Add native implementation of Devices.Can

CMake/Modules/CHIBIOS_STM32F4xx_sources.cmake

@@ -21,7 +21,7 @@ set(CHIBIOS_PORT_SRCS
     hal_lld.c
 
     hal_adc_lld.c
-    #hal_can_lld.c
+    hal_can_lld.c
     #hal_dac_lld.c
     stm32_dma.c
     hal_ext_lld.c
@@ -59,7 +59,7 @@ foreach(SRC_FILE ${CHIBIOS_PORT_SRCS})
 
             ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/STM32F4xx
             ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/LLD/ADCv2
-            #${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/LLD/CANv1
+            ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/LLD/CANv1
             #${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/LLD/DACv1
             ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/LLD/DMAv2
             ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/LLD/EXTIv1
@@ -88,7 +88,7 @@ list(APPEND CHIBIOS_INCLUDE_DIRS ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/common/
 list(APPEND CHIBIOS_INCLUDE_DIRS ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/common/ext/ST/STM32F4xx)
 
 list(APPEND CHIBIOS_INCLUDE_DIRS ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/LLD/ADCv2)
-#list(APPEND CHIBIOS_INCLUDE_DIRS ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/LLD/CANv1)
+list(APPEND CHIBIOS_INCLUDE_DIRS ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/LLD/CANv1)
 #list(APPEND CHIBIOS_INCLUDE_DIRS ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/LLD/DACv1)
 list(APPEND CHIBIOS_INCLUDE_DIRS ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/LLD/DMAv2)
 list(APPEND CHIBIOS_INCLUDE_DIRS ${PROJECT_BINARY_DIR}/ChibiOS_Source/os/hal/ports/STM32/LLD/EXTIv1)

CMake/Modules/FindnanoFramework.Devices.Can.cmake

@@ -0,0 +1,40 @@
+#
+# Copyright (c) 2018 The nanoFramework project contributors
+# See LICENSE file in the project root for full license information.
+#
+
+
+# native code directory
+set(BASE_PATH_FOR_THIS_MODULE "${BASE_PATH_FOR_CLASS_LIBRARIES_MODULES}/nanoFramework.Devices.Can")
+
+
+# set include directories
+list(APPEND nanoFramework.Devices.Can_INCLUDE_DIRS "${BASE_PATH_FOR_THIS_MODULE}")
+list(APPEND nanoFramework.Devices.Can_INCLUDE_DIRS "${TARGET_BASE_LOCATION}")
+
+# source files
+set(nanoFramework.Devices.Can_SRCS
+
+    nf_devices_can_native_nanoFramework_Devices_Can_CanController.cpp
+    nf_devices_can_native.cpp
+
+    target_nf_devices_can_config.cpp
+)
+
+foreach(SRC_FILE ${nanoFramework.Devices.Can_SRCS})
+    set(nanoFramework.Devices.Can_SRC_FILE SRC_FILE-NOTFOUND)
+    find_file(nanoFramework.Devices.Can_SRC_FILE ${SRC_FILE}
+        PATHS 
+            "${BASE_PATH_FOR_THIS_MODULE}"
+            "${TARGET_BASE_LOCATION}"
+
+        CMAKE_FIND_ROOT_PATH_BOTH
+    )
+    # message("${SRC_FILE} >> ${nanoFramework.Devices.Can_SRC_FILE}") # debug helper
+    list(APPEND nanoFramework.Devices.Can_SOURCES ${nanoFramework.Devices.Can_SRC_FILE})
+endforeach()
+
+
+include(FindPackageHandleStandardArgs)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(nanoFramework.Devices.Can DEFAULT_MSG nanoFramework.Devices.Can_INCLUDE_DIRS nanoFramework.Devices.Can_SOURCES)

CMake/Modules/NF_NativeAssemblies.cmake

@@ -9,6 +9,7 @@
 # and the namespace designation is 'Windows.Devices.Gpio'
 ###########################################################################################
 
+option(API_nanoFramework.Devices.Can            "option for nanoFramework.Devices.Can")
 option(API_nanoFramework.Devices.OneWire        "option for nanoFramework.Devices.OneWire")
 option(API_nanoFramework.Networking.Sntp        "option for nanoFramework.Networking.Sntp")
 option(API_nanoFramework.Runtime.Events         "option for nanoFramework.Runtime.Events API")
@@ -83,6 +84,12 @@ macro(ParseNativeAssemblies)
         PerformSettingsForApiEntry("nanoFramework.Hardware.Stm32")
     endif()
 
+    # nanoFramework.Devices.Can
+    if(API_nanoFramework.Devices.Can)
+        ##### API name here (doted name)
+        PerformSettingsForApiEntry("nanoFramework.Devices.Can")
+    endif()
+
     # nanoFramework.Devices.OneWire
     if(API_nanoFramework.Devices.OneWire)
         ##### API name here (doted name)

CMakeLists.txt

@@ -457,6 +457,13 @@ else()
 endif()
 
 
+if(API_nanoFramework.Devices.Can)
+    set(HAL_USE_CAN_OPTION TRUE CACHE INTERNAL "HAL CAN for nanoFramework.Devices.Can")
+else()
+    set(HAL_USE_CAN_OPTION FALSE CACHE INTERNAL "HAL CAN for nanoFramework.Devices.Can")
+endif()
+
+
 #################################################################
 # manage dependent APIs required for some API namespaces
 #################################################################
@@ -466,7 +473,8 @@ if( API_nanoFramework.Devices.OneWire OR
     API_System.Net OR
     API_Windows.Devices.Gpio OR
     API_Windows.Devices.SerialCommunication OR
-    API_Windows.Networking.Sockets)
+    API_Windows.Networking.Sockets OR
+    API_nanoFramework.Devices.Can)
 
     # these APIs requires nanoFramework.Runtime.Events
     set(API_nanoFramework.Runtime.Events ON CACHE INTERNAL "enable of API_nanoFramework.Runtime.Events")

cmake-variants.TEMPLATE.json

@@ -64,6 +64,7 @@
           "NF_SECURITY_OPENSSL" : "OFF-default-ON-to-add-network-security-from-OpenSSL",
           "NF_SECURITY_MBEDTLS" : "OFF-default-ON-to-add-network-security-from-mbedTLS",
           "MBEDTLS_SOURCE" :  "<path-to-mbedtls-source-mind-the-forward-slashes>",
+          "API_nanoFramework.Devices.Can" : "OFF-default-ON-to-add-this-API",
           "API_nanoFramework.Devices.OneWire" : "OFF-default-ON-to-add-this-API",
           "API_System.Math" : "OFF-default-ON-to-add-this-API",
           "API_System.Net" : "OFF-default-ON-to-add-this-API",

src/PAL/Include/nanoPAL_Events.h

@@ -19,6 +19,7 @@
 #define EVENT_SERIAL      30
 #define EVENT_NETWORK     40
 #define EVENT_WIFI        50
+#define EVENT_CAN         60
 
 ////////////////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////////////////

targets/CMSIS-OS/ChibiOS/ST_STM32F4_DISCOVERY/nanoCLR/halconf.h

@@ -42,9 +42,10 @@
 /**
  * @brief   Enables the CAN subsystem.
  */
-#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
-#define HAL_USE_CAN                         FALSE
-#endif
+// this option is set at target_platform.h (from config file)
+// #if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
+// #define HAL_USE_CAN                         FALSE
+// #endif
 
 /**
  * @brief   Enables the cryptographic subsystem.
@@ -243,7 +244,7 @@
  * @brief   Enforces the driver to use direct callbacks rather than OSAL events.
  */
 #if !defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
-#define CAN_ENFORCE_USE_CALLBACKS           FALSE
+#define CAN_ENFORCE_USE_CALLBACKS           TRUE
 #endif
 
 /*===========================================================================*/

targets/CMSIS-OS/ChibiOS/ST_STM32F4_DISCOVERY/nanoCLR/halconf_nf.h

@@ -21,5 +21,10 @@
 #define HAL_USE_STM32_ONEWIRE       TRUE
 #endif
 
+// enables STM32 Can driver
+#if !defined(HAL_USE_STM32_CAN) 
+#define HAL_USE_STM32_CAN       TRUE
+#endif
+
 #endif // _HALCONF_NF_H_
 

targets/CMSIS-OS/ChibiOS/ST_STM32F4_DISCOVERY/nanoCLR/mcuconf.h

@@ -93,8 +93,8 @@
 /*
  * CAN driver system settings.
  */
-#define STM32_CAN_USE_CAN1                  FALSE
-#define STM32_CAN_USE_CAN2                  FALSE
+#define STM32_CAN_USE_CAN1                  TRUE
+#define STM32_CAN_USE_CAN2                  TRUE
 #define STM32_CAN_CAN1_IRQ_PRIORITY         11
 #define STM32_CAN_CAN2_IRQ_PRIORITY         11
 

targets/CMSIS-OS/ChibiOS/ST_STM32F4_DISCOVERY/target_nf_devices_can_config.cpp

@@ -0,0 +1,44 @@
+//
+// Copyright (c) 2018 The nanoFramework project contributors
+// See LICENSE file in the project root for full license information.
+//
+
+#include <hal.h>
+#include "target_nf_devices_can_config.h"
+#include <nf_devices_can_native.h>
+
+///////////
+// CAN1 //
+///////////
+
+// pin configuration for CAN1
+// port for TX pin is: GPIOB
+// TX pin: is GPIOB_09
+// port for RX pin is: GPIOB
+// RX pin: is GPIOB_08
+// GPIO alternate pin function is 9 (see "Table 9. STM32F405xx and STM32F407xx alternate function mapping" in STM32F405xx/STM32F407xx datasheet)
+CAN_CONFIG_PINS(1, GPIOB, GPIOB, 9, 8, 9)
+
+// buffer
+CANRxFrame Can1_MsgBuffer[CAN1_RX_BUFFER_SIZE];
+
+// initialization for CAN1
+CAN_INIT(1, CAN1_RX_BUFFER_SIZE)
+
+///////////
+// CAN2 //
+///////////
+
+// pin configuration for CAN2
+// port for TX pin is: GPIOB
+// TX pin: is GPIOB_06
+// port for RX pin is: GPIOB
+// RX pin: is GPIOB_05
+// GPIO alternate pin function is 9 (see "Table 9. STM32F405xx and STM32F407xx alternate function mapping" in STM32F405xx/STM32F407xx datasheet)
+CAN_CONFIG_PINS(2, GPIOB, GPIOB, 6, 5, 9)
+
+// buffer
+CANRxFrame Can2_MsgBuffer[CAN2_RX_BUFFER_SIZE];
+
+// initialization for CAN1
+CAN_INIT(2, CAN2_RX_BUFFER_SIZE)

targets/CMSIS-OS/ChibiOS/ST_STM32F4_DISCOVERY/target_nf_devices_can_config.h

@@ -0,0 +1,25 @@
+//
+// Copyright (c) 2018 The nanoFramework project contributors
+// See LICENSE file in the project root for full license information.
+//
+
+
+//////////
+// CAN1 //
+//////////
+
+// enable CAN1
+#define NF_CAN_STM32_CAN_USE_CAN1    TRUE
+
+// buffers size
+#define CAN1_RX_BUFFER_SIZE  16
+
+//////////
+// CAN2 //
+//////////
+
+// enable CAN2
+#define NF_CAN_STM32_CAN_USE_CAN2    TRUE
+
+// buffers size
+#define CAN2_RX_BUFFER_SIZE  16

targets/CMSIS-OS/ChibiOS/nanoCLR/nanoFramework.Devices.Can/nf_devices_can_native.cpp

@@ -0,0 +1,69 @@
+//
+// Copyright (c) 2018 The nanoFramework project contributors
+// See LICENSE file in the project root for full license information.
+//
+
+#include "nf_devices_can_native.h"
+
+static const CLR_RT_MethodHandler method_lookup[] =
+{
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    Library_nf_devices_can_native_nanoFramework_Devices_Can_CanController::WriteMessage___VOID__nanoFrameworkDevicesCanCanMessage,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    Library_nf_devices_can_native_nanoFramework_Devices_Can_CanController::GetMessage___nanoFrameworkDevicesCanCanMessage,
+    Library_nf_devices_can_native_nanoFramework_Devices_Can_CanController::DisposeNative___VOID,
+    Library_nf_devices_can_native_nanoFramework_Devices_Can_CanController::NativeInit___VOID,
+    Library_nf_devices_can_native_nanoFramework_Devices_Can_CanController::NativeUpdateCallbacks___VOID,
+    NULL,
+    Library_nf_devices_can_native_nanoFramework_Devices_Can_CanController::GetDeviceSelector___STATIC__STRING,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+};
+
+const CLR_RT_NativeAssemblyData g_CLR_AssemblyNative_nanoFramework_Devices_Can =
+{
+    "nanoFramework.Devices.Can", 
+    0xD2E9416A,
+    method_lookup,
+    { 1, 0, 0, 1 }
+};