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commit 4e1df81fa80b39681dae3507b378b47235714dd3 Author: raiden00pl <[email protected]> AuthorDate: Sat Jan 15 13:56:50 2022 +0100 boards/nucleo-g431rb: add CAN example --- .../arm/stm32/nucleo-g431rb/configs/can/defconfig | 58 ++++++++++++++ boards/arm/stm32/nucleo-g431rb/include/board.h | 14 ++++ boards/arm/stm32/nucleo-g431rb/src/Make.defs | 4 + boards/arm/stm32/nucleo-g431rb/src/nucleo-g431rb.h | 12 +++ boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c | 10 +++ boards/arm/stm32/nucleo-g431rb/src/stm32_can.c | 90 ++++++++++++++++++++++ 6 files changed, 188 insertions(+) diff --git a/boards/arm/stm32/nucleo-g431rb/configs/can/defconfig b/boards/arm/stm32/nucleo-g431rb/configs/can/defconfig new file mode 100644 index 0000000..22c2934 --- /dev/null +++ b/boards/arm/stm32/nucleo-g431rb/configs/can/defconfig @@ -0,0 +1,58 @@ +# +# 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_ARCH="arm" +CONFIG_ARCH_BOARD="nucleo-g431rb" +CONFIG_ARCH_BOARD_NUCLEO_G431RB=y +CONFIG_ARCH_BUTTONS=y +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARCH_CHIP_STM32=y +CONFIG_ARCH_CHIP_STM32G431R=y +CONFIG_ARCH_INTERRUPTSTACK=2048 +CONFIG_ARCH_STACKDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=8499 +CONFIG_BOARD_NUCLEO_G431RB_USE_HSE=y +CONFIG_BUILTIN=y +CONFIG_CAN=y +CONFIG_CAN_ERRORS=y +CONFIG_CAN_EXTID=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_EXAMPLES_CAN=y +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INTELHEX_BINARY=y +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_LINELEN=64 +CONFIG_NSH_READLINE=y +CONFIG_PREALLOC_TIMERS=4 +CONFIG_RAM_SIZE=22528 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_RR_INTERVAL=200 +CONFIG_SCHED_WAITPID=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_START_DAY=14 +CONFIG_START_MONTH=10 +CONFIG_START_YEAR=2014 +CONFIG_STDIO_BUFFER_SIZE=512 +CONFIG_STM32_FDCAN1=y +CONFIG_STM32_FDCAN1_BITRATE=250000 +CONFIG_STM32_FDCAN1_NTSEG1=13 +CONFIG_STM32_FDCAN1_NTSEG2=2 +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_USART2=y +CONFIG_SYSTEM_NSH=y +CONFIG_TASK_NAME_SIZE=0 +CONFIG_USART2_SERIAL_CONSOLE=y diff --git a/boards/arm/stm32/nucleo-g431rb/include/board.h b/boards/arm/stm32/nucleo-g431rb/include/board.h index ecadfef..a4580b7 100644 --- a/boards/arm/stm32/nucleo-g431rb/include/board.h +++ b/boards/arm/stm32/nucleo-g431rb/include/board.h @@ -247,6 +247,15 @@ #define BOARD_TIM17_FREQUENCY (STM32_PCLK2_FREQUENCY) #define BOARD_TIM20_FREQUENCY (STM32_PCLK2_FREQUENCY) +#ifdef CONFIG_STM32_FDCAN +# ifdef CONFIG_BOARD_NUCLEO_G431RB_USE_HSE +# define STM32_CCIPR_FDCANSRC (RCC_CCIPR_FDCANSEL_HSE) +# define STM32_FDCAN_FREQUENCY (STM32_HSE_FREQUENCY) +# else +# error For now FDCAN supported only if HSE enabled +# endif +#endif + /* LED definitions **********************************************************/ /* The NUCLEO-G431RB has four user LEDs. @@ -329,6 +338,11 @@ #define GPIO_TIM1_CH3NOUT GPIO_TIM1_CH3NOUT_1 /* PB1 */ #define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2 /* PC3 */ +/* CAN configuration ********************************************************/ + +#define GPIO_FDCAN1_RX GPIO_FDCAN1_RX_2 /* PB8 */ +#define GPIO_FDCAN1_TX GPIO_FDCAN1_TX_2 /* PB9 */ + /* DMA channels *************************************************************/ /* ADC */ diff --git a/boards/arm/stm32/nucleo-g431rb/src/Make.defs b/boards/arm/stm32/nucleo-g431rb/src/Make.defs index bebb998..7d3c428 100644 --- a/boards/arm/stm32/nucleo-g431rb/src/Make.defs +++ b/boards/arm/stm32/nucleo-g431rb/src/Make.defs @@ -55,6 +55,10 @@ ifeq ($(CONFIG_MATH_CORDIC),y) CSRCS += stm32_cordic.c endif +ifeq ($(CONFIG_STM32_FDCAN_CHARDRIVER),y) +CSRCS += stm32_can.c +endif + DEPPATH += --dep-path board VPATH += :board CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board) diff --git a/boards/arm/stm32/nucleo-g431rb/src/nucleo-g431rb.h b/boards/arm/stm32/nucleo-g431rb/src/nucleo-g431rb.h index 76e151f..26196b9 100644 --- a/boards/arm/stm32/nucleo-g431rb/src/nucleo-g431rb.h +++ b/boards/arm/stm32/nucleo-g431rb/src/nucleo-g431rb.h @@ -155,4 +155,16 @@ int stm32_foc_setup(void); int stm32_cordic_setup(void); #endif +/**************************************************************************** + * Name: stm32_can_setup + * + * Description: + * Initialize CAN and register the CAN device + * + ****************************************************************************/ + +#ifdef CONFIG_STM32_FDCAN_CHARDRIVER +int stm32_can_setup(void); +#endif + #endif /* __BOARDS_ARM_STM32_NUCLEO_G431RB_SRC_NUCLEO_G431RB_H */ diff --git a/boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c b/boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c index 72ca25a..f204587 100644 --- a/boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c +++ b/boards/arm/stm32/nucleo-g431rb/src/stm32_bringup.c @@ -149,6 +149,16 @@ int stm32_bringup(void) } #endif +#ifdef CONFIG_STM32_FDCAN_CHARDRIVER + /* Initialize CAN and register the CAN driver. */ + + ret = stm32_can_setup(); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: stm32_fdcan_setup failed: %d\n", ret); + } +#endif + UNUSED(ret); return OK; } diff --git a/boards/arm/stm32/nucleo-g431rb/src/stm32_can.c b/boards/arm/stm32/nucleo-g431rb/src/stm32_can.c new file mode 100644 index 0000000..0afb654 --- /dev/null +++ b/boards/arm/stm32/nucleo-g431rb/src/stm32_can.c @@ -0,0 +1,90 @@ +/**************************************************************************** + * boards/arm/stm32/nucleo-g431rb/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_fdcan.h" +#include "nucleo-g431rb.h" + +#ifdef CONFIG_CAN + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +#if !defined(CONFIG_STM32_FDCAN1) +# 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; + + /* Call stm32_fdcaninitialize() to get an instance of the CAN interface */ + + can = stm32_fdcaninitialize(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; + } + + return OK; +} + +#endif /* CONFIG_CAN */
