[NUCLEO_F091RC] Added CAN support

Added CAN API suport for NUCLEO_F091RC target.

*stm32f091xc.h* file was changed to avoid compilation errors.

Change-Id: I9207575a0e2ad0f8e3a4bb78eb23d1e7b4a94171

Author: BartSX

libraries/mbed/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/stm32f091xc.h

@@ -708,7 +708,7 @@ typedef struct
 #define USART5              ((USART_TypeDef *) USART5_BASE)
 #define I2C1                ((I2C_TypeDef *) I2C1_BASE)
 #define I2C2                ((I2C_TypeDef *) I2C2_BASE)
-#define CAN                 ((CAN_TypeDef *) CAN_BASE)
+#define CAN1                ((CAN_TypeDef *) CAN_BASE)
 #define CRS                 ((CRS_TypeDef *) CRS_BASE)
 #define PWR                 ((PWR_TypeDef *) PWR_BASE)
 #define DAC                 ((DAC_TypeDef *) DAC_BASE)

libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/PeripheralNames.h

@@ -79,6 +79,10 @@ typedef enum {
     PWM_17 = (int)TIM17_BASE
 } PWMName;
 
+typedef enum {
+    CAN_1 = (int)CAN_BASE
+} CANName;
+
 #ifdef __cplusplus
 }
 #endif

libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/PeripheralPins.c

@@ -218,3 +218,15 @@ const PinMap PinMap_SPI_SSEL[] = {
     {PB_12, SPI_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF0_SPI2)},
     {NC,    NC,    0}
 };
+
+const PinMap PinMap_CAN_RD[] = {
+    {PB_8 , CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF4_CAN)},
+    {PA_11, CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF4_CAN)},
+    {NC,    NC,    0}
+};
+
+const PinMap PinMap_CAN_TD[] = {
+    {PB_9 ,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF4_CAN)},
+    {PA_12,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF4_CAN)},
+    {NC,    NC,    0}
+};

libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/device.h

@@ -54,6 +54,8 @@
 
 #define DEVICE_SLEEP            1
 
+#define DEVICE_CAN              1
+
 //=======================================
 
 #define DEVICE_SEMIHOST         0

libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F091RC/objects.h

@@ -100,6 +100,11 @@ struct pwmout_s {
     uint32_t pulse;
 };
 
+struct can_s {
+    CANName can;
+    int index;
+};
+
 #include "gpio_object.h"
 
 #ifdef __cplusplus

libraries/tests/mbed/can/main.cpp

@@ -14,6 +14,8 @@ CAN can1(D2, D3);
 #elif defined(TARGET_B96B_F446VE)
 // B96B_F446VE support only single CAN channel
 CAN can1(PD_0, PD_1);
+#elif defined(TARGET_NUCLEO_F091RC)
+CAN can1(PA_11, PA_12);
 #else
 CAN can1(p9, p10);
 #endif
@@ -48,7 +50,7 @@ int main() {
     ticker.attach(&send, 1);
     CANMessage msg;
     while(1) {
-#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE))
+#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && !defined(TARGET_NUCLEO_F091RC))
       printf("loop()\n");
         if(can2.read(msg)) {
             printmsg("Rx message:", &msg);

libraries/tests/mbed/can_interrupt/main.cpp

@@ -14,6 +14,8 @@ CAN can1(D2, D3);
 #elif defined(TARGET_B96B_F446VE)
 // B96B_F446VE support only single CAN channel
 CAN can1(PD_0, PD_1);
+#elif defined(TARGET_NUCLEO_F091RC)
+CAN can1(PA_11, PA_12);
 #else
 CAN can1(p9, p10);
 #endif
@@ -43,7 +45,7 @@ void send() {
     led1 = !led1;
 }
 
-#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE))
+#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && !defined(TARGET_NUCLEO_F091RC))
 void read() {
     CANMessage msg;
     printf("rx()\n");
@@ -57,7 +59,7 @@ void read() {
 int main() {
     printf("main()\n");
     ticker.attach(&send, 1);
-#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE))
+#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && !defined(TARGET_NUCLEO_F091RC))
     can2.attach(&read);
 #endif
     while(1) {

libraries/tests/mbed/can_loopback/main.cpp

@@ -13,6 +13,8 @@ CAN can1(p9, p10);
 CAN can1(PD_0, PD_1);
 #elif defined(TARGET_VK_RZ_A1H)
 CAN can1(P5_9, P5_10);
+#elif defined(TARGET_NUCLEO_F091RC)
+CAN can1(PA_11, PA_12);
 #endif
 
 #define TEST_ITERATIONS     127

workspace_tools/tests.py

@@ -91,6 +91,7 @@
      * LPC1549: (RX=D9,   TX=D8)
      * LPC4088: (RX=p9,   TX=p10)
      * VK_RZ_A1H:(RX=P5_9, TX=P5_10)
+     * NUCLEO_F091RC: (RX=PA_11, TX=PA_12)
 
 """
 TESTS = [
@@ -296,7 +297,8 @@
         "automated": True,
         "duration": 20,
         "peripherals": ["can_transceiver"],
-        "mcu": ["LPC1549", "LPC1768","B96B_F446VE", "VK_RZ_A1H"],
+        "mcu": ["LPC1549", "LPC1768","B96B_F446VE", "VK_RZ_A1H",
+		"NUCLEO_F091RC"],
     },
     {
         "id": "MBED_BLINKY", "description": "Blinky",
@@ -567,13 +569,13 @@
         "id": "MBED_29", "description": "CAN network test",
         "source_dir": join(TEST_DIR, "mbed", "can"),
         "dependencies": [MBED_LIBRARIES],
-        "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE"]
+        "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE", "NUCLEO_F091RC"]
     },
     {
         "id": "MBED_30", "description": "CAN network test using interrupts",
         "source_dir": join(TEST_DIR, "mbed", "can_interrupt"),
         "dependencies": [MBED_LIBRARIES],
-        "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE"]
+        "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE", "NUCLEO_F091RC"]
     },
     {
         "id": "MBED_31", "description": "PWM LED test",