boards/nucleo-g431rb: add CAN example

boards/arm/stm32/nucleo-g431rb/configs/can/defconfig

@@ -0,0 +1,58 @@
+#
+# 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_FPU is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+# CONFIG_NSH_CMDPARMS is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_PS is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="nucleo-g431rb"
+CONFIG_ARCH_BOARD_NUCLEO_G431RB=y
+CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32G431R=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=8499
+CONFIG_BOARD_NUCLEO_G431RB_USE_HSE=y
+CONFIG_BUILTIN=y
+CONFIG_CAN=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_INTELHEX_BINARY=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=22528
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_START_DAY=14
+CONFIG_START_MONTH=10
+CONFIG_START_YEAR=2014
+CONFIG_STDIO_BUFFER_SIZE=512
+CONFIG_STM32_FDCAN1=y
+CONFIG_STM32_FDCAN1_BITRATE=250000
+CONFIG_STM32_FDCAN1_NTSEG1=13
+CONFIG_STM32_FDCAN1_NTSEG2=2
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_USART2=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USART2_SERIAL_CONSOLE=y

boards/arm/stm32/nucleo-g431rb/include/board.h

@@ -247,6 +247,15 @@
 #define BOARD_TIM17_FREQUENCY  (STM32_PCLK2_FREQUENCY)
 #define BOARD_TIM20_FREQUENCY  (STM32_PCLK2_FREQUENCY)
 
+#ifdef CONFIG_STM32_FDCAN
+#  ifdef CONFIG_BOARD_NUCLEO_G431RB_USE_HSE
+#    define STM32_CCIPR_FDCANSRC   (RCC_CCIPR_FDCANSEL_HSE)
+#    define STM32_FDCAN_FREQUENCY  (STM32_HSE_FREQUENCY)
+#  else
+#    error For now FDCAN supported only if HSE enabled
+#  endif
+#endif
+
 /* LED definitions **********************************************************/
 
 /* The NUCLEO-G431RB has four user LEDs.
@@ -329,6 +338,11 @@
 #define GPIO_TIM1_CH3NOUT GPIO_TIM1_CH3NOUT_1 /* PB1 */
 #define GPIO_TIM1_CH4OUT  GPIO_TIM1_CH4OUT_2  /* PC3 */
 
+/* CAN configuration ********************************************************/
+
+#define GPIO_FDCAN1_RX GPIO_FDCAN1_RX_2 /* PB8 */
+#define GPIO_FDCAN1_TX GPIO_FDCAN1_TX_2 /* PB9 */
+
 /* DMA channels *************************************************************/
 
 /* ADC */

boards/arm/stm32/nucleo-g431rb/src/Make.defs

@@ -55,6 +55,10 @@ ifeq ($(CONFIG_MATH_CORDIC),y)
 CSRCS += stm32_cordic.c
 endif
 
+ifeq ($(CONFIG_STM32_FDCAN_CHARDRIVER),y)
+CSRCS += stm32_can.c
+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-g431rb/src/nucleo-g431rb.h

@@ -155,4 +155,16 @@ int stm32_foc_setup(void);
 int stm32_cordic_setup(void);
 #endif
 
+/****************************************************************************
+ * Name: stm32_can_setup
+ *
+ * Description:
+ *  Initialize CAN and register the CAN device
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_STM32_FDCAN_CHARDRIVER
+int stm32_can_setup(void);
+#endif
+
 #endif /* __BOARDS_ARM_STM32_NUCLEO_G431RB_SRC_NUCLEO_G431RB_H */

boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c

@@ -149,6 +149,16 @@ int stm32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_STM32_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
+
   UNUSED(ret);
   return OK;
 }

boards/arm/stm32/nucleo-g431rb/src/stm32_can.c

@@ -0,0 +1,90 @@
+/****************************************************************************
+ * boards/arm/stm32/nucleo-g431rb/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 <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_arch.h"
+
+#include "stm32.h"
+#include "stm32_fdcan.h"
+#include "nucleo-g431rb.h"
+
+#ifdef CONFIG_CAN
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#if !defined(CONFIG_STM32_FDCAN1)
+#  error "No CAN is enable. Please eneable at least one CAN device"
+#endif
+
+/****************************************************************************
+ * 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_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;
+}
+
+#endif /* CONFIG_CAN */