Merge pull request #1771 from BartSX/can-devel-f4

0xc0170 · 0xc0170 · commit f3d547e9094a · 2016-06-03T15:11:32.000+01:00
[STM32F4xx] CAN development for STM32F4xx family
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F429ZI/PeripheralNames.h b/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F429ZI/PeripheralNames.h
@@ -90,6 +90,11 @@ typedef enum {
     PWM_14 = (int)TIM14_BASE
 } PWMName;
 
+typedef enum {
+    CAN_1 = (int)CAN1_BASE,
+    CAN_2 = (int)CAN2_BASE
+} CANName;
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F429ZI/PeripheralPins.c b/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F429ZI/PeripheralPins.c
@@ -280,3 +280,21 @@ const PinMap PinMap_SPI_SSEL[] = {
     {PG_8,  SPI_6, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF5_SPI6)},
     {NC,    NC,    0}
 };
+
+const PinMap PinMap_CAN_RD[] = {
+    {PB_8,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {PB_12, CAN_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN2)},
+    {PD_0, CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {PB_5 , CAN_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN2)},
+    {PA_11, CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {NC,    NC,    0}
+};
+
+const PinMap PinMap_CAN_TD[] = {
+    {PB_9,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {PB_13, CAN_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN2)},
+    {PD_1,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {PB_6 , CAN_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN2)},
+    {PA_12, CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {NC,    NC,    0}
+};
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F429ZI/device.h b/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F429ZI/device.h
@@ -54,6 +54,8 @@
 
 #define DEVICE_SLEEP            1
 
+#define DEVICE_CAN              1
+
 //=======================================
 
 #define DEVICE_SEMIHOST         0
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F429ZI/objects.h b/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F429ZI/objects.h
@@ -104,6 +104,11 @@ struct pwmout_s {
     uint8_t inverted;
 };
 
+struct can_s {
+    CANName can;
+    int index;
+};
+
 #include "gpio_object.h"
 
 #ifdef __cplusplus
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F469NI/PeripheralNames.h b/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F469NI/PeripheralNames.h
@@ -91,6 +91,11 @@ typedef enum {
     PWM_14 = (int)TIM14_BASE
 } PWMName;
 
+typedef enum {
+    CAN_1 = (int)CAN1_BASE,
+    CAN_2 = (int)CAN2_BASE
+} CANName;
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F469NI/PeripheralPins.c b/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F469NI/PeripheralPins.c
@@ -301,3 +301,13 @@ const PinMap PinMap_SPI_SSEL[] = {
     {PI_0,  SPI_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF5_SPI2)},
     {NC,    NC,    0}
 };
+
+const PinMap PinMap_CAN_RD[] = {
+    {PB_8  , CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {NC,    NC,    0}
+};
+
+const PinMap PinMap_CAN_TD[] = {
+    {PB_9  , CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {NC,    NC,    0}
+};
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F469NI/device.h b/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F469NI/device.h
@@ -54,6 +54,8 @@
 
 #define DEVICE_SLEEP            1
 
+#define DEVICE_CAN              1
+
 //=======================================
 
 #define DEVICE_SEMIHOST         0
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F469NI/objects.h b/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_DISCO_F469NI/objects.h
@@ -104,6 +104,11 @@ struct pwmout_s {
     uint8_t inverted;
 };
 
+struct can_s {
+    CANName can;
+    int index;
+};
+
 #include "gpio_object.h"
 
 #ifdef __cplusplus
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_NUCLEO_F446RE/PeripheralNames.h b/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_NUCLEO_F446RE/PeripheralNames.h
@@ -87,6 +87,11 @@ typedef enum {
     PWM_14 = (int)TIM14_BASE
 } PWMName;
 
+typedef enum {
+    CAN_1 = (int)CAN1_BASE,
+    CAN_2 = (int)CAN2_BASE
+} CANName;
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_NUCLEO_F446RE/PeripheralPins.c b/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_NUCLEO_F446RE/PeripheralPins.c
@@ -232,3 +232,19 @@ const PinMap PinMap_SPI_SSEL[] = {
     {PB_12, SPI_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF5_SPI2)},
     {NC,    NC,    0}
 };
+
+const PinMap PinMap_CAN_RD[] = {
+    {PB_8,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {PB_12, CAN_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN2)},
+    {PB_5 , CAN_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN2)},
+    {PA_11, CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {NC,    NC,    0}
+};
+
+const PinMap PinMap_CAN_TD[] = {
+    {PB_9,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {PB_13, CAN_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN2)},
+    {PB_6 , CAN_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN2)},
+    {PA_12, CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {NC,    NC,    0}
+};
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_NUCLEO_F446RE/device.h b/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_NUCLEO_F446RE/device.h
@@ -54,6 +54,8 @@
 
 #define DEVICE_SLEEP            1
 
+#define DEVICE_CAN              1
+
 //=======================================
 
 #define DEVICE_SEMIHOST         0
diff --git a/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_NUCLEO_F446RE/objects.h b/hal/targets/hal/TARGET_STM/TARGET_STM32F4/TARGET_NUCLEO_F446RE/objects.h
@@ -104,6 +104,11 @@ struct pwmout_s {
     uint8_t inverted;
 };
 
+struct can_s {
+    CANName can;
+    int index;
+};
+
 #include "gpio_object.h"
 
 #ifdef __cplusplus
diff --git a/libraries/tests/mbed/can/main.cpp b/libraries/tests/mbed/can/main.cpp
@@ -17,8 +17,11 @@ CAN can1(PD_0, PD_1);
 #elif defined(TARGET_NUCLEO_F091RC) || defined(TARGET_NUCLEO_F072RB) || \
       defined(TARGET_NUCLEO_F042K6) || defined(TARGET_NUCLEO_F334R8) || \
       defined(TARGET_NUCLEO_F303RE) || defined(TARGET_NUCLEO_F303K8) || \
-      defined(TARGET_NUCLEO_F302R8)
+      defined(TARGET_NUCLEO_F302R8) || defined(TARGET_NUCLEO_F446RE) || \
+      defined(TARGET_DISCO_F429ZI)
 CAN can1(PA_11, PA_12);
+#elif defined(TARGET_DISCO_F469NI)
+CAN can1(PB_8, PB_9);
 #else
 CAN can1(p9, p10);
 #endif
@@ -27,6 +30,9 @@ CAN can1(p9, p10);
 CAN can2(p34, p33);
 #elif defined (TARGET_LPC1768)
 CAN can2(p30, p29);
+#elif defined(TARGET_NUCLEO_F446RE) || defined(TARGET_DISCO_F469NI) || \
+      defined(TARGET_DISCO_F429ZI)
+CAN can2(PB_5, PB_6);
 #endif
 char counter = 0;
 
diff --git a/libraries/tests/mbed/can_interrupt/main.cpp b/libraries/tests/mbed/can_interrupt/main.cpp
@@ -17,8 +17,11 @@ CAN can1(PD_0, PD_1);
 #elif defined(TARGET_NUCLEO_F091RC) || defined(TARGET_NUCLEO_F072RB) || \
       defined(TARGET_NUCLEO_F042K6) || defined(TARGET_NUCLEO_F334R8) || \
       defined(TARGET_NUCLEO_F303RE) || defined(TARGET_NUCLEO_F303K8) || \
-      defined(TARGET_NUCLEO_F302R8)
+      defined(TARGET_NUCLEO_F302R8) || defined(TARGET_NUCLEO_F446RE) || \
+      defined(TARGET_DISCO_F429ZI)
 CAN can1(PA_11, PA_12);
+#elif defined(TARGET_DISCO_F469NI)
+CAN can1(PB_8, PB_9);
 #else
 CAN can1(p9, p10);
 #endif
@@ -27,6 +30,9 @@ CAN can1(p9, p10);
 CAN can2(p34, p33);
 #elif defined (TARGET_LPC1768)
 CAN can2(p30, p29);
+#elif defined(TARGET_NUCLEO_F446RE) || defined(TARGET_DISCO_F469NI) || \
+      defined(TARGET_DISCO_F429ZI)
+CAN can2(PB_5, PB_6);
 #endif
 char counter = 0;
 
diff --git a/libraries/tests/mbed/can_loopback/main.cpp b/libraries/tests/mbed/can_loopback/main.cpp
@@ -16,8 +16,11 @@ CAN can1(P5_9, P5_10);
 #elif defined(TARGET_NUCLEO_F091RC) || defined(TARGET_NUCLEO_F072RB) || \
       defined(TARGET_NUCLEO_F042K6) || defined(TARGET_NUCLEO_F334R8) || \
       defined(TARGET_NUCLEO_F303RE) || defined(TARGET_NUCLEO_F303K8) || \
-      defined(TARGET_NUCLEO_F302R8)
+      defined(TARGET_NUCLEO_F302R8) || defined(TARGET_NUCLEO_F446RE) || \
+      defined(TARGET_DISCO_F429ZI)
 CAN can1(PA_11, PA_12);
+#elif defined(TARGET_DISCO_F469NI)
+CAN can1(PB_8, PB_9);
 #endif
 
 #define TEST_ITERATIONS     127
diff --git a/workspace_tools/tests.py b/workspace_tools/tests.py
@@ -98,6 +98,9 @@
      * NUCLEO_F303RE: (RX=PA_11, TX=PA_12)
      * NUCLEO_F303K8: (RX=PA_11, TX=PA_12)
      * NUCLEO_F302R8: (RX=PA_11, TX=PA_12)
+     * NUCLEO_F446RE: (RX=PA_11, TX=PA_12)
+     * DISCO_F469NI:  (RX=PB_8, TX=PB_9)
+     * DISCO_F4269ZI: (RX=PA_11, TX=PA_12)
 
 """
 TESTS = [
@@ -305,7 +308,8 @@
         "peripherals": ["can_transceiver"],
         "mcu": ["LPC1549", "LPC1768","B96B_F446VE", "VK_RZ_A1H",
 		"NUCLEO_F091RC", "NUCLEO_F072RB", "NUCLEO_F042K6", "NUCLEO_F334R8",
-        "NUCLEO_F303RE", "NUCLEO_F303K8", "NUCLEO_F302R8"],
+        "NUCLEO_F303RE", "NUCLEO_F303K8", "NUCLEO_F302R8", "NUCLEO_F446RE",
+        "DISCO_F469NI", "DISCO_F429ZI"],
     },
     {
         "id": "MBED_BLINKY", "description": "Blinky",
@@ -578,15 +582,17 @@
         "dependencies": [MBED_LIBRARIES],
         "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE", "NUCLEO_F091RC",
                 "NUCLEO_F072RB", "NUCLEO_F042K6", "NUCLEO_F334R8", "NUCLEO_F303RE",
-                "NUCLEO_F303K8", "NUCLEO_F302R8"]
+                "NUCLEO_F303K8", "NUCLEO_F302R8", "NUCLEO_F446RE", "DISCO_F469NI",
+                "DISCO_F429ZI"]
     },
     {
         "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", "NUCLEO_F091RC",
                 "NUCLEO_F072RB", "NUCLEO_F042K6", "NUCLEO_F334R8", "NUCLEO_F303RE",
-                "NUCLEO_F303K8", "NUCLEO_F302R8"]
+                "NUCLEO_F303K8", "NUCLEO_F302R8", "NUCLEO_F446RE", "DISCO_F469NI",
+                "DISCO_F429ZI"]
     },
     {
         "id": "MBED_31", "description": "PWM LED test",
