boards/arm/stm32/nucleo-f446re: added support for CAN driver

Signed-off-by: Michal Lenc <michallenc@seznam.cz>

boards/arm/stm32/nucleo-f446re/README.txt

@@ -549,3 +549,12 @@ Configurations
        Pin 33 PA10 USART1_TX    some RS-232 converters
        Pin 20 GND
        Pin 8  U5V
+
+  can:
+  ----
+    This is basically an nsh configuration (see above) with added support
+    for CAN driver. Both CAN 1 (RX: PB_8, TX: PB_9) and CAN 2 (RX: PB_5, TX: PB_6)
+    are turn on.
+
+    Functionality of CAN driver can be tested by calling application
+    "can" in NuttShell. This application sends 100 messages over CAN 1.

boards/arm/stm32/nucleo-f446re/configs/can/defconfig

@@ -0,0 +1,61 @@
+#
+# 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_STM32_FLASH_PREFETCH is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="nucleo-f446re"
+CONFIG_ARCH_BOARD_NUCLEO_F446RE=y
+CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F446R=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=8499
+CONFIG_BUILTIN=y
+CONFIG_EXAMPLES_CAN=y
+CONFIG_EXAMPLES_CAN_NMSGS=100
+CONFIG_EXAMPLES_CAN_WRITE=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_INTELHEX_BINARY=y
+CONFIG_MAX_TASKS=16
+CONFIG_NFILE_DESCRIPTORS=8
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=131072
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SPI=y
+CONFIG_START_DAY=14
+CONFIG_START_MONTH=10
+CONFIG_START_YEAR=2014
+CONFIG_STM32_CAN1=y
+CONFIG_STM32_CAN2=y
+CONFIG_STM32_CRC=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_OTGFS=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_USART2=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_TESTING_OSTEST=y
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USER_ENTRYPOINT="nsh_main"

boards/arm/stm32/nucleo-f446re/include/board.h

@@ -46,16 +46,13 @@
 #endif
 
 #include <stm32.h>
+#include <arch/board/nucleo-f446re.h>
 
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
 
-/* Clocking *******************************************************************/
+/* DMA Channel/Stream Selections ********************************************/
-
-#include <arch/board/nucleo-f446re.h>
-
-/* DMA Channel/Stream Selections **********************************************/
 
 /* Stream selections are arbitrary for now but might become important in the
  * future is we set aside more DMA channels/streams.
@@ -74,7 +71,7 @@
 #define DMACHAN_SPI2_RX DMAMAP_SPI2_RX
 #define DMACHAN_SPI2_TX DMAMAP_SPI2_TX
 
-/* Alternate function pin selections ******************************************/
+/* Alternate function pin selections ****************************************/
 
 /* USART1:
  *   RXD: PA10  CN9 pin 3, CN10 pin 33
@@ -156,6 +153,14 @@
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1
 #define GPIO_SPI2_SCK    GPIO_SPI2_SCK_2
 
+/* CAN */
+
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_2
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_2
+
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_2
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_2
+
 /* LEDs
  *
  * The Nucleo F446RE and F411RE boards provide a single user LED, LD2.  LD2
@@ -208,8 +213,8 @@
 
 /* Buttons
  *
- *   B1 USER: the user button is connected to the I/O PC13 (pin 2) of the STM32
+ *   B1 USER: the user button is connected to the I/O PC13 (pin 2) of
- *   microcontroller.
+ *   the STM32 microcontroller.
  */
 
 #define BUTTON_USER        0

boards/arm/stm32/nucleo-f446re/src/Make.defs

@@ -39,6 +39,10 @@ CSRCS += stm32_ajoystick.c
 endif
 endif
 
+ifeq ($(CONFIG_CAN),y)
+CSRCS += stm32_can.c
+endif
+
 ifeq ($(CONFIG_NSH_LIBRARY),y)
 CSRCS += stm32_appinit.c
 endif

boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h

@@ -260,6 +260,18 @@ void stm32_usbinitialize(void);
 int stm32_adc_setup(void);
 #endif
 
+/****************************************************************************
+ * Name: stm32_can_setup
+ *
+ * Description:
+ *  Initialize CAN and register the CAN device
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_CAN
+int stm32_can_setup(void);
+#endif
+
 /****************************************************************************
  * Name: board_ajoy_initialize
  *

boards/arm/stm32/nucleo-f446re/src/stm32_appinit.c

@@ -133,6 +133,16 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
+#ifdef CONFIG_CAN
+  /* Initialize CAN and register the CAN driver. */
+
+  ret = stm32_can_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: stm32_can_setup failed: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_SENSORS_QENCODER
   /* Initialize and register the qencoder driver */
 

boards/arm/stm32/nucleo-f446re/src/stm32_boot.c

@@ -85,8 +85,8 @@ void stm32_boardinitialize(void)
 
 #if defined(CONFIG_USBDEV) && defined(CONFIG_STM32_USB)
   /* Initialize USB is 1) USBDEV is selected, 2) the USB controller is not
-   * disabled, and 3) the weak function stm32_usbinitialize() has been brought
+   * disabled, and 3) the weak function stm32_usbinitialize() has been
-   * into the build.
+   * broughtvinto the build.
    */
 
   stm32_usbinitialize();
@@ -111,12 +111,10 @@ void stm32_boardinitialize(void)
 void board_late_initialize(void)
 {
   /* Perform NSH initialization here instead of from the NSH.  This
-   * alternative NSH initialization is necessary when NSH is ran in user-space
+   * alternative NSH initialization is necessary when NSH is ran in
-   * but the initialization function must run in kernel space.
+   * user-space but the initialization function must run in kernel space.
    */
 
-#if defined(CONFIG_NSH_LIBRARY) && !defined(CONFIG_LIB_BOARDCTL)
   board_app_initialize(0);
-#endif
 }
 #endif

boards/arm/stm32/nucleo-f446re/src/stm32_can.c

@@ -0,0 +1,116 @@
+/****************************************************************************
+ * boards/arm/stm32/nucleo-f446re/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_can.h"
+#include "nucleo-f446re.h"
+
+#ifdef CONFIG_CAN
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#if !defined(CONFIG_STM32_CAN1) && !defined(CONFIG_STM32_CAN2)
+#  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;
+
+#ifdef CONFIG_STM32_CAN1
+
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+  can = stm32_caninitialize(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;
+    }
+
+#endif
+#ifdef CONFIG_STM32_CAN2
+
+  /* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+  can = stm32_caninitialize(2);
+  if (can == NULL)
+    {
+      canerr("ERROR:  Failed to get CAN interface\n");
+      return -ENODEV;
+    }
+
+  /* Register the CAN driver at "/dev/can1" */
+
+  ret = can_register("/dev/can1", can);
+  if (ret < 0)
+    {
+      canerr("ERROR: can_register failed: %d\n", ret);
+      return ret;
+    }
+
+#endif
+  UNUSED(ret);
+  UNUSED(can);
+  return OK;
+}
+
+#endif /* CONFIG_CAN */