squash can_stm32: adapt to new auto-init system

RIOT-OS · Feb 6, 2017 · df1dce3 · df1dce3
1 parent 22a835c
commit df1dce3
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Showing 6 changed files with 103 additions and 94 deletions.
diff --git a/boards/nucleo-f091/Makefile.dep b/boards/nucleo-f091/Makefile.dep
@@ -1 +1,5 @@
+ifneq (,$(filter can,$(USEMODULE)))
+    CFLAGS += -DCAN_DLL_NUMOF=1
+endif
+
 include $(RIOTBOARD)/nucleo-common/Makefile.dep
diff --git a/boards/nucleo-f091/include/can_conf.h b/boards/nucleo-f091/include/can_conf.h
diff --git a/boards/nucleo-f207/Makefile.dep b/boards/nucleo-f207/Makefile.dep
@@ -1 +1,5 @@
+ifneq (,$(filter can,$(USEMODULE)))
+    CFLAGS += -DCAN_DLL_NUMOF=2
+endif
+
 include $(RIOTBOARD)/nucleo-common/Makefile.dep
diff --git a/boards/nucleo-f207/include/can_conf.h → ...tm32_common/include/candev_stm32_params.h b/boards/nucleo-f207/include/can_conf.h → ...tm32_common/include/candev_stm32_params.h
@@ -1,51 +1,54 @@
 /*
- * Copyright (C) 2016  OTA keys S.A.
+ * Copyright (C) 2016 OTA keys S.A.
  *
- * This file is subject to the terms and conditions of the GNU Lesser
- * General Public License v2.1. See the file LICENSE in the top level
- * directory for more details.
+ * This file is subject to the terms and conditions of the GNU Lesser General
+ * Public License v2.1. See the file LICENSE in the top level directory for more
+ * details.
  */
 
 /**
- * @defgroup    boards_nucleo-f207 Nucleo-F207
- * @ingroup     boards
- * @brief       Board specific files for the nucleo-f207 board
+ * @ingroup     cpu_stm32_common
  * @{
  *
  * @file
- * @brief       CAN specific definitions for the nucleo-f207 board
+ * @brief       STM32 CAN controller driver (bxCAN) default parameters
  *
  * @author      Vincent Dupont <vincent@otakeys.com>
+ * @}
  */
 
-#ifndef CAN_CONF_H
-#define CAN_CONF_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "can/config.h"
+#ifndef CANDEV_STM32_PARAMS_H
+#define CANDEV_STM32_PARAMS_H
 
+#include "can/device.h"
 #include "candev_stm32.h"
 
-const static candev_stm32_conf_t can_config_candev_stm32[] = {
+const static candev_stm32_conf_t candev_stm32_conf[] = {
     {
         .channel = CANDEV_STM32_CHANNEL_0,
+#if defined(CPU_FAM_STM32F0)
+        .rx_pin = GPIO_PIN(PORT_A, 11),
+        .tx_pin = GPIO_PIN(PORT_A, 12),
+        .af = GPIO_AF4,
+        .irqn = CEC_CAN_IRQn,
+#else
         .rx_pin = GPIO_PIN(PORT_D, 0),
         .tx_pin = GPIO_PIN(PORT_D, 1),
         .af = GPIO_AF9,
         .tx_irqn = CAN1_TX_IRQn,
         .rx0_irqn = CAN1_RX0_IRQn,
         .rx1_irqn = CAN1_RX1_IRQn,
         .sce_irqn = CAN1_SCE_IRQn,
+#endif
         .ttcm = 0,
         .abom = 1,
         .awum = 1,
         .nart = 0,
         .rflm = 0,
         .txfp = 0,
     },
+#if (defined(CPU_FAM_STM32F1) || defined(CPU_FAM_STM32F2) || defined(CPU_FAM_STM32F4)) \
+        && (CAN_DLL_NUMOF >= 2)
     {
         .channel = CANDEV_STM32_CHANNEL_1,
         .rx_pin = GPIO_PIN(PORT_B, 5),
@@ -61,22 +64,20 @@ const static candev_stm32_conf_t can_config_candev_stm32[] = {
         .nart = 0,
         .rflm = 0,
         .txfp = 0,
-    }
-};
-
-#define CANDEV_STM32_NUMOF (sizeof(can_config_candev_stm32) / sizeof(candev_stm32_conf_t))
-#define CAN_DLL_NUMOF CANDEV_STM32_NUMOF
-
-const static can_iface_t candev_ifnum[] = {
-    { CAN_DRIVER_STM32, 0 },
-    { CAN_DRIVER_STM32, 1 },
+    },
+#endif
 };
 
-#ifdef __cplusplus
-}
+const static candev_params_t candev_stm32_params[] = {
+    {
+        .name = "can_stm32_0",
+    },
+#if (defined(CPU_FAM_STM32F1) || defined(CPU_FAM_STM32F2) || defined(CPU_FAM_STM32F4)) \
+        && (CAN_DLL_NUMOF >= 2)
+    {
+        .name = "can_stm32_1",
+    }
 #endif
+};
 
-#endif /* CAN_CONF_H */
-
-/** @} */
-
+#endif /* CANDEV_STM32_PARAMS_H */
diff --git a/sys/auto_init/can/auto_init_can.c b/sys/auto_init/can/auto_init_can.c
@@ -53,4 +53,9 @@ void auto_init_candev(void)
     extern void auto_init_can_native(void);
     auto_init_can_native();
 #endif
+
+#ifdef MODULE_CAN_STM32
+    extern void auto_init_can_stm32(void);
+    auto_init_can_stm32();
+#endif
 }
diff --git a/sys/auto_init/can/auto_init_can_stm32.c b/sys/auto_init/can/auto_init_can_stm32.c
@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup auto_init
+ * @{
+ * @file
+ * @brief       initializes stm32 can device
+ *
+ * @author      Vincent Dupont <vincent@otakeys.com>
+ * @}
+ */
+
+#ifdef MODULE_CAN_STM32
+#include "can/device.h"
+#include "candev_stm32_params.h"
+
+#define CANDEV_STM32_NUMOF ((sizeof(candev_stm32_params) / sizeof(candev_params_t)))
+
+#ifndef CANDEV_STM32_STACKSIZE
+#define CANDEV_STM32_STACKSIZE (THREAD_STACKSIZE_DEFAULT + THREAD_EXTRA_STACKSIZE_PRINTF)
+#endif
+
+#ifndef CANDEV_STM32_BASE_PRIORITY
+#define CANDEV_STM32_BASE_PRIORITY (THREAD_PRIORITY_MAIN - CANDEV_STM32_NUMOF - 2)
+#endif
+
+static candev_dev_t candev_dev_stm32[CANDEV_STM32_NUMOF];
+static char _can_stm32_stacks[CANDEV_STM32_NUMOF][CANDEV_STM32_STACKSIZE];
+static candev_stm32_t candev_stm32[CANDEV_STM32_NUMOF];
+
+void auto_init_can_stm32(void) {
+
+    for (size_t i = 0; i < CANDEV_STM32_NUMOF; i++) {
+        candev_stm32_init(&candev_stm32[i], &candev_stm32_conf[i]);
+        candev_dev_stm32[i].dev = (candev_t *)&candev_stm32[i];
+        candev_dev_stm32[i].name = candev_stm32_params[i].name;
+#ifdef MODULE_CAN_TRX
+        candev_dev_stm32[i].trx = candev_stm32_params[i].trx;
+#endif
+#ifdef MODULE_CAN_PM
+        candev_dev_stm32[i].rx_inactivity_timeout = candev_stm32_params[i].rx_inactivity_timeout;
+        candev_dev_stm32[i].tx_wakeup_timeout = candev_stm32_params[i].tx_wakeup_timeout;
+#endif
+
+        can_device_init(_can_stm32_stacks[i], CANDEV_STM32_STACKSIZE, CANDEV_STM32_BASE_PRIORITY + i,
+                        candev_stm32_params[i].name, &candev_dev_stm32[i]);
+    }
+}
+#else
+typedef int dont_be_pedantic;
+#endif