Add support of CAN character device for tm4c1294 launchpad.

boards/arm/tiva/tm4c1294-launchpad/Kconfig

@@ -72,4 +72,46 @@ config TM4C1294_LAUNCHPAD_TIMER_ALTCLK
 
 endif # TM4C1294_LAUNCHPAD_TIMER
 endif # TIVA_TIMER32_PERIODIC
+config TM4C1294_LAUNCHPAD_JUMPERS_CAN
+	bool "Use CAN jumpers configuration"
+	default n
+	select TIVA_UART2
+	---help---
+		If set, NuttX will assume the jumpers JP4 and JP5 are set in CAN configuration.
+		This means UART2 will be connected to the ICDI serial port.
+		
+choice
+	prompt "UART2 Rx pin selection"
+	depends on TIVA_UART2
+	default TM4C1294_LAUNCHPAD_UART2_RX_A6
+	
+config TM4C1294_LAUNCHPAD_UART2_RX_A6
+	bool "Use A6 as UART Rx pin"
+	default n
+	depends on TIVA_UART2 && !TM4C1294_LAUNCHPAD_JUMPERS_CAN
+	
+config TM4C1294_LAUNCHPAD_UART2_RX_D4
+	bool "Use D4 as UART Rx pin"
+	default n
+	depends on TIVA_UART2
+	
+endchoice # UART2 Rx pin selection
+
+choice
+	prompt "UART2 Tx pin selection"
+	default TM4C1294_LAUNCHPAD_UART2_TX_A7
+	depends on TIVA_UART2
+	
+config TM4C1294_LAUNCHPAD_UART2_TX_A7
+	bool "Use A7 as UART Tx pin"
+	default n
+	depends on TIVA_UART2 && !TM4C1294_LAUNCHPAD_JUMPERS_CAN
+	
+config TM4C1294_LAUNCHPAD_UART2_TX_D5
+	bool "Use D5 as UART Tx pin"
+	default n
+	depends on TIVA_UART2
+	
+endchoice # UART2 Tx pin selection
+
 endif # ARCH_BOARD_TM4C1294_LAUNCHPAD

boards/arm/tiva/tm4c1294-launchpad/include/board.h

@@ -190,6 +190,18 @@
 #define GPIO_EN0_LED1     GPIO_EN0_LED1_1
 #define GPIO_EN0_LED2     GPIO_EN0_LED2_1
 
+#if CONFIG_TM4C1294_LAUNCHPAD_UART2_RX_D4
+#define GPIO_UART2_RX     GPIO_UART2_RX_2
+#elif CONFIG_TM4C1294_LAUNCHPAD_UART2_RX_A6
+#define GPIO_UART2_RX     GPIO_UART2_RX_1
+#endif
+
+#if CONFIG_TM4C1294_LAUNCHPAD_UART2_TX_D5
+#define GPIO_UART2_TX     GPIO_UART2_TX_2
+#elif CONFIG_TM4C1294_LAUNCHPAD_UART2_TX_A7
+#define GPIO_UART2_TX     GPIO_UART2_TX_1
+#endif
+
 /* Control pins for BOOST-CC2564MODA plugged into BoosterPack1
  *
  *   --- ------------

boards/arm/tiva/tm4c1294-launchpad/src/Makefile

@@ -36,6 +36,10 @@ ifeq ($(CONFIG_TIVA_ETHERNET),y)
 CSRCS += tm4c_ethernet.c
 endif
 
+ifeq ($(CONFIG_TIVA_CAN),y)
+CSRCS += tm4c_can.c
+endif
+
 ifeq ($(CONFIG_DK_TM4C129X_TIMER),y)
 CSRCS += tm4c_timer.c
 endif

boards/arm/tiva/tm4c1294-launchpad/src/tm4c1294-launchpad.h

@@ -41,7 +41,7 @@
 
 #if !defined(CONFIG_TIVA_HCIUART) || !defined(CONFIG_BLUETOOTH_UART)
 #  undef HAVE_HCIUART
-#elif defined(CONFIG_TIVA_UART0_HCIUART)
+#elif defined(CONFIG_TIVA_UART0_HCIUART) && !defined(TM4C1294_LAUNCHPAD_JUMPERS_CAN)
 #  define HCIUART_SERDEV HCIUART0
 #elif defined(CONFIG_TIVA_UART1_HCIUART)
 #  define HCIUART_SERDEV HCIUART1
@@ -77,6 +77,10 @@
 #  undef HAVE_I2CTOOL
 #endif
 
+/* Define the procfs mounting point */
+
+#define TIVA_PROCFS_MOUNTPOINT "/proc"
+
 /* LED definitions **********************************************************/
 
 /* The EK-TM4C1294XL has a four green LEDs.
@@ -211,6 +215,18 @@ int tm4c_bringup(void);
 int tiva_timer_configure(void);
 #endif
 
+/****************************************************************************
+ * Name: tm4c_can_setup
+ *
+ * Description:
+ *   Initialize CAN modules and register the CAN driver.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_TIVA_CAN
+int tm4c_can_setup(void);
+#endif
+
 /****************************************************************************
  * Name: hciuart_dev_initialize
  *

boards/arm/tiva/tm4c1294-launchpad/src/tm4c_bringup.c

@@ -31,6 +31,7 @@
 #include <nuttx/i2c/i2c_master.h>
 #include <nuttx/sensors/qencoder.h>
 #include <arch/board/board.h>
+#include <nuttx/fs/fs.h>
 
 #include <nuttx/timers/pwm.h>
 
@@ -305,6 +306,17 @@ int tm4c_bringup(void)
 
   tm4c_i2ctool();
 
+#ifdef CONFIG_FS_PROCFS
+  /* Mount the procfs file system */
+
+  ret = nx_mount(NULL, TIVA_PROCFS_MOUNTPOINT, "procfs", 0, NULL);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to mount procfs at %s: %d\n",
+             TIVA_PROCFS_MOUNTPOINT, ret);
+    }
+#endif
+
 #ifdef HAVE_PWM
   /* Register PWM drivers */
 
@@ -317,6 +329,16 @@ int tm4c_bringup(void)
   tm4c_qei();
 #endif
 
+#ifdef CONFIG_TIVA_CAN
+  /* Initialize CAN module and register the CAN driver(s) */
+
+  ret = tm4c_can_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: tm4c_can_setup failed %d\n", ret);
+    }
+#endif
+
 #ifdef HAVE_TIMER
   /* Initialize the timer driver */
 

boards/arm/tiva/tm4c1294-launchpad/src/tm4c_can.c

@@ -0,0 +1,136 @@
+/****************************************************************************
+ * boards/arm/tiva/tm4c1294-launchpad/src/tm4c_can.c
+ * Based heavily on tiva_can.c from the tm4c1293-launchpad board
+ *
+ * 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_internal.h"
+
+#include "tiva_can.h"
+#include "tm4c1294-launchpad.h"
+
+#include "tiva_enableclks.h"
+#include "tiva_gpio.h"
+#include "hardware/tiva_pinmap.h"
+
+#ifdef CONFIG_CAN
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: tm4c_can_setup
+ *
+ * Description:
+ *  Initialize CAN and register the CAN device
+ *
+ ****************************************************************************/
+
+int tm4c_can_setup(void)
+{
+#ifdef CONFIG_TIVA_CAN
+  int ret;
+
+#  ifdef CONFIG_TIVA_CAN0
+  tiva_can0_enableclk();
+
+  ret = tiva_configgpio(GPIO_CAN0_RX);
+
+  if (ret < 0)
+    {
+      goto configgpio_error;
+    }
+
+  ret = tiva_configgpio(GPIO_CAN0_TX);
+
+  if (ret < 0)
+    {
+      goto configgpio_error;
+    }
+
+  /* Call tiva_can_initialize() to get an instance of CAN interface 0
+   * and register it.
+   */
+
+  ret = tiva_can_initialize("/dev/can0", 0);
+  if (ret < 0)
+    {
+      canerr("ERROR:  Failed to get/register CAN interface 0\n");
+      return ret;
+    }
+#  endif /* CONFIG_TIVA_CAN0 */
+
+#  ifdef CONFIG_TIVA_CAN1
+  tiva_can1_enableclk();
+
+  ret = tiva_configgpio(GPIO_CAN1_RX);
+
+  if (ret < 0)
+    {
+      goto configgpio_error;
+    }
+
+  ret = tiva_configgpio(GPIO_CAN1_TX);
+
+  if (ret < 0)
+    {
+      goto configgpio_error;
+    }
+
+  /* Call tiva_can_initialize() to get an instance of CAN interface 1
+   * and register it.
+   */
+
+  ret = tiva_can_initialize("/dev/can1", 1);
+  if (ret < 0)
+    {
+      canerr("ERROR:  Failed to get/register CAN interface 1\n");
+      return ret;
+    }
+#  endif /* CONFIG_TIVA_CAN1 */
+
+  return OK;
+
+configgpio_error:
+  canerr("ERROR: failed to configure CAN GPIO pin.\n");
+  return ret;
+#else
+  return -ENODEV;
+#endif
+}
+
+#endif /* CONFIG_CAN */
+