text: /****************************************************************************
   * boards/arm/stm32/stm32f4discovery/src/stm32_can.c
   *
   *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
   *   Author: Gregory Nutt <gnutt@nuttx.org>
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name NuttX nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /****************************************************************************
   * Included Files
   ****************************************************************************/
  
  #include <nuttx/config.h>
  
  #include <errno.h>
  #include <debug.h>
  
  #include <nuttx/can/can.h>
  #include <arch/board/board.h>
  
  #include "chip.h"
  #include "arm_arch.h"
  
  #include "stm32.h"
  #include "stm32_can.h"
  #include "stm32f4discovery.h"
  
  #ifdef CONFIG_CAN
  
  /****************************************************************************
   * Pre-processor Definitions
   ****************************************************************************/
  
  /* Configuration ********************************************************************/
  
  #if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
  #  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
  #  undef CONFIG_STM32_CAN2
  #endif
  
  #ifdef CONFIG_STM32_CAN1
  #  define CAN_PORT 1
  #else
  #  define CAN_PORT 2
  #endif
  
  /****************************************************************************
   * Public Functions
   ****************************************************************************/
  
  /****************************************************************************
   * Name: stm32_can_setup
   *
   * Description:
   *  Initialize CAN and register the CAN device
   *
   ****************************************************************************/
  
  int stm32_can_setup(void)
  {
  #if defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)
    struct can_dev_s *can;
    int ret;
  
    /* Call stm32_caninitialize() to get an instance of the CAN interface */
  
    can = stm32_caninitialize(CAN_PORT);
    if (can == NULL)
      {
        canerr("ERROR:  Failed to get CAN interface\n");
        return -ENODEV;
      }
  
    /* Register the CAN driver at "/dev/can0" */
  
    ret = can_register("/dev/can0", can);
    if (ret < 0)
      {
        canerr("ERROR: can_register failed: %d\n", ret);
        return ret;
      }
  
    return OK;
  #else
    return -ENODEV;
  #endif
  }
  
  #endif /* CONFIG_CAN */
  