mirror of
https://github.com/apache/nuttx.git
synced 2026-06-04 23:03:27 +08:00
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
This commit is contained in:
patacongo
@@ -2286,5 +2286,7 @@
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* drivers/mtd/mp25x.c: Add ability to use different SPI modes and different
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manufacturers codes. Fix a error in the wait for not busy (submitted by
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Mohammad Elwakeel.
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* arch/arm/src/stm32/stm32_can.c. Add a low-level STM32 CAN driver. (Initial
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check is incomplete).
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@@ -12,7 +12,7 @@
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<h1><big><font color="#3c34ec">
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<i>NuttX RTOS Porting Guide</i>
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</font></big></h1>
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<p>Last Updated: December 19, 2011</p>
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<p>Last Updated: December 21, 2011</p>
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</td>
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</tr>
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</table>
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@@ -127,7 +127,8 @@
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<a href="#usbhostdrivers">6.3.9 USB Host-Side Drivers</a><br>
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<a href="#usbdevdrivers">6.3.10 USB Device-Side Drivers</a><br>
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<a href="#analogdrivers">6.3.11 Analog (ADC/DAC) Drivers</a><br>
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<a href="#pwmdrivers">6.3.12 PWM Drivers</a>
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<a href="#pwmdrivers">6.3.12 PWM Drivers</a><br>
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<a href="#candrivers">6.3.13 CAN Drivers</a>
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</ul>
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<a href="#pwrmgmt">6.4 Power Management</a>
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<ul>
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@@ -3212,23 +3213,55 @@ extern void up_ledoff(int led);
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A "lower half", platform-specific driver that implements the low-level timer controls to implement the PWM functionality.
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</li>
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</ol>
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<p>
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Files supporting PWM can be found in the following locations:
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</p>
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<ul>
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<li>
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<li><b>Interface Definition</b>.
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The header file for the NuttX PWM driver reside at <code>include/nuttx/pwm.h</code>.
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This header file includes both the application level interface to the PWM driver as well as the interface between the "upper half" and "lower half" drivers.
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The PWM module uses a standard character driver framework.
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However, since the PWM driver is a devices control interface and not a data transfer interface,
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the majority of the functionality available to the application is implemented in driver ioctl calls.
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</li>
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<li>
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<li><b>"Upper Half" Driver</b>.
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The generic, "upper half" PWM driver resides at <code>drivers/pwm.c</code>.
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</li>
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<li>
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Platform-specific PWM drivers reside in <code>arch/</code><i><architecture></i><code>/src/</code><i><chip></i> directory for the specific processor <i><architecture></i> and for the specific <i><chip></i> analog peripheral devices.
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<li><b>"Lower Half" Drivers</b>.
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Platform-specific PWM drivers reside in <code>arch/</code><i><architecture></i><code>/src/</code><i><chip></i> directory for the specific processor <i><architecture></i> and for the specific <i><chip></i> PWM peripheral devices.
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</li>
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</ul>
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<h3><a name="candrivers">6.3.13 CAN Drivers</a></h3>
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<p>
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NuttX supports only a very low-level CAN driver.
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This driver supports only the data exchange and does not include any high-level CAN protocol.
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The NuttX CAN driver is split into two parts:
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</p>
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<ol>
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<li>
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An "upper half", generic driver that provides the comman CAN interface to application level code, and
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</li>
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<li>
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A "lower half", platform-specific driver that implements the low-level timer controls to implement the CAN functionality.
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</li>
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</ol>
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<p>
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Files supporting CAN can be found in the following locations:
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</p>
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<ul>
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<li><b>Interface Definition</b>.
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The header file for the NuttX CAN driver reside at <code>include/nuttx/can.h</code>.
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This header file includes both the application level interface to the CAN driver as well as the interface between the "upper half" and "lower half" drivers.
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The CAN module uses a standard character driver framework.
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</li>
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<li><b>"Upper Half" Driver</b>.
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The generic, "upper half" CAN driver resides at <code>drivers/can.c</code>.
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</li>
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<li><b>"Lower Half" Drivers</b>.
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Platform-specific CAN drivers reside in <code>arch/</code><i><architecture></i><code>/src/</code><i><chip></i> directory for the specific processor <i><architecture></i> and for the specific <i><chip></i> CAN peripheral devices.
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</li>
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</ul>
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<h2><a name="pwrmgmt">6.4 Power Management</a></h2>
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@@ -4332,6 +4365,19 @@ build
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</li>
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</ul>
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<h3>CAN driver</h3>
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<ul>
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<li>
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<code>CONFIG_CAN</code>: Enables CAN support
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</li>
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<li>
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<code>CONFIG_CAN_FIFOSIZE</code>: The size of the circular buffer of CAN messages. Default: 8
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</li>
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<li>
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<code>CONFIG_CAN_NPENDINGRTR</code>: The size of the list of pending RTR requests. Default: 4
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</li>
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</ul>
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<h3>SPI driver</h3>
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<ul>
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<li>
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@@ -2,7 +2,7 @@
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# arch/arm/src/lpc17xx/Make.defs
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#
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# Copyright (C) 2010-2011 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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# Author: Gregory Nutt <gnutt@nuttx.org>
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -57,10 +57,9 @@ endif
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# Required LPC17xx files
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CHIP_ASRCS =
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CHIP_CSRCS = lpc17_allocateheap.c lpc17_can.c lpc17_clockconfig.c \
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lpc17_clrpend.c lpc17_gpio.c lpc17_i2c.c lpc17_idle.c lpc17_irq.c \
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lpc17_lowputc.c lpc17_serial.c lpc17_spi.c lpc17_ssp.c lpc17_start.c \
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lpc17_timerisr.c
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CHIP_CSRCS = lpc17_allocateheap.c lpc17_clockconfig.c lpc17_clrpend.c \
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lpc17_gpio.c lpc17_i2c.c lpc17_idle.c lpc17_irq.c lpc17_lowputc.c \
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lpc17_serial.c lpc17_spi.c lpc17_ssp.c lpc17_start.c lpc17_timerisr.c
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# Configuration-dependent LPC17xx files
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@@ -90,6 +89,10 @@ CHIP_CSRCS += lpc17_ethernet.c
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endif
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endif
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ifeq ($(CONFIG_CAN),y)
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CHIP_CSRCS += lpc17_can.c
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endif
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ifeq ($(CONFIG_LPC17_ADC),y)
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CHIP_CSRCS += lpc17_adc.c
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endif
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@@ -2,7 +2,7 @@
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# arch/arm/src/stm32/Make.defs
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#
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# Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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# Author: Gregory Nutt <gnutt@nuttx.org>
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -87,6 +87,10 @@ ifeq ($(CONFIG_PWM),y)
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CHIP_CSRCS += stm32_pwm.c
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endif
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ifeq ($(CONFIG_CAN),y)
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CHIP_CSRCS += stm32_can.c
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endif
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ifeq ($(CONFIG_DEBUG),y)
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CHIP_CSRCS += stm32_dumpgpio.c
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endif
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Executable
+761
File diff suppressed because it is too large
Load Diff
@@ -2,7 +2,7 @@
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* arch/arm/src/stm32/stm32_pwm.c
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*
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* Copyright (C) 2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -633,6 +633,15 @@ defconfig -- This is a configuration file similar to the Linux
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CONFIG_RTC_ALARM - Enable if the RTC hardware supports setting of an
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alarm. A callback function will be executed when the alarm goes off
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CAN driver
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CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
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CONFIG_STM32_CAN2 must also be defined)
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CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
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Default: 8
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CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
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Default: 4
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SPI driver
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CONFIG_SPI_OWNBUS - Set if there is only one active device
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@@ -487,6 +487,16 @@ HY-Mini specific Configuration Options
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CONFIG_MMCSD_HAVECARDDETECT - Select if SDIO driver card detection
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is 100% accurate (it is on the HY-MiniSTM32V)
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HY-MiniSTM32V CAN Configuration
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CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
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CONFIG_STM32_CAN2 must also be defined)
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CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
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Default: 8
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CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
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Default: 4
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CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN1 is defined.
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CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
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HY-MiniSTM32V LCD Hardware Configuration (SSD1289 controler)
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@@ -575,6 +575,17 @@ STM3210E-EVAL-specific Configuration Options
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CONFIG_SDIO_WIDTH_D1_ONLY - Select 1-bit transfer mode. Default:
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4-bit transfer mode.
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STM3210E-EVAL CAN Configuration
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CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
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CONFIG_STM32_CAN2 must also be defined)
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CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
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Default: 8
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CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
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Default: 4
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CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN1 is defined.
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CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
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STM3210E-EVAL LCD Hardware Configuration
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CONFIG_LCD_LANDSCAPE - Define for 320x240 display "landscape"
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@@ -481,6 +481,17 @@ STM3240G-EVAL-specific Configuration Options
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CONFIG_STM32_ETH_PTP - Precision Time Protocol (PTP). Not supported
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but some hooks are indicated with this condition.
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STM3240G-EVAL CAN Configuration
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CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
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CONFIG_STM32_CAN2 must also be defined)
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CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
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Default: 8
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CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
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Default: 4
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CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN1 is defined.
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CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
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STM3240G-EVAL LCD Hardware Configuration
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Configurations
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@@ -256,6 +256,24 @@ CONFIG_SSI1_DISABLE=y
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CONFIG_SSI_POLLWAIT=y
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#CONFIG_SSI_TXLIMIT=4
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#
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# STM32F40xxx specific CAN device driver settings
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#
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# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
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# CONFIG_STM32_CAN2 must also be defined)
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# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
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# Default: 8
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# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
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# Default: 4
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# CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN1 is defined.
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# CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
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#
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CONFIG_CAN=n
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#CONFIG_CAN_FIFOSIZE
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#CONFIG_CAN_NPENDINGRTR
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CONFIG_CAN1_BAUD=115200
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CONFIG_CAN2_BAUD=115200
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#
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# STM32F40xxx Ethernet device driver settings
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#
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@@ -256,6 +256,24 @@ CONFIG_SSI1_DISABLE=y
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CONFIG_SSI_POLLWAIT=y
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#CONFIG_SSI_TXLIMIT=4
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#
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# STM32F40xxx specific CAN device driver settings
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#
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# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
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# CONFIG_STM32_CAN2 must also be defined)
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# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
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# Default: 8
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# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
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# Default: 4
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# CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN1 is defined.
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# CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
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#
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CONFIG_CAN=n
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#CONFIG_CAN_FIFOSIZE
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#CONFIG_CAN_NPENDINGRTR
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CONFIG_CAN1_BAUD=115200
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CONFIG_CAN2_BAUD=115200
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#
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# STM32F40xxx Ethernet device driver settings
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#
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@@ -256,6 +256,24 @@ CONFIG_SSI1_DISABLE=y
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CONFIG_SSI_POLLWAIT=y
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#CONFIG_SSI_TXLIMIT=4
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#
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# STM32F40xxx specific CAN device driver settings
|
||||
#
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# CONFIG_CAN - Enables CAN support (one or both of CONFIG_STM32_CAN1 or
|
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# CONFIG_STM32_CAN2 must also be defined)
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# CONFIG_CAN_FIFOSIZE - The size of the circular buffer of CAN messages.
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# Default: 8
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# CONFIG_CAN_NPENDINGRTR - The size of the list of pending RTR requests.
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# Default: 4
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# CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN1 is defined.
|
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# CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_STM32_CAN2 is defined.
|
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#
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CONFIG_CAN=n
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#CONFIG_CAN_FIFOSIZE
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#CONFIG_CAN_NPENDINGRTR
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CONFIG_CAN1_BAUD=115200
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CONFIG_CAN2_BAUD=115200
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#
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# STM32F40xxx Ethernet device driver settings
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#
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||||
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||||
@@ -256,6 +256,24 @@ CONFIG_SSI1_DISABLE=y
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CONFIG_SSI_POLLWAIT=y
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#CONFIG_SSI_TXLIMIT=4
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||||
|
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#
|
||||
# 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
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||||
#CONFIG_CAN_FIFOSIZE
|
||||
#CONFIG_CAN_NPENDINGRTR
|
||||
CONFIG_CAN1_BAUD=115200
|
||||
CONFIG_CAN2_BAUD=115200
|
||||
|
||||
#
|
||||
# STM32F40xxx Ethernet device driver settings
|
||||
#
|
||||
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||||
+5
-2
@@ -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
|
||||
|
||||
+22
-7
@@ -1,8 +1,8 @@
|
||||
/****************************************************************************
|
||||
* drivers/can.c
|
||||
*
|
||||
* Copyright (C) 2008-2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
* Copyright (C) 2008-2009, 2011 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
|
||||
@@ -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 */
|
||||
|
||||
+14
-9
@@ -1,8 +1,8 @@
|
||||
/************************************************************************************
|
||||
* include/nuttx/can.h
|
||||
*
|
||||
* Copyright (C) 2008, 2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
* Copyright (C) 2008, 2009, 2011 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
|
||||
@@ -33,8 +33,8 @@
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __NUTTX_CAN_H
|
||||
#define __NUTTX_CAN_H
|
||||
#ifndef _INCLUDE_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.
|
||||
* file. The configured size is limited to 255 to fit into a uint8_t.
|
||||
/* Default configuration settings that may be overridden in the NuttX configuration
|
||||
* 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
|
||||
* are all disabled upon return.
|
||||
* This setup includes configuring and attaching CAN interrupts. All CAN
|
||||
* 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 */
|
||||
|
||||
Reference in New Issue
Block a user