boards/same54-xpro: add CAN periph

RIOT-OS · Jun 20, 2023 · 5bb6628 · 5bb6628
1 parent 198bf9d
commit 5bb6628
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Showing 6 changed files with 36 additions and 36 deletions.
diff --git a/boards/same54-xpro/include/periph_conf.h b/boards/same54-xpro/include/periph_conf.h
@@ -106,6 +106,30 @@ static const tc32_conf_t timer_config[] = {
 #define TIMER_NUMOF         ARRAY_SIZE(timer_config)
 /** @} */
 
+/**
+ * @name CAN configuration
+ * @{
+ */
+static const can_conf_t candev_conf[] = {
+    {
+        /* SAME54-xpro pins */
+        .can = CAN1,
+        .rx_pin = GPIO_PIN(PB, 13),
+        .tx_pin = GPIO_PIN(PB, 12),
+        .mux = GPIO_MUX_H,
+        .tdc_ctrl = false,
+        .dar_ctrl = false,
+        .tx_fifo_queue_ctrl = false,
+        .global_filter_cfg = CAN_REJECT,
+    }
+};
+
+/* CAN 1 configuration */
+#define ISR_CAN1    isr_can1
+
+#define CAN_NUMOF         ARRAY_SIZE(candev_conf)
+/** @} */
+
 /**
  * @name UART configuration
  * @{

diff --git a/cpu/samd5x/include/can_params.h b/cpu/samd5x/include/can_params.h
@@ -5,32 +5,7 @@
 extern "C" {
 #endif
 
-#include "candev_samd5x.h"
-
-/** Default SAMD5x CAN devices config */
-static const can_conf_t candev_conf[] = {
-    {
-        .can = CAN0,
-        .rx_pin = GPIO_PIN(PA, 23),
-        .tx_pin = GPIO_PIN(PA, 22),
-        .mux = GPIO_MUX_I,
-        .tdc_ctrl = false,
-        .dar_ctrl = false,
-        .tx_fifo_queue_ctrl = false,
-        .global_filter_cfg = CAN_ACCEPT_RX_FIFO_0,
-    },
-    {
-        /* SAME54-xpro pins */
-        .can = CAN1,
-        .rx_pin = GPIO_PIN(PB, 13),
-        .tx_pin = GPIO_PIN(PB, 12),
-        .mux = GPIO_MUX_H,
-        .tdc_ctrl = false,
-        .dar_ctrl = false,
-        .tx_fifo_queue_ctrl = false,
-        .global_filter_cfg = CAN_REJECT,
-    }
-};
+#include "can/device.h"
 
 /** Default SAMD5x CAN devices parameters */
 static const candev_params_t candev_params[] = {

diff --git a/cpu/samd5x/include/candev_samd5x.h b/cpu/samd5x/include/candev_samd5x.h
@@ -6,8 +6,6 @@ extern "C" {
 #endif
 
 #include "can/candev.h"
-#include "periph/gpio.h"
-#include "can/device.h"
 
 #ifndef CANDEV_SAMD5X_DEFAULT_BITRATE
 /** Default bitrate */
@@ -113,10 +111,6 @@ typedef struct {
 } can_t;
 #define HAVE_CAN_T
 
-/* Interrupt service routine functions */
-#define ISR_CAN0	isr_can0
-#define ISR_CAN1	isr_can1
-
 /**
  * @brief   Set the pins of the CAN physical transceiver
  *

diff --git a/cpu/samd5x/include/periph_cpu.h b/cpu/samd5x/include/periph_cpu.h
@@ -25,6 +25,7 @@
 #include "macros/units.h"
 #include "periph_cpu_common.h"
 
+#include "candev_samd5x.h"
 #ifdef __cplusplus
 extern "C" {
 #endif

diff --git a/cpu/samd5x/periph/can.c b/cpu/samd5x/periph/can.c
@@ -20,7 +20,9 @@
 #include <assert.h>
 #include <string.h>
 
-#include "candev_samd5x.h"
+#include "periph/can.h"
+#include "periph/gpio.h"
+#include "can/device.h"
 
 #define ENABLE_DEBUG 0
 #include "debug.h"
@@ -559,6 +561,7 @@ static void _isr(candev_t *candev)
     }
 }
 
+#ifdef ISR_CAN1
 void ISR_CAN1(void)
 {
     DEBUG_PUTS("ISR CAN1");
@@ -568,12 +571,15 @@ void ISR_CAN1(void)
     }
 
 }
+#endif
 
+#ifdef ISR_CAN0
 void ISR_CAN0(void)
 {
     DEBUG_PUTS("ISR CAN0");
 
     if (_can->candev.event_callback) {
         _can->candev.event_callback(&(_can->candev), CANDEV_EVENT_ISR, NULL);
     }
-}
+}
+#endif
diff --git a/tests/can_samd5x/main.c b/tests/can_samd5x/main.c
@@ -18,7 +18,7 @@
 
 #include <stdio.h>
 
-#include "can_params.h"
+#include "periph/gpio.h"
 #include "periph/can.h"
 
 static can_t can_samd5x;
@@ -86,7 +86,7 @@ int main(void)
     puts("candev test application\n");
 
     gpio_init(GPIO_PIN(PC, 13), GPIO_IN);
-    can_init(&can_samd5x, &candev_conf[1]);
+    can_init(&can_samd5x, &candev_conf[0]);
 
     candev = &(can_samd5x.candev);
     candev->event_callback = _can_event_callback;