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Posted to commits@nuttx.apache.org by xi...@apache.org on 2022/01/18 10:19:19 UTC
[incubator-nuttx] 03/04: boards/b-g431b-esc1: add CAN example
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit 499c7ce4f5509639824444174ca714529cf51592
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sat Jan 15 13:51:58 2022 +0100
boards/b-g431b-esc1: add CAN example
---
boards/arm/stm32/b-g431b-esc1/Kconfig | 4 +
boards/arm/stm32/b-g431b-esc1/README.txt | 3 +
.../arm/stm32/b-g431b-esc1/configs/can/defconfig | 57 +++++++++++
boards/arm/stm32/b-g431b-esc1/include/board.h | 14 +++
boards/arm/stm32/b-g431b-esc1/src/Make.defs | 4 +
boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h | 17 ++++
boards/arm/stm32/b-g431b-esc1/src/stm32_bringup.c | 10 ++
boards/arm/stm32/b-g431b-esc1/src/stm32_can.c | 104 +++++++++++++++++++++
8 files changed, 213 insertions(+)
diff --git a/boards/arm/stm32/b-g431b-esc1/Kconfig b/boards/arm/stm32/b-g431b-esc1/Kconfig
index 203c3cf..cc5e7a4 100644
--- a/boards/arm/stm32/b-g431b-esc1/Kconfig
+++ b/boards/arm/stm32/b-g431b-esc1/Kconfig
@@ -29,4 +29,8 @@ config BOARD_STM32_BG431BESC1_FOC_POT
endif # STM32_FOC
+config BOARD_STM32_BG431BESC1_CANTERM
+ bool "B-G431B-ESC1 use on-board CAN terminator resistor"
+ default y
+
endif # ARCH_BOARD_B_G431B_ESC1
diff --git a/boards/arm/stm32/b-g431b-esc1/README.txt b/boards/arm/stm32/b-g431b-esc1/README.txt
index 6dc45e7..f6ecb02 100644
--- a/boards/arm/stm32/b-g431b-esc1/README.txt
+++ b/boards/arm/stm32/b-g431b-esc1/README.txt
@@ -48,6 +48,9 @@ Configuration Sub-directories
ENCO_Z/HALL_H3 TIM4_CH3 PB8
BUTTON GPIO_PC10 PC10
PWM PA15
+ CAN_RX PA11
+ CAN_TX PB9
+ CAN_TERM PC14
Current shunt resistance = 0.003
PGA gain = 16
diff --git a/boards/arm/stm32/b-g431b-esc1/configs/can/defconfig b/boards/arm/stm32/b-g431b-esc1/configs/can/defconfig
new file mode 100644
index 0000000..65af7ee
--- /dev/null
+++ b/boards/arm/stm32/b-g431b-esc1/configs/can/defconfig
@@ -0,0 +1,57 @@
+#
+# 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="b-g431b-esc1"
+CONFIG_ARCH_BOARD_B_G431B_ESC1=y
+CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32G431C=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=8499
+CONFIG_BOARD_STM32_BG431BESC1_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_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/b-g431b-esc1/include/board.h b/boards/arm/stm32/b-g431b-esc1/include/board.h
index b35f38c..0026c9a 100644
--- a/boards/arm/stm32/b-g431b-esc1/include/board.h
+++ b/boards/arm/stm32/b-g431b-esc1/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_STM32_BG431BESC1_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 B-G431B-ESC1 has four user LEDs.
@@ -333,4 +342,9 @@
#define DMACHAN_USART2_TX DMAMAP_DMA12_USART2TX_0 /* DMA1 */
#define DMACHAN_USART2_RX DMAMAP_DMA12_USART2RX_0 /* DMA1 */
+/* CAN configuration ********************************************************/
+
+#define GPIO_FDCAN1_RX GPIO_FDCAN1_RX_1 /* PA11 */
+#define GPIO_FDCAN1_TX GPIO_FDCAN1_TX_2 /* PB9 */
+
#endif /* __BOARDS_ARM_STM32_B_G431B_ESC1_INCLUDE_BOARD_H */
diff --git a/boards/arm/stm32/b-g431b-esc1/src/Make.defs b/boards/arm/stm32/b-g431b-esc1/src/Make.defs
index 88fbd4d..618f986 100644
--- a/boards/arm/stm32/b-g431b-esc1/src/Make.defs
+++ b/boards/arm/stm32/b-g431b-esc1/src/Make.defs
@@ -41,6 +41,10 @@ ifeq ($(CONFIG_STM32_FOC),y)
CSRCS += stm32_foc.c
endif
+ifeq ($(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/b-g431b-esc1/src/b-g431b-esc1.h b/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h
index afa2052..deef8ea 100644
--- a/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h
+++ b/boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h
@@ -88,6 +88,11 @@
GPIO_PORTB | GPIO_PIN8)
#endif
+/* CAN_TERM - PC14 */
+
+#define GPIO_CANTERM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
+ GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
+
/****************************************************************************
* Public Data
****************************************************************************/
@@ -140,4 +145,16 @@ int stm32_adc_setup(void);
int stm32_foc_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_B_G431B_ESC1_SRC_B_G431B_ESC1_H */
diff --git a/boards/arm/stm32/b-g431b-esc1/src/stm32_bringup.c b/boards/arm/stm32/b-g431b-esc1/src/stm32_bringup.c
index 044e535..57d2168 100644
--- a/boards/arm/stm32/b-g431b-esc1/src/stm32_bringup.c
+++ b/boards/arm/stm32/b-g431b-esc1/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/b-g431b-esc1/src/stm32_can.c b/boards/arm/stm32/b-g431b-esc1/src/stm32_can.c
new file mode 100644
index 0000000..bf5e483
--- /dev/null
+++ b/boards/arm/stm32/b-g431b-esc1/src/stm32_can.c
@@ -0,0 +1,104 @@
+/****************************************************************************
+ * boards/arm/stm32/b-g431b-esc1/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 "b-g431b-esc1.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
+
+#ifdef CONFIG_BOARD_STM32_BG431BESC1_CANTERM
+# define BG431BESC1_CANTERM (true)
+#else
+# define BG431BESC1_CANTERM (false)
+#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;
+ }
+
+ /* Configure CAN_TERM pin for output */
+
+ stm32_configgpio(GPIO_CANTERM);
+
+ /* Set CAN_TERM pin high or low */
+
+ stm32_gpiowrite(GPIO_CANTERM, BG431BESC1_CANTERM);
+
+ return OK;
+}
+
+#endif /* CONFIG_CAN */