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Merge pull request #16161 from madokapeng/nucleo722ze_CAN_support

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boards/nucleo-f722ze: Add periph_can
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benpicco 2021-03-08 19:22:38 +01:00 committed by GitHub
commit b09f799038
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7 changed files with 29 additions and 3 deletions
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1
boards/nucleo-f722ze/Kconfig
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@ -21,6 +21,7 @@ config BOARD_NUCLEO_F722ZE
select HAS_PERIPH_TIMER
select HAS_PERIPH_UART
select HAS_PERIPH_USBDEV
select HAS_PERIPH_CAN
# Put other features for this board (in alphabetical order)
select HAS_RIOTBOOT

1
boards/nucleo-f722ze/Makefile.features
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@ -8,6 +8,7 @@ FEATURES_PROVIDED += periph_rtt
FEATURES_PROVIDED += periph_timer
FEATURES_PROVIDED += periph_uart
FEATURES_PROVIDED += periph_usbdev
FEATURES_PROVIDED += periph_can
# Put other features for this board (in alphabetical order)
FEATURES_PROVIDED += riotboot

2
cpu/stm32/include/can_params.h
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@ -43,11 +43,13 @@ static const can_conf_t candev_conf[] = {
.rcc_mask = RCC_APB1ENR1_CAN1EN,
#else
.rcc_mask = RCC_APB1ENR_CAN1EN,
#if CANDEV_STM32_CHAN_NUMOF > 1
.can_master = CAN1,
.master_rcc_mask = RCC_APB1ENR_CAN1EN,
.first_filter = 0,
.nb_filters = 14,
#endif
#endif
#if defined(CPU_FAM_STM32F1)
.rx_pin = GPIO_PIN(PORT_A, 11),
.tx_pin = GPIO_PIN(PORT_A, 12),

3
cpu/stm32/include/candev_stm32.h
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@ -42,7 +42,7 @@ extern "C" {
#elif defined(CPU_FAM_STM32F1) || defined(CPU_FAM_STM32F2) || defined(CPU_FAM_STM32F4)
#define CANDEV_STM32_CHAN_NUMOF 2
#elif defined(CPU_FAM_STM32F0) || defined(CPU_FAM_STM32F3) || \
defined(CPU_FAM_STM32L4) || DOXYGEN
defined(CPU_FAM_STM32L4) || defined(CPU_LINE_STM32F722xx) || DOXYGEN
/** Number of channels in the device (up to 3) */
#define CANDEV_STM32_CHAN_NUMOF 1
#else
@ -137,7 +137,6 @@ typedef struct {
/** The number of receive FIFO */
#define CAN_STM32_RX_MAILBOXES 2
#ifndef CAN_STM32_RX_MAIL_FIFO
/** This is the maximum number of frame the driver can receive simultaneously */
#define CAN_STM32_RX_MAIL_FIFO 12

6
cpu/stm32/periph/can.c
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@ -805,6 +805,12 @@ static int _set(candev_t *candev, canopt_t opt, void *value, size_t value_len)
can->BTR |= CAN_BTR_SILM;
res += set_mode(can, mode);
break;
case CANOPT_STATE_LOOPBACK:
DEBUG("candev_stm32 %p: Loopback\n", (void *)dev);
res = set_mode(can, MODE_INIT);
can->BTR |= CAN_BTR_LBKM;
res += set_mode(can, MODE_NORMAL);
break;
}
}
break;

2
sys/include/can/common.h
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@ -63,9 +63,9 @@ typedef enum {
CANOPT_STATE_SLEEP, /**< sleep mode */
CANOPT_STATE_LISTEN_ONLY, /**< listen only mode */
CANOPT_STATE_ON, /**< power on, rx / tx mode */
CANOPT_STATE_LOOPBACK, /**< loopback mode */
} canopt_state_t;
/**
* @brief Structure to pass a CAN option
*/

17
tests/candev/main.c
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@ -48,6 +48,11 @@ static candev_mcp2515_t mcp2515_dev;
/* add includes for other candev drivers here */
#endif
/* Default is not using loopback test mode */
#ifndef CONFIG_USE_LOOPBACK_MODE
#define CONFIG_USE_LOOPBACK_MODE 0
#endif
#define RX_RINGBUFFER_SIZE 128 /* Needs to be a power of 2! */
static isrpipe_t rxbuf;
static uint8_t rx_ringbuf[RX_RINGBUFFER_SIZE];
@ -222,6 +227,18 @@ int main(void)
candev->driver->init(candev);
if (IS_ACTIVE(CONFIG_USE_LOOPBACK_MODE)) {
puts("Switching to loopback mode");
/* set to loopback test mode */
canopt_state_t mode = CANOPT_STATE_LOOPBACK;
candev->driver->set(candev, CANOPT_STATE, &mode, sizeof(mode));
/* do not care, receive all message id */
struct can_filter filter;
filter.can_mask = 0;
candev->driver->set_filter(candev, &filter);
}
char line_buf[SHELL_DEFAULT_BUFSIZE];
shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);