Add the beginning of an STM32 CAN driver

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4209 42af7a65-404d-4744-a932-0658087f49c3

ChangeLog

@@ -2286,5 +2286,7 @@
 	* drivers/mtd/mp25x.c:  Add ability to use different SPI modes and different
 	  manufacturers codes.  Fix a error in the wait for not busy (submitted by
 	  Mohammad Elwakeel.
+	* arch/arm/src/stm32/stm32_can.c.  Add a low-level STM32 CAN driver. (Initial
+	  check is incomplete).
 
 

Documentation/NuttxPortingGuide.html

@@ -12,7 +12,7 @@
       <h1><big><font color="#3c34ec">
         <i>NuttX RTOS Porting Guide</i>
       </font></big></h1>
-      <p>Last Updated: December 19, 2011</p>
+      <p>Last Updated: December 21, 2011</p>
     </td>
   </tr>
 </table>
@@ -127,7 +127,8 @@
        <a href="#usbhostdrivers">6.3.9 USB Host-Side Drivers</a><br>
        <a href="#usbdevdrivers">6.3.10 USB Device-Side Drivers</a><br>
        <a href="#analogdrivers">6.3.11 Analog (ADC/DAC) Drivers</a><br>
-       <a href="#pwmdrivers">6.3.12 PWM Drivers</a>
+       <a href="#pwmdrivers">6.3.12 PWM Drivers</a><br>
+       <a href="#candrivers">6.3.13 CAN Drivers</a>
     </ul>
     <a href="#pwrmgmt">6.4 Power Management</a>
     <ul>
@@ -3212,23 +3213,55 @@ extern void up_ledoff(int led);
     A &quot;lower half&quot;, platform-specific driver that implements the low-level timer controls to implement the PWM functionality.
   </li>
 </ol>
-
+<p>
+  Files supporting PWM can be found in the following locations:
+</p>
 <ul>
-  <li>
+  <li><b>Interface Definition</b>.
     The header file for the NuttX PWM driver reside at <code>include/nuttx/pwm.h</code>.
     This header file includes both the application level interface to the PWM driver as well as the interface between the &quot;upper half&quot; and &quot;lower half&quot; drivers.
     The PWM module uses a standard character driver framework.
     However, since the PWM driver is a devices control interface and not a data transfer interface,
     the majority of the functionality available to the application is implemented in driver ioctl calls.
   </li>
-  <li>
+  <li><b>&quot;Upper Half&quot; Driver</b>.
     The generic, &quot;upper half&quot; PWM driver resides at <code>drivers/pwm.c</code>.
   </li>
-  <li>
+  <li><b>&quot;Lower Half&quot; Drivers</b>.
-    Platform-specific PWM drivers reside in <code>arch/</code><i>&lt;architecture&gt;</i><code>/src/</code><i>&lt;chip&gt;</i> directory for the specific processor <i>&lt;architecture&gt;</i> and for the specific <i>&lt;chip&gt;</i> analog peripheral devices.
+    Platform-specific PWM drivers reside in <code>arch/</code><i>&lt;architecture&gt;</i><code>/src/</code><i>&lt;chip&gt;</i> directory for the specific processor <i>&lt;architecture&gt;</i> and for the specific <i>&lt;chip&gt;</i> PWM peripheral devices.
   </li>
 </ul>
 
+<h3><a name="candrivers">6.3.13 CAN Drivers</a></h3>
+<p>
+  NuttX supports only a very low-level CAN driver.
+  This driver supports only the data exchange and does not include any high-level CAN protocol.
+  The NuttX CAN driver is split into two parts:
+</p>
+<ol>
+  <li>
+    An &quot;upper half&quot;, generic driver that provides the comman CAN interface to application level code, and
+  </li>
+  <li>
+    A &quot;lower half&quot;, platform-specific driver that implements the low-level timer controls to implement the CAN functionality.
+  </li>
+</ol>
+<p>
+  Files supporting CAN can be found in the following locations:
+</p>
+<ul>
+  <li><b>Interface Definition</b>.
+    The header file for the NuttX CAN driver reside at <code>include/nuttx/can.h</code>.
+    This header file includes both the application level interface to the CAN driver as well as the interface between the &quot;upper half&quot; and &quot;lower half&quot; drivers.
+    The CAN module uses a standard character driver framework.
+  </li>
+  <li><b>&quot;Upper Half&quot; Driver</b>.
+    The generic, &quot;upper half&quot; CAN driver resides at <code>drivers/can.c</code>.
+  </li>
+  <li><b>&quot;Lower Half&quot; Drivers</b>.
+    Platform-specific CAN drivers reside in <code>arch/</code><i>&lt;architecture&gt;</i><code>/src/</code><i>&lt;chip&gt;</i> directory for the specific processor <i>&lt;architecture&gt;</i> and for the specific <i>&lt;chip&gt;</i> CAN peripheral devices.
+  </li>
+</ul>
 
 <h2><a name="pwrmgmt">6.4 Power Management</a></h2>
 
@@ -4332,6 +4365,19 @@ build
   </li>
 </ul>
 
+<h3>CAN driver</h3>
+<ul>
+  <li>
+    <code>CONFIG_CAN</code>: Enables CAN support
+  </li>
+  <li>
+    <code>CONFIG_CAN_FIFOSIZE</code>: The size of the circular buffer of CAN messages. Default: 8
+  </li>
+  <li>
+    <code>CONFIG_CAN_NPENDINGRTR</code>: The size of the list of pending RTR requests.  Default: 4
+  </li>
+</ul>
+
 <h3>SPI driver</h3>
 <ul>
   <li>

arch/arm/src/lpc17xx/Make.defs

@@ -2,7 +2,7 @@
 # arch/arm/src/lpc17xx/Make.defs
 #
 #   Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   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
@@ -57,10 +57,9 @@ endif
 # Required LPC17xx files
 
 CHIP_ASRCS	=
-CHIP_CSRCS	= lpc17_allocateheap.c lpc17_can.c lpc17_clockconfig.c \
+CHIP_CSRCS	= lpc17_allocateheap.c lpc17_clockconfig.c lpc17_clrpend.c \
-		  lpc17_clrpend.c lpc17_gpio.c lpc17_i2c.c lpc17_idle.c lpc17_irq.c \
+		  lpc17_gpio.c lpc17_i2c.c lpc17_idle.c lpc17_irq.c lpc17_lowputc.c \
-		  lpc17_lowputc.c lpc17_serial.c lpc17_spi.c lpc17_ssp.c lpc17_start.c \
+		  lpc17_serial.c lpc17_spi.c lpc17_ssp.c lpc17_start.c lpc17_timerisr.c
-		  lpc17_timerisr.c
 
 # Configuration-dependent LPC17xx files
 
@@ -90,6 +89,10 @@ CHIP_CSRCS	+= lpc17_ethernet.c
 endif
 endif
 
+ifeq ($(CONFIG_CAN),y)
+CHIP_CSRCS	+= lpc17_can.c
+endif
+
 ifeq ($(CONFIG_LPC17_ADC),y)
 CHIP_CSRCS	+= lpc17_adc.c
 endif

arch/arm/src/stm32/Make.defs

@@ -2,7 +2,7 @@
 # arch/arm/src/stm32/Make.defs
 #
 #   Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   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
@@ -87,6 +87,10 @@ ifeq ($(CONFIG_PWM),y)
 CHIP_CSRCS	+= stm32_pwm.c
 endif
 
+ifeq ($(CONFIG_CAN),y)
+CHIP_CSRCS	+= stm32_can.c
+endif
+
 ifeq ($(CONFIG_DEBUG),y)
 CHIP_CSRCS	+= stm32_dumpgpio.c
 endif

arch/arm/src/stm32/stm32_pwm.c

@@ -2,7 +2,7 @@
  * arch/arm/src/stm32/stm32_pwm.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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

configs/README.txt

@@ -633,6 +633,15 @@ defconfig -- This is a configuration file similar to the Linux
 		CONFIG_RTC_ALARM - Enable if the RTC hardware supports setting of an
 		  alarm.  A callback function will be executed when the alarm goes off
 
+	CAN driver
+
+		CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
+		  CONFIG_STM32_CAN2 must also be defined)
+		CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
+		  Default: 8
+		CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
+		  Default: 4
+
 	SPI driver
 
 		CONFIG_SPI_OWNBUS - Set if there is only one active device

configs/hymini-stm32v/README.txt

@@ -486,8 +486,18 @@ HY-Mini specific Configuration Options
 	  4-bit transfer mode.
     CONFIG_MMCSD_HAVECARDDETECT - Select if SDIO driver card detection
       is 100% accurate  (it is on the  HY-MiniSTM32V)
-    
+
-    
+  HY-MiniSTM32V CAN Configuration
+
+	CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
+	  CONFIG_STM32_CAN2 must also be defined)
+	CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
+	  Default: 8
+	CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
+	  Default: 4
+	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
+	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
+
   HY-MiniSTM32V LCD Hardware Configuration  (SSD1289 controler)
 
     CONFIG_NX_LCDDRIVER - To be defined to include LCD driver

configs/stm3210e-eval/README.txt

@@ -575,6 +575,17 @@ STM3210E-EVAL-specific Configuration Options
 	CONFIG_SDIO_WIDTH_D1_ONLY - Select 1-bit transfer mode.  Default:
 	  4-bit transfer mode.
 
+  STM3210E-EVAL CAN Configuration
+
+	CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
+	  CONFIG_STM32_CAN2 must also be defined)
+	CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
+	  Default: 8
+	CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
+	  Default: 4
+	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
+	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
+
   STM3210E-EVAL LCD Hardware Configuration
 
     CONFIG_LCD_LANDSCAPE - Define for 320x240 display "landscape"

configs/stm3240g-eval/README.txt

@@ -481,6 +481,17 @@ STM3240G-EVAL-specific Configuration Options
 	CONFIG_STM32_ETH_PTP - Precision Time Protocol (PTP).  Not supported
 	  but some hooks are indicated with this condition.
 
+  STM3240G-EVAL CAN Configuration
+
+	CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
+	  CONFIG_STM32_CAN2 must also be defined)
+	CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
+	  Default: 8
+	CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
+	  Default: 4
+	CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
+	CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
+
   STM3240G-EVAL LCD Hardware Configuration
 
 Configurations

configs/stm3240g-eval/dhcpd/defconfig

@@ -256,6 +256,24 @@ CONFIG_SSI1_DISABLE=y
 CONFIG_SSI_POLLWAIT=y
 #CONFIG_SSI_TXLIMIT=4
 
+#
+# STM32F40xxx specific CAN device driver settings
+#
+# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
+#   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
+#   Default: 8
+# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
+#   Default: 4
+# CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
+# CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
+#
+CONFIG_CAN=n
+#CONFIG_CAN_FIFOSIZE
+#CONFIG_CAN_NPENDINGRTR
+CONFIG_CAN1_BAUD=115200
+CONFIG_CAN2_BAUD=115200
+
 #
 # STM32F40xxx Ethernet device driver settings
 #

configs/stm3240g-eval/nettest/defconfig

@@ -256,6 +256,24 @@ CONFIG_SSI1_DISABLE=y
 CONFIG_SSI_POLLWAIT=y
 #CONFIG_SSI_TXLIMIT=4
 
+#
+# STM32F40xxx specific CAN device driver settings
+#
+# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
+#   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
+#   Default: 8
+# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
+#   Default: 4
+# CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
+# CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
+#
+CONFIG_CAN=n
+#CONFIG_CAN_FIFOSIZE
+#CONFIG_CAN_NPENDINGRTR
+CONFIG_CAN1_BAUD=115200
+CONFIG_CAN2_BAUD=115200
+
 #
 # STM32F40xxx Ethernet device driver settings
 #

configs/stm3240g-eval/nsh/defconfig

@@ -256,6 +256,24 @@ CONFIG_SSI1_DISABLE=y
 CONFIG_SSI_POLLWAIT=y
 #CONFIG_SSI_TXLIMIT=4
 
+#
+# STM32F40xxx specific CAN device driver settings
+#
+# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
+#   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
+#   Default: 8
+# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
+#   Default: 4
+# CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
+# CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
+#
+CONFIG_CAN=n
+#CONFIG_CAN_FIFOSIZE
+#CONFIG_CAN_NPENDINGRTR
+CONFIG_CAN1_BAUD=115200
+CONFIG_CAN2_BAUD=115200
+
 #
 # STM32F40xxx Ethernet device driver settings
 #

configs/stm3240g-eval/ostest/defconfig

@@ -256,6 +256,24 @@ CONFIG_SSI1_DISABLE=y
 CONFIG_SSI_POLLWAIT=y
 #CONFIG_SSI_TXLIMIT=4
 
+#
+# STM32F40xxx specific CAN device driver settings
+#
+# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
+#   CONFIG_STM32_CAN2 must also be defined)
+# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
+#   Default: 8
+# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
+#   Default: 4
+# CONFIG_CAN1_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN1 is defined.
+# CONFIG_CAN2_BAUD - CAN1 BAUD rate.  Required if CONFIG_STM32_CAN2 is defined.
+#
+CONFIG_CAN=n
+#CONFIG_CAN_FIFOSIZE
+#CONFIG_CAN_NPENDINGRTR
+CONFIG_CAN1_BAUD=115200
+CONFIG_CAN2_BAUD=115200
+
 #
 # STM32F40xxx Ethernet device driver settings
 #

drivers/Makefile

@@ -2,7 +2,7 @@
 # drivers/Makefile
 #
 #   Copyright (C) 2007-2011 Gregory Nutt. All rights reserved.
-#   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+#   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
@@ -64,10 +64,13 @@ include usbhost/Make.defs
 include wireless/Make.defs
 
 ifneq ($(CONFIG_NFILE_DESCRIPTORS),0)
-  CSRCS += dev_null.c dev_zero.c loop.c  can.c
+  CSRCS += dev_null.c dev_zero.c loop.c
 ifneq ($(CONFIG_DISABLE_MOUNTPOINT),y)
   CSRCS += ramdisk.c rwbuffer.c
 endif
+ifneq ($(CONFIG_CAN),y)
+  CSRCS += can.c
+endif
 ifeq ($(CONFIG_PWM),y)
   CSRCS += pwm.c
 endif

drivers/can.c

@@ -1,8 +1,8 @@
 /****************************************************************************
  * drivers/can.c
  *
- *   Copyright (C) 2008-2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2008-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
@@ -33,10 +33,6 @@
  *
  ****************************************************************************/
 
-/****************************************************************************
- * Compilation Switches
- ****************************************************************************/
-
 /****************************************************************************
  * Included Files
  ****************************************************************************/
@@ -60,9 +56,27 @@
 
 #include <arch/irq.h>
 
+#ifdef CONFIG_CAN
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
+/* 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
+
+/* Timing Definitions *******************************************************/
 
 #define HALF_SECOND_MSEC 500
 #define HALF_SECOND_USEC 500000L
@@ -619,7 +633,7 @@ int can_register(FAR const char *path, FAR struct can_dev_s *dev)
 
   /* Register the CAN device */
 
-  dbg("Registering %s\n", path);
+  canvdbg("Registering %s\n", path);
   return register_driver(path, &g_canops, 0666, dev);
 }
 
@@ -768,3 +782,4 @@ int can_txdone(FAR struct can_dev_s *dev)
   return ret;
 }
 
+#endif /* CONFIG_CAN */

include/nuttx/can.h

@@ -1,8 +1,8 @@
 /************************************************************************************
  * include/nuttx/can.h
  *
- *   Copyright (C) 2008, 2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2008, 2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   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
@@ -33,8 +33,8 @@
  *
  ************************************************************************************/
 
-#ifndef __NUTTX_CAN_H
+#ifndef _INCLUDE_NUTTX_CAN_H
-#define __NUTTX_CAN_H
+#define _INCLUDE_NUTTX_CAN_H
 
 /************************************************************************************
  * Included Files
@@ -46,14 +46,18 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <semaphore.h>
+
 #include <nuttx/fs.h>
 
+#ifdef CONFIG_CAN
+
 /************************************************************************************
  * Pre-processor Definitions
  ************************************************************************************/
 
-/* Default configuration settings that may be overridden in the board configuration.
+/* Default configuration settings that may be overridden in the NuttX configuration
- * file.  The configured size is limited to 255 to fit into a uint8_t.
+ * file or in the board configuration file.  The configured size is limited to 255
+ * to fit into a uint8_t.
  */
 
 #if !defined(CONFIG_CAN_FIFOSIZE)
@@ -165,8 +169,8 @@ struct can_ops_s
 
   /* Configure the CAN. This method is called the first time that the CAN
    * device is opened.  This will occur when the port is first opened. 
-   * This setup includes configuring and attaching CAN interrupts.  Interrupts
+   * This setup includes configuring and attaching CAN interrupts.  All CAN
-   * are all disabled upon return.
+   * interrupts are disabled upon return.
    */
 
   CODE int (*co_setup)(FAR struct can_dev_s *dev);
@@ -305,4 +309,5 @@ EXTERN int can_txdone(FAR struct can_dev_s *dev);
 }
 #endif
 
-#endif /* __NUTTX_CAN_H */
+#endif /* CONFIG_CAN */
+#endif /* _INCLUDE_NUTTX_CAN_H */