SAMV71-XULT: Add support for MCAN1 loopback test

configs/samv71-xult/README.txt

@@ -20,6 +20,7 @@ Contents
   - Networking
   - Audio Interface
   - maXTouch Xplained Pro
+  - MCAN1 Loopback Test
   - Debugging
   - Configurations
 
@@ -990,6 +991,73 @@ only be used in connected in the LCD (EXT4) connection.
     CONFIG_EXAMPLES_NXLINES_VPLANE=0
     CONFIG_EXAMPLES_NXLINES_DEVNO=0
 
+MCAN1 Loopback Test
+===================
+
+  MCAN1
+  -----
+  SAM V71 Xplained Ultra has two MCAN modules that performs communication according
+  to ISO11898-1 (Bosch CAN specification 2.0 part A,B) and Bosch CAN FD
+  specification V1.0.  MCAN1 is connected to an on-board ATA6561 CAN physical-layer
+  transceiver.
+
+    ------- -------- -------- -------------
+    SAM V71 FUNCTION ATA6561  SHARED
+    PIN              FUNCTION FUNCTIONALITY
+    ------- -------- -------- -------------
+    PC14    CANTX1   TXD      Shield
+    PC12    CANRX1   RXD      Shield
+    ------- -------- -------- -------------
+
+  Enabling MCAN1
+  --------------
+  These modifications may be applied to the samv71-xult/nsh configuration in order
+  to enable MCAN1:
+
+    Device Drivers -> CAN Driver support
+       CONFIG_CAN=y                            # Enable the upper-half CAN driver
+       CONFIG_CAN_FIFOSIZE=8
+       CONFIG_CAN_NPENDINGRTR=4
+
+    System Type -> SAMV7 Peripheral Selections
+       CONFIG_SAMV7_MCAN1=y                    # Enable MCAN1 as the lower-half
+
+    System Type ->MCAN device driver options
+       CONFIG_SAMV7_MCAN_CLKSRC_MAIN=y         # Use the MAIN clock as the source
+       CONFIG_SAMV7_MCAN_CLKSRC_PRESCALER=1
+
+    System Type ->MCAN device driver options -> MCAN1 device driver options
+       CONFIG_SAMV7_MCAN1_ISO11899_1=y         # Loopback test only support ISO11899-1
+       CONFIG_SAMV7_MCAN1_LOOPBACK=y           # Needed for loopback test
+       CONFIG_SAMV7_MCAN1_BITRATE=500000       # Not critical for loopback test
+       CONFIG_SAMV7_MCAN1_PROPSEG=2            # Bit timing setup
+       CONFIG_SAMV7_MCAN1_PHASESEG1=11         # " " "    " "   "
+       CONFIG_SAMV7_MCAN1_PHASESEG2=11         # " " "    " "   "
+       CONFIG_SAMV7_MCAN1_FSJW=4               # " " "    " "   "
+       CONFIG_SAMV7_MCAN1_FBITRATE=2000000     # CAN_FD BTW mode is not used
+       CONFIG_SAMV7_MCAN1_FPROPSEG=2           # "    " " " "  " "" " " "  "
+       CONFIG_SAMV7_MCAN1_FPHASESEG1=4         # "    " " " "  " "" " " "  "
+       CONFIG_SAMV7_MCAN1_FPHASESEG2=4         # "    " " " "  " "" " " "  "
+       CONFIG_SAMV7_MCAN1_FFSJW=2              # "    " " " "  " "" " " "  "
+       CONFIG_SAMV7_MCAN1_NSTDFILTERS=0        # Filters are not used in the loopback test
+       CONFIG_SAMV7_MCAN1_NEXTFILTERS=0        # "     " " " " " "  " "" " " "      " "  "
+       CONFIG_SAMV7_MCAN1_RXFIFO0_32BYTES=y    # Each RX FIFO0 element is 32 bytes
+       CONFIG_SAMV7_MCAN1_RXFIFO0_SIZE=8       # There are 8 queue elements
+       CONFIG_SAMV7_MCAN1_RXFIFO0_32BYTES=y    # Each RX FIFO1 element is 32 bytes
+       CONFIG_SAMV7_MCAN1_RXFIFO0_SIZE=8       # There are 8 queue elements
+       CONFIG_SAMV7_MCAN1_RXBUFFER_32BYTES=y   # Each RX BUFFER is 32 bytes
+       CONFIG_SAMV7_MCAN1_TXBUFFER_32BYTES=y   # Each TX BUFFER is 32 bytes
+       CONFIG_SAMV7_MCAN1_TXFIFOQ_SIZE=8       # There are 8 queue elements
+       CONFIG_SAMV7_MCAN1_TXEVENTFIFO_SIZE=0   # The event FIFO is not used
+
+    Enabling the CAN Loopback Test
+    ------------------------------
+    Application Configuration -> Examples -> CAN Example
+      CONFIG_EXAMPLES_CAN=y                    # Enables the CAN test
+
+    Enabling CAN Debug Output
+    -------------------------
+
 Debugging
 =========
 

configs/samv71-xult/include/board.h

@@ -503,6 +503,25 @@
 #  endif
 #endif /* CONFIG_SAMV71XULT_MXTXPLND */
 
+/* MCAN1
+ *
+ * SAM V71 Xplained Ultra has two MCAN modules that performs communication according
+ * to ISO11898-1 (Bosch CAN specification 2.0 part A,B) and Bosch CAN FD
+ * specification V1.0.  MCAN1 is connected to an on-board ATA6561 CAN physical-layer
+ * transceiver.
+ *
+ *   ------- -------- -------- -------------
+ *   SAM V71 FUNCTION ATA6561  SHARED
+ *   PIN              FUNCTION FUNCTIONALITY
+ *   ------- -------- -------- -------------
+ *   PC14    CANTX1   TXD      Shield
+ *   PC12    CANRX1   RXD      Shield
+ *   ------- -------- -------- -------------
+ */
+
+#define GPIO_MCAN1_TX         GPIO_MCAN1_TX_2
+#define GPIO_MCAN1_RX         GPIO_MCAN1_RX_2
+
 /************************************************************************************
  * Public Types
  ************************************************************************************/

configs/samv71-xult/src/Makefile

@@ -90,6 +90,10 @@ ifeq ($(CONFIG_USBMSC),y)
 CSRCS += sam_usbmsc.c
 endif
 
+ifeq ($(CONFIG_SAMV7_MCAN),y)
+CSRCS += sam_mcan.c
+endif
+
 ifeq ($(CONFIG_AUDIO_WM8904),y)
 ifeq ($(CONFIG_SAMV7_TWIHS0),y)
 ifeq ($(CONFIG_SAMV7_SSC0),y)

configs/samv71-xult/src/sam_mcan.c

@@ -0,0 +1,134 @@
+/************************************************************************************
+ * configs/samv71-xultk/src/sam_mcan.c
+ *
+ *   Copyright (C) 2015 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 <errno.h>
+#include <debug.h>
+
+#include <nuttx/can.h>
+#include <arch/board/board.h>
+
+#include "sam_mcan.h"
+#include "samv71-xult.h"
+
+#if defined(CONFIG_CAN) && (defined(CONFIG_SAMV7_MCAN0) || defined(CONFIG_SAMV7_MCAN1))
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_SAMV7_MCAN0) && defined(CONFIG_SAMV7_MCAN1)
+#  warning "Both MCAN0 and MCAN1 are enabled.  Assuming only CAN1."
+#  undef CONFIG_SAMV7_MCAN0
+#endif
+
+#ifdef CONFIG_SAMV7_MCAN0
+#  define CAN_PORT 0
+#else
+#  define CAN_PORT 1
+#endif
+
+/* Debug ***************************************************************************/
+/* Non-standard debug that may be enabled just for testing CAN */
+
+#ifdef CONFIG_DEBUG_CAN
+#  define candbg    dbg
+#  define canvdbg   vdbg
+#  define canlldbg  lldbg
+#  define canllvdbg llvdbg
+#else
+#  define candbg(x...)
+#  define canvdbg(x...)
+#  define canlldbg(x...)
+#  define canllvdbg(x...)
+#endif
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+  static bool initialized = false;
+  struct can_dev_s *can;
+  int ret;
+
+  /* Check if we have already initialized */
+
+  if (!initialized)
+    {
+      /* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+      can = sam_mcan_initialize(CAN_PORT);
+      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)
+        {
+          candbg("ERROR: can_register failed: %d\n", ret);
+          return ret;
+        }
+
+      /* Now we are initialized */
+
+      initialized = true;
+    }
+
+  return OK;
+}
+
+#endif /* CONFIG_CAN && (CONFIG_SAMV7_MCAN0 || CONFIG_SAMV7_MCAN1) */