is not set
 # CONFIG_BOARDCTL_UNIQUEID is not set
 # CONFIG_BOARDCTL_TSCTEST is not set
-CONFIG_BOARDCTL_CANINIT=y
 # CONFIG_BOARDCTL_GRAPHICS is not set
 # CONFIG_BOARDCTL_IOCTL is not set
 

configs/nucleo-f303re/nxlines/defconfig

@@ -544,7 +544,6 @@ CONFIG_LIB_BOARDCTL=y
 # CONFIG_BOARDCTL_RESET is not set
 # CONFIG_BOARDCTL_UNIQUEID is not set
 # CONFIG_BOARDCTL_TSCTEST is not set
-# CONFIG_BOARDCTL_CANINIT is not set
 CONFIG_BOARDCTL_GRAPHICS=y
 # CONFIG_BOARDCTL_IOCTL is not set
 

configs/nucleo-f303re/src/nucleo-f303re.h

@@ -191,4 +191,16 @@ int stm32_pwm_setup(void);
 int stm32_adc_setup(void);
 #endif
 
+/****************************************************************************
+ * Name: stm32_can_setup
+ *
+ * Description:
+ *  Initialize CAN and register the CAN device
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_CAN
+int stm32_can_setup(void);
+#endif
+
 #endif /* __CONFIGS_NUCLEO_F303RE_SRC_NUCLEO_F303RE_H */

configs/nucleo-f303re/src/stm32_appinitialize.c

@@ -141,6 +141,16 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
+#ifdef CONFIG_CAN
+  /* Initialize CAN and register the CAN driver. */
+
+  ret = stm32_can_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: stm32_can_setup failed: %d\n", ret);
+    }
+#endif
+
   UNUSED(ret);
   return OK;
 }

configs/nucleo-f303re/src/stm32_can.c

@@ -45,60 +45,52 @@
 #include <errno.h>
 #include <debug.h>
 
-#include <nuttx/board.h>
 #include <nuttx/drivers/can.h>
 
 #include "stm32.h"
 
-#if defined(CONFIG_CAN) && defined(CONFIG_STM32_CAN1)
+#ifdef CONFIG_CAN
 
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
 
 /****************************************************************************
- * Name: board_can_initialize
+ * Name: stm32_can_setup
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work
+ *  Initialize CAN and register the CAN device
- *   with examples/can.
  *
  ****************************************************************************/
 
-int board_can_initialize(void)
+int stm32_can_setup(void)
 {
-  static bool initialized = false;
+#ifdef CONFIG_STM32_CAN1
   struct can_dev_s *can;
   int ret;
 
-  /* Check if we have already initialized */
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-  if (!initialized)
+  can = stm32_caninitialize(1);
+  if (can == NULL)
     {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+      canerr("ERROR: Failed to get CAN interface\n");
+      return -ENODEV;
+    }
 
-      can = stm32_caninitialize(1);
+  /* Register the CAN driver at "/dev/can0" */
-      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)
-      ret = can_register("/dev/can0", can);
+    {
-      if (ret < 0)
+      canerr("ERROR: can_register failed: %d\n", ret);
-        {
+      return ret;
-          canerr("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
-
-      /* Now we are initialized */
-
-      initialized = true;
     }
 
   return OK;
+#else
+  return -ENODEV;
+#endif
 }
 
-#endif /* CONFIG_CAN && CONFIG_STM32_CAN1 */
+#endif /* CONFIG_CAN */

configs/olimex-lpc1766stk/src/lpc1766stk.h

@@ -1,7 +1,7 @@
 /************************************************************************************
  * configs/olimex-lpc1766stk/src/lpc1766stk.h
  *
- *   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2010-2011, 2016 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -260,6 +260,18 @@
 
 void weak_function lpc1766stk_sspdev_initialize(void);
 
+/************************************************************************************
+ * Name: lpc1766stk_can_setup
+ *
+ * Description:
+ *  Initialize CAN and register the CAN device
+ *
+ ************************************************************************************/
+
+#ifdef CONFIG_CAN
+int lpc1766stk_can_setup(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif /* _CONFIGS_OLIMEX_LPC1766STK_SRC_LPC1766STK_H */
 

configs/olimex-lpc1766stk/src/lpc17_appinit.c

@@ -362,6 +362,16 @@ int board_app_initialize(uintptr_t arg)
       syslog(LOG_ERR, "ERROR: Failed to initialize USB host: %d\n", ret);
     }
 
+#ifdef CONFIG_CAN
+  /* Initialize CAN and register the CAN driver. */
+
+  ret = lpc1766stk_can_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: lpc1766stk_can_setup failed: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_FS_PROCFS
   /* Mount the procfs file system */
 

configs/olimex-lpc1766stk/src/lpc17_can.c

@@ -1,7 +1,7 @@
 /************************************************************************************
  * configs/solimex-lpc1766stk/src/lpc17_can.c
  *
- *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2012, 2016 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -51,7 +51,7 @@
 #include "lpc17_can.h"
 #include "lpc1766stk.h"
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_LPC17_CAN1) || defined(CONFIG_LPC17_CAN2))
+#ifdef CONFIG_CAN
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -78,48 +78,41 @@
  ************************************************************************************/
 
 /************************************************************************************
- * Name: board_can_initialize
+ * Name: lpc1766stk_can_setup
  *
  * Description:
- *   All LPC17 architectures must provide the following interface to work with
+ *  Initialize CAN and register the CAN device
- *   examples/can.
  *
  ************************************************************************************/
 
-int board_can_initialize(void)
+int lpc1766stk_can_setup(void)
 {
-  static bool initialized = false;
+#if defined(CONFIG_LPC17_CAN1) || defined(CONFIG_LPC17_CAN2)
   struct can_dev_s *can;
   int ret;
 
-  /* Check if we have already initialized */
+  /* Call lpc17_caninitialize() to get an instance of the CAN interface */
 
-  if (!initialized)
+  can = lpc17_caninitialize(CAN_PORT);
+  if (can == NULL)
     {
-      /* Call lpc17_caninitialize() to get an instance of the CAN interface */
+      canerr("ERROR:  Failed to get CAN interface\n");
+      return -ENODEV;
+    }
 
-      can = lpc17_caninitialize(CAN_PORT);
+  /* Register the CAN driver at "/dev/can0" */
-      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)
-      ret = can_register("/dev/can0", can);
+    {
-      if (ret < 0)
+      canerr("ERROR: can_register failed: %d\n", ret);
-        {
+      return ret;
-          canerr("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
-
-      /* Now we are initialized */
-
-      initialized = true;
     }
 
   return OK;
+#else
+  return -ENODEV;
+#endif
 }
 
-#endif /* CONFIG_CAN && (CONFIG_LPC17_CAN1 || CONFIG_LPC17_CAN2) */
+#endif /* CONFIG_CAN */

configs/olimex-stm32-e407/src/olimex-stm32-e407.h

@@ -246,15 +246,15 @@ int stm32_sdio_initialize(void);
 #endif
 
 /****************************************************************************
- * Name: stm32_can_initialize
+ * Name: stm32_can_setup
  *
  * Description:
- *   Called at application startup time to initialize the CAN functionality.
+ *  Initialize CAN and register the CAN device
  *
  ****************************************************************************/
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+#ifdef CONFIG_CAN
-int stm32_can_initialize(void);
+int stm32_can_setup(void);
 #endif
 
 #endif  /* __ASSEMBLY__ */

configs/olimex-stm32-e407/src/stm32_appinit.c

@@ -180,21 +180,19 @@ static void stm32_i2ctool(void)
 
 int board_app_initialize(uintptr_t arg)
 {
-#if defined(CONFIG_CAN) || defined(CONFIG_ADC)
   int ret;
-#endif
 
   /* Register I2C drivers on behalf of the I2C tool */
 
   stm32_i2ctool();
 
 #ifdef CONFIG_CAN
-  /* Configure on-board CAN if CAN support has been selected. */
+  /* Initialize CAN and register the CAN driver. */
 
-  ret = stm32_can_initialize();
+  ret = stm32_can_setup();
-  if (ret != OK)
+  if (ret < 0)
     {
-      syslog(LOG_ERR, "ERROR: Failed to initialize CAN: %d\n", ret);
+      syslog(LOG_ERR, "ERROR: stm32_can_setup failed: %d\n", ret);
     }
 #endif
 
@@ -231,5 +229,6 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
+  UNUSED(ret);
   return OK;
 }

configs/olimex-stm32-e407/src/stm32_can.c

@@ -41,13 +41,15 @@
 
 #include <errno.h>
 #include <debug.h>
+
 #include <nuttx/drivers/can.h>
 #include <arch/board/board.h>
+
 #include "stm32.h"
 #include "stm32_can.h"
 #include "olimex-stm32-e407.h"
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+#ifdef CONFIG_CAN
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -69,62 +71,42 @@
  * Public Functions
  ************************************************************************************/
 
-/************************************************************************************
+/****************************************************************************
- * Name: board_can_initialize
+ * Name: stm32_can_setup
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work with
+ *  Initialize CAN and register the CAN device
- *   examples/can.
  *
- ************************************************************************************/
+ ****************************************************************************/
 
-int board_can_initialize(void)
+int stm32_can_setup(void)
 {
-  return stm32_can_initialize();
+#if defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)
-}
-
-/************************************************************************************
- * Name: stm32_can_initialize
- *
- * Description:
- *   Called at application startup time to initialize the CAN functionality.
- *
- ************************************************************************************/
-
-int stm32_can_initialize(void)
-{
-  static bool initialized = false;
   struct can_dev_s *can;
   int ret;
 
-  /* Check if we have already initialized */
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-  if (!initialized)
+  can = stm32_caninitialize(CAN_PORT);
+  if (can == NULL)
     {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+      candbg("ERROR:  Failed to get CAN interface\n");
+      return -ENODEV;
+    }
 
-      can = stm32_caninitialize(CAN_PORT);
+  /* Register the CAN driver at "/dev/can0" */
-      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)
-      ret = can_register("/dev/can0", can);
+    {
-      if (ret < 0)
+      candbg("ERROR: can_register failed: %d\n", ret);
-        {
+      return ret;
-          candbg("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
-
-      /* Now we are initialized */
-
-      initialized = true;
     }
 
   return OK;
+#else
+  return -ENODEV;
+#endif
 }
 
-#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */
+#endif /* CONFIG_CAN */

configs/olimex-stm32-h405/src/olimex-stm32-h405.h

@@ -100,16 +100,16 @@ void weak_function stm32_usbinitialize(void);
 int stm32_adc_setup(void);
 #endif
 
-/************************************************************************************
+/****************************************************************************
- * Name: stm32_can_initialize
+ * Name: stm32_can_setup
  *
  * Description:
- *   Called at application startup time to initialize the CAN functionality.
+ *  Initialize CAN and register the CAN device
  *
- ************************************************************************************/
+ ****************************************************************************/
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+#ifdef CONFIG_CAN
-int stm32_can_initialize(void);
+int stm32_can_setup(void);
 #endif
 
 #endif  /* __ASSEMBLY__ */

configs/olimex-stm32-h405/src/stm32_appinit.c

@@ -116,12 +116,12 @@ int board_app_initialize(uintptr_t arg)
 #endif
 
 #ifdef CONFIG_CAN
-  /* Configure on-board CAN if CAN support has been selected. */
+  /* Initialize CAN and register the CAN driver. */
 
-  ret = stm32_can_initialize();
+  ret = stm32_can_setup();
-  if (ret != OK)
+  if (ret < 0)
     {
-      syslog(LOG_ERR, "ERROR: Failed to initialize CAN: %d\n", ret);
+      syslog(LOG_ERR, "ERROR: stm32_can_setup failed: %d\n", ret);
     }
 #endif
 

configs/olimex-stm32-h405/src/stm32_boot.c

@@ -47,14 +47,6 @@
 
 #include "olimex-stm32-h405.h"
 
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
 /************************************************************************************
  * Public Functions
  ************************************************************************************/

configs/olimex-stm32-h405/src/stm32_can.c

@@ -41,13 +41,16 @@
 
 #include <errno.h>
 #include <debug.h>
+
 #include <nuttx/drivers/can.h>
+
 #include <arch/board/board.h>
+
 #include "stm32.h"
 #include "stm32_can.h"
 #include "olimex-stm32-h405.h"
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+#ifdef CONFIG_CAN
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -70,61 +73,41 @@
  ************************************************************************************/
 
 /************************************************************************************
- * Name: board_can_initialize
+ * Name: stm32_can_setup
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work with
+ *  Initialize CAN and register the CAN device
- *   examples/can.
  *
  ************************************************************************************/
 
-int board_can_initialize(void)
+int stm32_can_setup(void)
 {
-  return stm32_can_initialize();
+#if defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)
-}
-
-/****************************************************************************************************
- * Name: stm32_can_initialize
- *
- * Description:
- *   Called at application startup time to initialize the CAN functionality.
- *
- ****************************************************************************************************/
-
-int stm32_can_initialize(void)
-{
-  static bool initialized = false;
   struct can_dev_s *can;
   int ret;
 
-  /* Check if we have already initialized */
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-  if (!initialized)
+  can = stm32_caninitialize(CAN_PORT);
+  if (can == NULL)
     {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+      canerr("ERROR:  Failed to get CAN interface\n");
+      return -ENODEV;
+    }
 
-      can = stm32_caninitialize(CAN_PORT);
+  /* Register the CAN driver at "/dev/can0" */
-      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)
-      ret = can_register("/dev/can0", can);
+    {
-      if (ret < 0)
+      canerr("ERROR: can_register failed: %d\n", ret);
-        {
+      return ret;
-          canerr("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
-
-      /* Now we are initialized */
-
-      initialized = true;
     }
 
   return OK;
+#else
+  return -ENODEV;
+#endif
 }
 
-#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */
+#endif /* CONFIG_CAN */

configs/olimex-stm32-h405/usbnsh/defconfig

@@ -600,7 +600,6 @@ CONFIG_LIB_BOARDCTL=y
 # CONFIG_BOARDCTL_UNIQUEID is not set
 CONFIG_BOARDCTL_USBDEVCTRL=y
 # CONFIG_BOARDCTL_TSCTEST is not set
-CONFIG_BOARDCTL_CANINIT=y
 # CONFIG_BOARDCTL_GRAPHICS is not set
 # CONFIG_BOARDCTL_IOCTL is not set
 

configs/olimex-stm32-h407/src/olimex-stm32-h407.h

@@ -267,15 +267,15 @@ int stm32_adc_setup(void);
 #endif
 
 /****************************************************************************
- * Name: stm32_can_initialize
+ * Name: stm32_can_setup
  *
  * Description:
- *   Called at application startup time to initialize the CAN functionality.
+ *  Initialize CAN and register the CAN device
  *
  ****************************************************************************/
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+#ifdef CONFIG_CAN
-int stm32_can_initialize(void);
+int stm32_can_setup(void);
 #endif
 
 #endif  /* __ASSEMBLY__ */

configs/olimex-stm32-h407/src/stm32_appinit.c

@@ -59,10 +59,6 @@
 
 #ifdef CONFIG_LIB_BOARDCTL
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
 /****************************************************************************
  * Public Functions
  ****************************************************************************/

configs/olimex-stm32-h407/src/stm32_bringup.c

@@ -97,14 +97,12 @@ int stm32_bringup(void)
   int ret;
 
 #ifdef CONFIG_CAN
-  /* Configure on-board CAN if CAN support has been selected. */
+  /* Initialize CAN and register the CAN driver. */
 
-  ret = stm32_can_initialize();
+  ret = stm32_can_setup();
-  if (ret != OK)
+  if (ret < 0)
     {
-      syslog(LOG_ERR,
+      syslog(LOG_ERR, "ERROR: stm32_can_setup failed: %d\n", ret);
-             "ERROR: Failed to initialize CAN: %d\n",
-             ret);
     }
 #endif
 

configs/olimex-stm32-h407/src/stm32_can.c

@@ -41,13 +41,15 @@
 
 #include <errno.h>
 #include <debug.h>
+
 #include <nuttx/drivers/can.h>
 #include <arch/board/board.h>
+
 #include "stm32.h"
 #include "stm32_can.h"
 #include "olimex-stm32-h407.h"
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+#ifdef CONFIG_CAN
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -70,61 +72,41 @@
  ************************************************************************************/
 
 /************************************************************************************
- * Name: board_can_initialize
+ * Name: stm32_can_setup
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work with
+ *  Initialize CAN and register the CAN device
- *   examples/can.
  *
  ************************************************************************************/
 
-int board_can_initialize(void)
+int stm32_can_setup(void)
 {
-  return stm32_can_initialize();
+#if defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)
-}
-
-/************************************************************************************
- * Name: stm32_can_initialize
- *
- * Description:
- *   Called at application startup time to initialize the CAN functionality.
- *
- ************************************************************************************/
-
-int stm32_can_initialize(void)
-{
-  static bool initialized = false;
   struct can_dev_s *can;
   int ret;
 
-  /* Check if we have already initialized */
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-  if (!initialized)
+  can = stm32_caninitialize(CAN_PORT);
+  if (can == NULL)
     {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+      canerr("ERROR:  Failed to get CAN interface\n");
+      return -ENODEV;
+    }
 
-      can = stm32_caninitialize(CAN_PORT);
+  /* Register the CAN driver at "/dev/can0" */
-      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)
-      ret = can_register("/dev/can0", can);
+    {
-      if (ret < 0)
+      canerr("ERROR: can_register failed: %d\n", ret);
-        {
+      return ret;
-          canerr("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
-
-      /* Now we are initialized */
-
-      initialized = true;
     }
 
   return OK;
+#else
+  return -ENODEV;
+#endif
 }
 
-#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */
+#endif /* CONFIG_CAN  */

configs/olimex-stm32-p107/src/Makefile

@@ -38,6 +38,10 @@
 ASRCS =
 CSRCS = stm32_boot.c stm32_spi.c
 
+ifeq ($(CONFIG_LIB_BOARDCTL),y)
+CSRCS += stm32_appinit.c
+endif
+
 ifeq ($(CONFIG_CAN),y)
 CSRCS += stm32_can.c
 endif

configs/olimex-stm32-p107/src/olimex-stm32-p107.h

@@ -32,6 +32,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
+
 #ifndef __CONFIGS_OLIMEX_STM32_P107_SRC_H
 #define __CONFIGS_OLIMEX_STM32_P107_SRC_H
 
@@ -84,5 +85,17 @@
 
 void weak_function stm32_spidev_initialize(void);
 
+/****************************************************************************
+ * Name: stm32_can_setup
+ *
+ * Description:
+ *  Initialize CAN and register the CAN device
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_CAN
+int stm32_can_setup(void);
+#endif
+
 #endif  /* __ASSEMBLY__ */
 #endif /* __CONFIGS_OLIMEX_STM32_P107_SRC_H */

configs/olimex-stm32-p107/src/stm32_appinit.c

@@ -0,0 +1,105 @@
+/****************************************************************************
+ * configs/olimex-stm32-p107/src/stm32_appinit.c
+ *
+ *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 <nuttx/config.h>
+
+#include <stdbool.h>
+#include <syslog.h>
+#include <errno.h>
+
+#include <nuttx/board.h>
+
+#include "stm32.h"
+#include "olimex-stm32-p107.h"
+
+#ifdef CONFIG_LIB_BOARDCTL
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ *   CONFIG_LIB_BOARDCTL=y:
+ *     If CONFIG_NSH_ARCHINITIALIZE=y:
+ *       Called from the NSH library (or other application)
+ *     Otherse, assumed to be called from some other application.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+int board_app_initialize(uintptr_t arg)
+{
+  int ret;
+
+#ifdef CONFIG_CAN
+  /* Initialize CAN and register the CAN driver. */
+
+  ret = stm32_can_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: stm32_can_setup failed: %d\n", ret);
+    }
+#endif
+
+  UNUSED(ret);
+  return OK;
+}
+
+#endif /* CONFIG_LIB_BOARDCTL */

configs/olimex-stm32-p107/src/stm32_boot.c

@@ -44,14 +44,6 @@
 #include "up_arch.h"
 #include "olimex-stm32-p107.h"
 
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
 /************************************************************************************
  * Public Functions
  ************************************************************************************/
@@ -78,5 +70,4 @@ void stm32_boardinitialize(void)
       stm32_spidev_initialize();
     }
 #endif
-
 }

configs/olimex-stm32-p107/src/stm32_can.c

@@ -51,7 +51,7 @@
 #include "stm32.h"
 #include "stm32_can.h"
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+#ifdef CONFIG_CAN
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -59,55 +59,57 @@
 /* Configuration ********************************************************************/
 /* The STM32F107VC supports CAN1 and CAN2 */
 
-#define CAN_PORT 1
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Only CAN1 is used."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
 
 /************************************************************************************
  * Public Functions
  ************************************************************************************/
 
-/************************************************************************************
+/****************************************************************************
- * Name: board_can_initialize
+ * Name: stm32_can_setup
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work with
+ *  Initialize CAN and register the CAN device
- *   examples/can.
  *
- ************************************************************************************/
+ ****************************************************************************/
 
-int board_can_initialize(void)
+int stm32_can_setup(void)
 {
-  static bool initialized = false;
+#if defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
   struct can_dev_s *can;
   int ret;
 
-  /* Check if we have already initialized */
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-  if (!initialized)
+  can = stm32_caninitialize(CAN_PORT);
+  if (can == NULL)
     {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+      canerr("ERROR:  Failed to get CAN interface\n");
+      return -ENODEV;
+    }
 
-      can = stm32_caninitialize(CAN_PORT);
+  /* Register the CAN driver at "/dev/can0" */
-      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)
-      ret = can_register("/dev/can0", can);
+    {
-      if (ret < 0)
+      canerr("ERROR: can_register failed: %d\n", ret);
-        {
+      return ret;
-          canerr("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
-
-      /* Now we are initialized */
-
-      initialized = true;
     }
 
   return OK;
+#else
+  return -ENODEV;
+#endif
 }
 
-#endif /* CONFIG_CAN && CONFIG_STM32_CAN1 */
+#endif /* CONFIG_CAN */

configs/olimex-stm32-p207/nsh/defconfig

@@ -626,7 +626,6 @@ CONFIG_LIB_BOARDCTL=y
 # CONFIG_BOARDCTL_RESET is not set
 # CONFIG_BOARDCTL_UNIQUEID is not set
 # CONFIG_BOARDCTL_TSCTEST is not set
-# CONFIG_BOARDCTL_CANINIT is not set
 # CONFIG_BOARDCTL_GRAPHICS is not set
 # CONFIG_BOARDCTL_IOCTL is not set
 

configs/olimex-stm32-p207/src/olimex-stm32-p207.h

@@ -136,16 +136,16 @@ int stm32_usbhost_initialize(void);
 int stm32_adc_setup(void);
 #endif
 
-/************************************************************************************
+/****************************************************************************
- * Name: stm32_can_initialize
+ * Name: stm32_can_setup
  *
  * Description:
- *   Called at application startup time to initialize the CAN functionality.
+ *  Initialize CAN and register the CAN device
  *
- ************************************************************************************/
+ ****************************************************************************/
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+#ifdef CONFIG_CAN
-int stm32_can_initialize(void);
+int stm32_can_setup(void);
 #endif
 
 #endif  /* __ASSEMBLY__ */

configs/olimex-stm32-p207/src/stm32_appinit.c

@@ -134,13 +134,13 @@ int board_app_initialize(uintptr_t arg)
 {
   int ret;
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+#ifdef CONFIG_CAN
-  /* Configure on-board CAN if CAN support has been selected. */
+  /* Initialize CAN and register the CAN driver. */
 
-  ret = stm32_can_initialize();
+  ret = stm32_can_setup();
-  if (ret != OK)
+  if (ret < 0)
     {
-      syslog(LOG_ERR, "ERROR: Failed to initialize CAN: %d\n", ret);
+      syslog(LOG_ERR, "ERROR: stm32_can_setup failed: %d\n", ret);
     }
 #endif
 

configs/olimex-stm32-p207/src/stm32_can.c

@@ -1,7 +1,7 @@
 /************************************************************************************
  * configs/olimex-stm32-p207/src/stm32_can.c
  *
- *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011-2012, 2016 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -41,13 +41,15 @@
 
 #include <errno.h>
 #include <debug.h>
+
 #include <nuttx/drivers/can.h>
 #include <arch/board/board.h>
+
 #include "stm32.h"
 #include "stm32_can.h"
 #include "olimex-stm32-p207.h"
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+#ifdef CONFIG_CAN
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -70,61 +72,41 @@
  ************************************************************************************/
 
 /************************************************************************************
- * Name: board_can_initialize
+ * Name: stm32_can_setup
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work with
+ *  Initialize CAN and register the CAN device
- *   examples/can.
  *
  ************************************************************************************/
 
-int board_can_initialize(void)
+int stm32_can_setup(void)
 {
-  return stm32_can_initialize();
+#if defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)
-}
-
-/****************************************************************************************************
- * Name: stm32_can_initialize
- *
- * Description:
- *   Called at application startup time to initialize the CAN functionality.
- *
- ****************************************************************************************************/
-
-int stm32_can_initialize(void)
-{
-  static bool initialized = false;
   struct can_dev_s *can;
   int ret;
 
-  /* Check if we have already initialized */
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-  if (!initialized)
+  can = stm32_caninitialize(CAN_PORT);
+  if (can == NULL)
     {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+      canerr("ERROR:  Failed to get CAN interface\n");
+      return -ENODEV;
+    }
 
-      can = stm32_caninitialize(CAN_PORT);
+  /* Register the CAN driver at "/dev/can0" */
-      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)
-      ret = can_register("/dev/can0", can);
+    {
-      if (ret < 0)
+      canerr("ERROR: can_register failed: %d\n", ret);
-        {
+      return ret;
-          canerr("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
-
-      /* Now we are initialized */
-
-      initialized = true;
     }
 
   return OK;
+#else
+  return -ENODEV;
+#endif
 }
 
-#endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */
+#endif /* CONFIG_CAN */

configs/olimexino-stm32/can/defconfig

@@ -588,7 +588,6 @@ CONFIG_LIB_BOARDCTL=y
 # CONFIG_BOARDCTL_RESET is not set
 # CONFIG_BOARDCTL_UNIQUEID is not set
 # CONFIG_BOARDCTL_TSCTEST is not set
-CONFIG_BOARDCTL_CANINIT=y
 # CONFIG_BOARDCTL_GRAPHICS is not set
 # CONFIG_BOARDCTL_IOCTL is not set
 

configs/olimexino-stm32/smallnsh/defconfig

@@ -569,7 +569,6 @@ CONFIG_LIB_BOARDCTL=y
 # CONFIG_BOARDCTL_RESET is not set
 # CONFIG_BOARDCTL_UNIQUEID is not set
 # CONFIG_BOARDCTL_TSCTEST is not set
-CONFIG_BOARDCTL_CANINIT=y
 # CONFIG_BOARDCTL_GRAPHICS is not set
 # CONFIG_BOARDCTL_IOCTL is not set
 

configs/olimexino-stm32/src/olimexino-stm32.h

@@ -200,18 +200,6 @@ void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler);
 void stm32_led_initialize(void);
 #endif
 
-/************************************************************************************
- * Name: stm32_can_initialize
- *
- * Description:
- *   Called at application startup time to initialize the CAN functionality.
- *
- ************************************************************************************/
-
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
-int stm32_can_initialize(void);
-#endif
-
 /****************************************************************************
  * Name: board_usbmsc_initialize
  *
@@ -228,5 +216,17 @@ int stm32_can_initialize(void);
 int board_usbmsc_initialize(int port);
 #endif
 
+/****************************************************************************
+ * Name: stm32_can_setup
+ *
+ * Description:
+ *  Initialize CAN and register the CAN device
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_CAN
+int stm32_can_setup(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif /* __CONFIGS_OLIMEXINO_STM32_SRC_OLIMEXINO_STM32_H */

configs/olimexino-stm32/src/stm32_appinit.c

@@ -105,5 +105,16 @@ int board_app_initialize(uintptr_t arg)
 #endif
 #endif
 
+#ifdef CONFIG_CAN
+  /* Initialize CAN and register the CAN driver. */
+
+  ret = stm32_can_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: stm32_can_setup failed: %d\n", ret);
+    }
+#endif
+
+  UNUSED(ret);
   return ret;
 }

configs/olimexino-stm32/src/stm32_can.c

@@ -1,7 +1,7 @@
 /************************************************************************************
  * configs/olimexino-stm32/src/stm32_can.c
  *
- *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2015-2016 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *           David Sidrane <david_s5@nscdg.com>
  *
@@ -48,13 +48,12 @@
 
 #include "chip.h"
 #include "up_arch.h"
-
-#include "olimexino-stm32.h"
-
 #include "stm32.h"
 #include "stm32_can.h"
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
+#include "olimexino-stm32.h"
+
+#ifdef CONFIG_CAN
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -62,55 +61,57 @@
 /* Configuration ********************************************************************/
 /* The STM32F107VC supports CAN1 and CAN2 */
 
-#define CAN_PORT 1
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Only CAN1 is connected."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
 
 /************************************************************************************
  * Public Functions
  ************************************************************************************/
 
 /************************************************************************************
- * Name: board_can_initialize
+ * Name: stm32_can_setup
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work with
+ *  Initialize CAN and register the CAN device
- *   examples/can.
  *
  ************************************************************************************/
 
-int board_can_initialize(void)
+int stm32_can_setup(void)
 {
-  static bool initialized = false;
+#if defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)
   struct can_dev_s *can;
   int ret;
 
-  /* Check if we have already initialized */
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-  if (!initialized)
+  can = stm32_caninitialize(CAN_PORT);
+  if (can == NULL)
     {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+      canerr("ERROR:  Failed to get CAN interface\n");
+      return -ENODEV;
+    }
 
-      can = stm32_caninitialize(CAN_PORT);
+  /* Register the CAN driver at "/dev/can0" */
-      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)
-      ret = can_register("/dev/can0", can);
+    {
-      if (ret < 0)
+      canerr("ERROR: can_register failed: %d\n", ret);
-        {
+      return ret;
-          canerr("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
-
-      /* Now we are initialized */
-
-      initialized = true;
     }
 
   return OK;
+#else
+  return -ENODEV;
+#endif
 }
 
-#endif /* CONFIG_CAN && CONFIG_STM32_CAN1 */
+#endif /* CONFIG_CAN */

configs/olimexino-stm32/tiny/defconfig

@@ -569,7 +569,6 @@ CONFIG_LIB_BOARDCTL=y
 # CONFIG_BOARDCTL_RESET is not set
 # CONFIG_BOARDCTL_UNIQUEID is not set
 # CONFIG_BOARDCTL_TSCTEST is not set
-CONFIG_BOARDCTL_CANINIT=y
 # CONFIG_BOARDCTL_GRAPHICS is not set
 # CONFIG_BOARDCTL_IOCTL is not set
 

configs/sama5d3-xplained/src/sam_appinit.c

@@ -192,6 +192,16 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
+#ifdef CONFIG_CAN
+  /* Initialize CAN and register the CAN driver. */
+
+  ret = sam_can_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: sam_can_setup failed: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_FS_PROCFS
   /* Mount the procfs file system */
 

configs/sama5d3-xplained/src/sam_can.c

@@ -1,7 +1,7 @@
 /************************************************************************************
  * configs/sama5d3-xplained/src/sam_can.c
  *
- *   Copyright (C) 2014 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -51,7 +51,7 @@
 #include "sam_can.h"
 #include "sama5d3-xplained.h"
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_SAMA5_CAN0) || defined(CONFIG_SAMA5_CAN1))
+#ifdef CONFIG_CAN
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -74,48 +74,41 @@
  ************************************************************************************/
 
 /************************************************************************************
- * Name: board_can_initialize
+ * Name: sam_can_setup
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work with
+ *  Initialize CAN and register the CAN device
- *   examples/can.
  *
  ************************************************************************************/
 
-int board_can_initialize(void)
+int sam_can_setup(void)
 {
-  static bool initialized = false;
+#if defined(CONFIG_SAMA5_CAN0) || defined(CONFIG_SAMA5_CAN1)
   struct can_dev_s *can;
   int ret;
 
-  /* Check if we have already initialized */
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-  if (!initialized)
+  can = sam_caninitialize(CAN_PORT);
+  if (can == NULL)
     {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+      canerr("ERROR:  Failed to get CAN interface\n");
-
+      return -ENODEV;
-      can = sam_caninitialize(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;
-        }
-
-      /* Now we are initialized */
-
-      initialized = true;
     }
 
+  /* 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 && (CONFIG_SAMA5_CAN0 || CONFIG_SAMA5_CAN1) */
+#endif /* CONFIG_CAN */

configs/sama5d3-xplained/src/sama5d3-xplained.h

@@ -763,6 +763,18 @@ int sam_pwm_setup(void);
 int sam_adc_setup(void);
 #endif
 
+/************************************************************************************
+ * Name: sam_can_setup
+ *
+ * Description:
+ *  Initialize CAN and register the CAN device
+ *
+ ************************************************************************************/
+
+#ifdef CONFIG_CAN
+int sam_can_setup(void);
+#endif
+
 /************************************************************************************
  * Name: sam_netinitialize
  *

configs/sama5d3x-ek/src/sam_appinit.c

@@ -204,6 +204,16 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
+#ifdef CONFIG_CAN
+  /* Initialize CAN and register the CAN driver. */
+
+  ret = sam_can_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: sam_can_setup failed: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_FS_PROCFS
   /* Mount the procfs file system */
 

configs/sama5d3x-ek/src/sam_can.c

@@ -1,7 +1,7 @@
 /************************************************************************************
  * configs/sama5d3x-ek/src/sam_can.c
  *
- *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2013, 2016 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -51,7 +51,7 @@
 #include "sam_can.h"
 #include "sama5d3x-ek.h"
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_SAMA5_CAN0) || defined(CONFIG_SAMA5_CAN1))
+#ifdef CONFIG_CAN
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -74,48 +74,41 @@
  ************************************************************************************/
 
 /************************************************************************************
- * Name: board_can_initialize
+ * Name: sam_can_setup
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work with
+ *  Initialize CAN and register the CAN device
- *   examples/can.
  *
  ************************************************************************************/
 
-int board_can_initialize(void)
+int sam_can_setup(void)
 {
-  static bool initialized = false;
+#if defined(CONFIG_SAMA5_CAN0) || defined(CONFIG_SAMA5_CAN1)
   struct can_dev_s *can;
   int ret;
 
-  /* Check if we have already initialized */
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-  if (!initialized)
+  can = sam_caninitialize(CAN_PORT);
+  if (can == NULL)
     {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+      canerr("ERROR:  Failed to get CAN interface\n");
+      return -ENODEV;
+    }
 
-      can = sam_caninitialize(CAN_PORT);
+  /* Register the CAN driver at "/dev/can0" */
-      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)
-      ret = can_register("/dev/can0", can);
+    {
-      if (ret < 0)
+      canerr("ERROR: can_register failed: %d\n", ret);
-        {
+      return ret;
-          canerr("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
-
-      /* Now we are initialized */
-
-      initialized = true;
     }
 
   return OK;
+#else
+  return -ENODEV;
+#endif
 }
 
-#endif /* CONFIG_CAN && (CONFIG_SAMA5_CAN0 || CONFIG_SAMA5_CAN1) */
+#endif /* CONFIG_CAN */

configs/sama5d3x-ek/src/sama5d3x-ek.h

@@ -807,14 +807,15 @@ bool sam_writeprotected(int slotno);
 void weak_function sam_usbinitialize(void);
 #endif
 
-/****************************************************************************************************
+/************************************************************************************
  * Name: stm32_usbhost_initialize
  *
  * Description:
- *   Called at application startup time to initialize the USB host functionality. This function will
+ *   Called at application startup time to initialize the USB host functionality. 
- *   start a thread that will monitor for device connection/disconnection events.
+ *   This function will start a thread that will monitor for device connection/
+ *   disconnection events.
  *
- ****************************************************************************************************/
+ ************************************************************************************/
 
 #ifdef HAVE_USBHOST
 int sam_usbhost_initialize(void);
@@ -856,7 +857,19 @@ int sam_pwm_setup(void);
 int sam_adc_setup(void);
 #endif
 
-/****************************************************************************
+/************************************************************************************
+ * Name: sam_can_setup
+ *
+ * Description:
+ *  Initialize CAN and register the CAN device
+ *
+ ************************************************************************************/
+
+#ifdef CONFIG_CAN
+int sam_can_setup(void);
+#endif
+
+/************************************************************************************
  * Name: sam_wm8904_initialize
  *
  * Description:
@@ -871,7 +884,7 @@ int sam_adc_setup(void);
  *   Zero is returned on success.  Otherwise, a negated errno value is
  *   returned to indicate the nature of the failure.
  *
- ****************************************************************************/
+ ************************************************************************************/
 
 #ifdef HAVE_WM8904
 int sam_wm8904_initialize(int minor);

configs/same70-xplained/README.txt

@@ -732,10 +732,6 @@ MCAN1 Loopback Test
        CONFIG_SAMV7_MCAN1_TXFIFOQ_SIZE=8       # There are 8 queue elements
        CONFIG_SAMV7_MCAN1_TXEVENTFIFO_SIZE=0   # The event FIFO is not used
 
-    Board Selection
-       CONFIG_LIB_BOARDCTL=y                   # Needed for CAN initialization
-       CONFIG_BOARDCTL_CANINIT=y               # Enabled CAN initialization
-
     Enabling the CAN Loopback Test
     ------------------------------
     Application Configuration -> Examples -> CAN Example

configs/same70-xplained/src/sam_bringup.c

@@ -43,6 +43,7 @@
 
 #include <stdbool.h>
 #include <stdio.h>
+#include <syslog.h>
 #include <errno.h>
 #include <debug.h>
 
@@ -97,14 +98,14 @@ static void sam_i2c_register(int bus)
   i2c = sam_i2cbus_initialize(bus);
   if (i2c == NULL)
     {
-      _err("ERROR: Failed to get I2C%d interface\n", bus);
+      syslog(LOG_ERR, "ERROR: Failed to get I2C%d interface\n", bus);
     }
   else
     {
       ret = i2c_register(i2c, bus);
       if (ret < 0)
         {
-          _err("ERROR: Failed to register I2C%d driver: %d\n", bus, ret);
+          syslog(LOG_ERR, "ERROR: Failed to register I2C%d driver: %d\n", bus, ret);
           sam_i2cbus_uninitialize(i2c);
         }
     }
@@ -169,7 +170,7 @@ int sam_bringup(void)
   ret = sam_emac0_setmac();
   if (ret < 0)
     {
-      _err("ERROR: sam_emac0_setmac() failed: %d\n", ret);
+      syslog(LOG_ERR, "ERROR: sam_emac0_setmac() failed: %d\n", ret);
     }
 #endif
 
@@ -179,8 +180,8 @@ int sam_bringup(void)
   ret = mount(NULL, SAME70_PROCFS_MOUNTPOINT, "procfs", 0, NULL);
   if (ret < 0)
     {
-      _err("ERROR: Failed to mount procfs at %s: %d\n",
+      syslog(LOG_ERR, "ERROR: Failed to mount procfs at %s: %d\n",
-           SAME70_PROCFS_MOUNTPOINT, ret);
+             SAME70_PROCFS_MOUNTPOINT, ret);
     }
 #endif
 
@@ -192,7 +193,7 @@ int sam_bringup(void)
   ret = sam_at24config();
   if (ret < 0)
     {
-      _err("ERROR: sam_at24config() failed: %d\n", ret);
+      syslog(LOG_ERR, "ERROR: sam_at24config() failed: %d\n", ret);
     }
 #endif
 
@@ -202,8 +203,8 @@ int sam_bringup(void)
   ret = sam_hsmci_initialize(HSMCI0_SLOTNO, HSMCI0_MINOR);
   if (ret < 0)
     {
-      _err("ERROR: sam_hsmci_initialize(%d,%d) failed: %d\n",
+      syslog(LOG_ERR, "ERROR: sam_hsmci_initialize(%d,%d) failed: %d\n",
-           HSMCI0_SLOTNO, HSMCI0_MINOR, ret);
+             HSMCI0_SLOTNO, HSMCI0_MINOR, ret);
     }
 
 #ifdef CONFIG_SAME70XPLAINED_HSMCI0_MOUNT
@@ -219,8 +220,8 @@ int sam_bringup(void)
 
       if (ret < 0)
         {
-          _err("ERROR: Failed to mount %s: %d\n",
+          syslog(LOG_ERR, "ERROR: Failed to mount %s: %d\n",
-               CONFIG_SAME70XPLAINED_HSMCI0_MOUNT_MOUNTPOINT, errno);
+                 CONFIG_SAME70XPLAINED_HSMCI0_MOUNT_MOUNTPOINT, errno);
         }
     }
 
@@ -241,7 +242,7 @@ int sam_bringup(void)
                          CONFIG_SAME70XPLAINED_ROMFS_ROMDISK_SECTSIZE);
   if (ret < 0)
     {
-      _err("ERROR: romdisk_register failed: %d\n", -ret);
+      syslog(LOG_ERR, "ERROR: romdisk_register failed: %d\n", -ret);
     }
   else
     {
@@ -252,9 +253,9 @@ int sam_bringup(void)
                   "romfs", MS_RDONLY, NULL);
       if (ret < 0)
         {
-          _err("ERROR: mount(%s,%s,romfs) failed: %d\n",
+          syslog(LOG_ERR, "ERROR: mount(%s,%s,romfs) failed: %d\n",
-               CONFIG_SAME70XPLAINED_ROMFS_ROMDISK_DEVNAME,
+                 CONFIG_SAME70XPLAINED_ROMFS_ROMDISK_DEVNAME,
-               CONFIG_SAME70XPLAINED_ROMFS_MOUNT_MOUNTPOINT, errno);
+                 CONFIG_SAME70XPLAINED_ROMFS_MOUNT_MOUNTPOINT, errno);
         }
     }
 #endif
@@ -269,7 +270,7 @@ int sam_bringup(void)
   mtd = progmem_initialize();
   if (!mtd)
     {
-      _err("ERROR: progmem_initialize failed\n");
+      syslog(LOG_ERR, "ERROR: progmem_initialize failed\n");
     }
 
   /* Use the FTL layer to wrap the MTD driver as a block driver */
@@ -277,7 +278,7 @@ int sam_bringup(void)
   ret = ftl_initialize(PROGMEM_MTD_MINOR, mtd);
   if (ret < 0)
     {
-      _err("ERROR: Failed to initialize the FTL layer: %d\n", ret);
+      syslog(LOG_ERR, "ERROR: Failed to initialize the FTL layer: %d\n", ret);
       return ret;
     }
 
@@ -291,7 +292,7 @@ int sam_bringup(void)
   ret = bchdev_register(blockdev, chardev, false);
   if (ret < 0)
     {
-      _err("ERROR: bchdev_register %s failed: %d\n", chardev, ret);
+      syslog(LOG_ERR, "ERROR: bchdev_register %s failed: %d\n", chardev, ret);
       return ret;
     }
 #endif
@@ -304,7 +305,7 @@ int sam_bringup(void)
   ret = sam_usbhost_initialize();
   if (ret != OK)
     {
-      _err("ERROR: Failed to initialize USB host: %d\n", ret);
+      syslog(LOG_ERR, "ERROR: Failed to initialize USB host: %d\n", ret);
     }
 #endif
 
@@ -314,18 +315,28 @@ int sam_bringup(void)
   ret = usbmonitor_start();
   if (ret != OK)
     {
-      _err("ERROR: Failed to start the USB monitor: %d\n", ret);
+      syslog(LOG_ERR, "ERROR: Failed to start the USB monitor: %d\n", ret);
+    }
+#endif
+
+#ifdef CONFIG_SAMV7_MCAN
+  /* Initialize CAN and register the CAN driver. */
+
+  ret = sam_can_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: sam_can_setup failed: %d\n", ret);
     }
 #endif
 
 #ifdef HAVE_ELF
   /* Initialize the ELF binary loader */
 
-  _err("Initializing the ELF binary loader\n");
+  syslog(LOG_ERR, "Initializing the ELF binary loader\n");
   ret = elf_initialize();
   if (ret < 0)
     {
-      _err("ERROR: Initialization of the ELF loader failed: %d\n", ret);
+      syslog(LOG_ERR, "ERROR: Initialization of the ELF loader failed: %d\n", ret);
     }
 #endif
 
@@ -333,7 +344,7 @@ int sam_bringup(void)
   ret = sam_dacdev_initialize();
   if (ret < 0)
     {
-      _err("ERROR: Initialization of the DAC module failed: %d\n", ret);
+      syslog(LOG_ERR, "ERROR: Initialization of the DAC module failed: %d\n", ret);
     }
 #endif
 

configs/same70-xplained/src/sam_mcan.c

@@ -1,7 +1,7 @@
 /************************************************************************************
  * configs/same70-xplainedk/src/sam_mcan.c
  *
- *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2015-2016 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -49,7 +49,7 @@
 #include "sam_mcan.h"
 #include "same70-xplained.h"
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_SAMV7_MCAN0) || defined(CONFIG_SAMV7_MCAN1))
+#ifdef CONFIG_SAMV7_MCAN
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -72,48 +72,41 @@
  ************************************************************************************/
 
 /************************************************************************************
- * Name: board_can_initialize
+ * Name: sam_can_setup
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work with
+ *  Initialize CAN and register the CAN device
- *   examples/can.
  *
  ************************************************************************************/
 
-int board_can_initialize(void)
+int sam_can_setup(void)
 {
-  static bool initialized = false;
+#if defined(CONFIG_SAMV7_MCAN0) || defined(CONFIG_SAMV7_MCAN1)
   struct can_dev_s *can;
   int ret;
 
-  /* Check if we have already initialized */
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-  if (!initialized)
+  can = sam_mcan_initialize(CAN_PORT);
+  if (can == NULL)
     {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+      canerr("ERROR:  Failed to get CAN interface\n");
+      return -ENODEV;
+    }
 
-      can = sam_mcan_initialize(CAN_PORT);
+  /* Register the CAN driver at "/dev/can0" */
-      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)
-      ret = can_register("/dev/can0", can);
+    {
-      if (ret < 0)
+      canerr("ERROR: can_register failed: %d\n", ret);
-        {
+      return ret;
-          canerr("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
-
-      /* Now we are initialized */
-
-      initialized = true;
     }
 
   return OK;
+#else
+  return -ENODEV;
+#endif
 }
 
-#endif /* CONFIG_CAN && (CONFIG_SAMV7_MCAN0 || CONFIG_SAMV7_MCAN1) */
+#endif /* CONFIG_SAMV7_MCAN */

configs/same70-xplained/src/same70-xplained.h

@@ -400,6 +400,18 @@ int sam_hsmci_initialize(int slot, int minor);
 void sam_usbinitialize(void);
 #endif
 
+/****************************************************************************
+ * Name: sam_can_setup
+ *
+ * Description:
+ *  Initialize CAN and register the CAN device
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SAMV7_MCAN
+int sam_can_setup(void);
+#endif
+
 /************************************************************************************
  * Name: sam_netinitialize
  *

configs/samv71-xult/README.txt

@@ -1322,10 +1322,6 @@ MCAN1 Loopback Test
        CONFIG_SAMV7_MCAN1_TXFIFOQ_SIZE=8       # There are 8 queue elements
        CONFIG_SAMV7_MCAN1_TXEVENTFIFO_SIZE=0   # The event FIFO is not used
 
-    Board Selection
-       CONFIG_LIB_BOARDCTL=y                   # Needed for CAN initialization
-       CONFIG_BOARDCTL_CANINIT=y               # Enabled CAN initialization
-
     Enabling the CAN Loopback Test
     ------------------------------
     Application Configuration -> Examples -> CAN Example

configs/samv71-xult/src/sam_bringup.c

@@ -253,6 +253,16 @@ int sam_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_SAMV7_MCAN
+  /* Initialize CAN and register the CAN driver. */
+
+  ret = sam_can_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: sam_can_setup failed: %d\n", ret);
+    }
+#endif
+
 #ifdef HAVE_MACADDR
   /* Read the Ethernet MAC address from the AT24 FLASH and configure the
    * Ethernet driver with that address.

configs/samv71-xult/src/sam_mcan.c

@@ -1,7 +1,7 @@
 /************************************************************************************
  * configs/samv71-xultk/src/sam_mcan.c
  *
- *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2015-2016 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -49,7 +49,7 @@
 #include "sam_mcan.h"
 #include "samv71-xult.h"
 
-#if defined(CONFIG_CAN) && (defined(CONFIG_SAMV7_MCAN0) || defined(CONFIG_SAMV7_MCAN1))
+#ifdef CONFIG_SAMV7_MCAN
 
 /************************************************************************************
  * Pre-processor Definitions
@@ -72,48 +72,41 @@
  ************************************************************************************/
 
 /************************************************************************************
- * Name: board_can_initialize
+ * Name: sam_can_setup
  *
  * Description:
- *   All STM32 architectures must provide the following interface to work with
+ *  Initialize CAN and register the CAN device
- *   examples/can.
  *
  ************************************************************************************/
 
-int board_can_initialize(void)
+int sam_can_setup(void)
 {
-  static bool initialized = false;
+#if defined(CONFIG_SAMV7_MCAN0) || defined(CONFIG_SAMV7_MCAN1)
   struct can_dev_s *can;
   int ret;
 
-  /* Check if we have already initialized */
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
 
-  if (!initialized)
+  can = sam_mcan_initialize(CAN_PORT);
+  if (can == NULL)
     {
-      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+      canerr("ERROR:  Failed to get CAN interface\n");
+      return -ENODEV;
+    }
 
-      can = sam_mcan_initialize(CAN_PORT);
+  /* Register the CAN driver at "/dev/can0" */
-      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)
-      ret = can_register("/dev/can0", can);
+    {
-      if (ret < 0)
+      canerr("ERROR: can_register failed: %d\n", ret);
-        {
+      return ret;
-          canerr("ERROR: can_register failed: %d\n", ret);
-          return ret;
-        }
-
-      /* Now we are initialized */
-
-      initialized = true;
     }
 
   return OK;
+#else
+  return -ENODEV;
+#endif
 }
 
-#endif /* CONFIG_CAN && (CONFIG_SAMV7_MCAN0 || CONFIG_SAMV7_MCAN1) */
+#endif /* CONFIG_SAMV7_MCAN */