boards/nucleo-f302r8: add CAN and SocketCAN examples

boards/arm/stm32/nucleo-f302r8/configs/can/defconfig

@@ -0,0 +1,63 @@
+#
+# 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_ARCH="arm"
+CONFIG_ARCH_BOARD="nucleo-f302r8"
+CONFIG_ARCH_BOARD_NUCLEO_F302R8=y
+CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F302R8=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_CAN_ERRORS=y
+CONFIG_CAN_EXTID=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXAMPLES_CAN=y
+CONFIG_EXAMPLES_CAN_WRITE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_LARGEFILE=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=1024
+CONFIG_INTELHEX_BINARY=y
+CONFIG_NAME_MAX=16
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_FILEIOSIZE=256
+CONFIG_NSH_QUOTE=y
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=512
+CONFIG_PREALLOC_TIMERS=2
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_DEFAULT=1024
+CONFIG_PTHREAD_STACK_MIN=1024
+CONFIG_RAM_SIZE=16386
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_PREALLOC_IRQ_ACTIONS=8
+CONFIG_START_DAY=6
+CONFIG_START_MONTH=12
+CONFIG_START_YEAR=2011
+CONFIG_STDIO_BUFFER_SIZE=255
+CONFIG_STM32_CAN1=y
+CONFIG_STM32_CAN_TSEG1=15
+CONFIG_STM32_CAN_TSEG2=2
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_USART2=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_TIME64=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=512
+CONFIG_USART2_SERIAL_CONSOLE=y

boards/arm/stm32/nucleo-f302r8/configs/cansock/defconfig

@@ -0,0 +1,62 @@
+#
+# 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_ARCH="arm"
+CONFIG_ARCH_BOARD="nucleo-f302r8"
+CONFIG_ARCH_BOARD_NUCLEO_F302R8=y
+CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F302R8=y
+CONFIG_ARCH_INTERRUPTSTACK=1024
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=8499
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEFAULT_TASK_STACKSIZE=1024
+CONFIG_FS_LARGEFILE=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2048
+CONFIG_INTELHEX_BINARY=y
+CONFIG_IOB_BUFSIZE=128
+CONFIG_IOB_NBUFFERS=10
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_NET=y
+CONFIG_NETDEVICES=y
+CONFIG_NETDEV_IFINDEX=y
+CONFIG_NETDEV_LATEINIT=y
+CONFIG_NET_CAN=y
+CONFIG_NET_CAN_ERRORS=y
+CONFIG_NET_NACTIVESOCKETS=16
+CONFIG_NET_SOCKOPTS=y
+CONFIG_NET_STATISTICS=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_RAM_SIZE=16386
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_PREALLOC_IRQ_ACTIONS=8
+CONFIG_START_DAY=14
+CONFIG_START_MONTH=10
+CONFIG_START_YEAR=2014
+CONFIG_STM32_CAN1=y
+CONFIG_STM32_CAN_SOCKET=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_USART2=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USART2_SERIAL_CONSOLE=y

boards/arm/stm32/nucleo-f302r8/include/board.h

@@ -213,6 +213,11 @@
 #define GPIO_USART1_RX GPIO_USART1_RX_2 /* PB7 */
 #define GPIO_USART1_TX GPIO_USART1_TX_2 /* PB6 */
 
+/* CAN */
+
+#define GPIO_CAN1_RX     GPIO_CAN_RX_3 /* PB8 */
+#define GPIO_CAN1_TX     GPIO_CAN_TX_3 /* PB9 */
+
 /* PWM configuration ********************************************************/
 
 /* TIM1 PWM */

boards/arm/stm32/nucleo-f302r8/src/Make.defs

@@ -48,6 +48,15 @@ ifeq ($(CONFIG_BOARD_STM32_IHM07M1),y)
 CSRCS += stm32_foc_ihm07m1.c
 endif
 
+ifeq ($(CONFIG_STM32_CAN),y)
+ifeq ($(CONFIG_STM32_CAN_CHARDRIVER),y)
+CSRCS += stm32_can.c
+endif
+ifeq ($(CONFIG_STM32_CAN_SOCKET),y)
+CSRCS += stm32_cansock.c
+endif
+endif
+
 DEPPATH += --dep-path board
 VPATH += :board
 CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board)

boards/arm/stm32/nucleo-f302r8/src/nucleo-f302r8.h

@@ -152,4 +152,28 @@ int stm32_foc_setup(void);
 int stm32_adc_setup(void);
 #endif
 
+/****************************************************************************
+ * Name: stm32_can_setup
+ *
+ * Description:
+ *  Initialize CAN and register the CAN device
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_STM32_CAN_CHARDRIVER
+int stm32_can_setup(void);
+#endif
+
+/****************************************************************************
+ * Name: stm32_cansock_setup
+ *
+ * Description:
+ *  Initialize CAN socket interface
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_STM32_CAN_SOCKET
+int stm32_cansock_setup(void);
+#endif
+
 #endif /* __BOARDS_ARM_STM32_NUCLEO_F302R8_SRC_NUCLEO_F302R8_H */

boards/arm/stm32/nucleo-f302r8/src/stm32_bringup.c

@@ -164,6 +164,26 @@ int stm32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_STM32_CAN_CHARDRIVER
+  /* 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
+
+#ifdef CONFIG_STM32_CAN_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;
 }

boards/arm/stm32/nucleo-f302r8/src/stm32_can.c

@@ -0,0 +1,71 @@
+/****************************************************************************
+ * boards/arm/stm32/nucleo-f302r8/src/stm32_can.c
+ *
+ * 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 <nuttx/config.h>
+
+#include <stdbool.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+
+#include "stm32.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;
+
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+  can = stm32_caninitialize(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;
+}

boards/arm/stm32/nucleo-f302r8/src/stm32_cansock.c

@@ -0,0 +1,57 @@
+/****************************************************************************
+ * boards/arm/stm32/nucleo-f302r8/src/stm32_cansock.c
+ *
+ * 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 <nuttx/config.h>
+
+#include <debug.h>
+
+#include "stm32_can.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_cansock_setup
+ *
+ * Description:
+ *  Initialize CAN socket interface
+ *
+ ****************************************************************************/
+
+int stm32_cansock_setup(void)
+{
+  int ret;
+
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+  ret = stm32_cansockinitialize(1);
+  if (ret < 0)
+    {
+      canerr("ERROR:  Failed to get CAN interface %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+}