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Merged
fjmolinas merged 3 commits into from
Mar 23, 2020
Merged

Add CAN support for nucleo-l476rg #13534

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7479c9e
boards: nucleo-l476rg: improve documentation for nucleo-l476rg
Ciusss89 Feb 5, 2020
7e6ce08
cpu: stm32_common: add CAN support for nucleo-l476rg
Ciusss89 Feb 5, 2020
0626e7a
boards: nucleo-l476rg: enable the CAN feature
Ciusss89 Feb 5, 2020
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1 change: 1 addition & 0 deletions boards/nucleo-l476rg/Makefile.features
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@ CPU_MODEL = stm32l476rg

# Put defined MCU peripherals here (in alphabetical order)
FEATURES_PROVIDED += periph_adc
FEATURES_PROVIDED += periph_can
FEATURES_PROVIDED += periph_dma
FEATURES_PROVIDED += periph_i2c
FEATURES_PROVIDED += periph_pwm
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49 changes: 36 additions & 13 deletions boards/nucleo-l476rg/doc.txt
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Expand Up @@ -6,23 +6,46 @@
### MCU


| MCU | |
| MCU | STM32L476RG |
|:------------- |:--------------------- |
| Family | ARM Cortex-M4 |
| Vendor | ST Microelectronics |
| RAM | |
| Flash | |
| Frequency | |
| FPU | |
| Timers | |
| ADCs | |
| UARTs | |
| SPIs | |
| I2Cs | |
| RTC | |
| Vcc | |
| RAM | 128Kb |
| Flash | 1MB |
| Frequency | up to 80MHz |
| FPU | yes |
| Timers | 16 (2x watchdog, 1 SysTick, 6x 16-bit, 2x 32-bit [TIM2]) |
| ADCs | 1x 12-bit |
| UARTs | 3 (two UARTs and one Low-Power UART) |
| SPIs | 3 |
| I2Cs | 3 |
| RTC | 1 |
| CAN | 1 |
| Vcc | 1.71 V - 3.6V |
| Datasheet | |
| Reference Manual | [Reference Manual](http://www.st.com/content/ccc/resource/technical/document/reference_manual/02/35/09/0c/4f/f7/40/03/DM00083560.pdf/files/DM00083560.pdf/jcr:content/translations/en.DM00083560.pdf) |
| Programming Manual | [Programming Manual](http://www.st.com/content/ccc/resource/technical/document/programming_manual/6c/3a/cb/e7/e4/ea/44/9b/DM00046982.pdf/files/DM00046982.pdf/jcr:content/translations/en.DM00046982.pdf) |
| Board Manual | |
| Board Manual | [Board Manual](https://www.st.com/content/ccc/resource/technical/document/user_manual/98/2e/fa/4b/e0/82/43/b7/DM00105823.pdf/files/DM00105823.pdf/jcr:content/translations/en.DM00105823.pdf) |

## Flashing the device
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Ciusss89 marked this conversation as resolved.

The ST Nucleo-L476RG board includes an on-board ST-LINK V2 programmer. The
easiest way to program the board is to use OpenOCD. Once you have installed
OpenOCD (look [here](https://github.com/RIOT-OS/RIOT/wiki/OpenOCD) for
installation instructions), you can flash the board simply by typing

```
make BOARD=nucleo-l476rg flash
```
and debug via GDB by simply typing
```
make BOARD=nucleo-l476rg debug
```


## Supported Toolchains
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Ciusss89 marked this conversation as resolved.

For using the ST Nucleo-L476RG board we strongly recommend the usage of the
[GNU Tools for ARM Embedded Processors](https://launchpad.net/gcc-arm-embedded)
toolchain.
*/
16 changes: 12 additions & 4 deletions cpu/stm32_common/include/can_params.h
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Expand Up @@ -39,18 +39,26 @@ static const can_conf_t candev_conf[] = {
.irqn = CEC_CAN_IRQn,
#else
.can = CAN1,
#if defined(CPU_FAM_STM32L4)
.rcc_mask = RCC_APB1ENR1_CAN1EN,
#else
.rcc_mask = RCC_APB1ENR_CAN1EN,
.can_master = CAN1,
.master_rcc_mask = RCC_APB1ENR_CAN1EN,
.first_filter = 0,
.nb_filters = 14,
#ifndef CPU_FAM_STM32F1
#endif
#if defined(CPU_FAM_STM32F1)
.rx_pin = GPIO_PIN(PORT_A, 11),
.tx_pin = GPIO_PIN(PORT_A, 12),
#elif defined(CPU_FAM_STM32L4)
.rx_pin = GPIO_PIN(PORT_B, 8),
.tx_pin = GPIO_PIN(PORT_B, 9),
.af = GPIO_AF9,
#else
.rx_pin = GPIO_PIN(PORT_D, 0),
.tx_pin = GPIO_PIN(PORT_D, 1),
.af = GPIO_AF9,
#else
.rx_pin = GPIO_PIN(PORT_A, 11),
.tx_pin = GPIO_PIN(PORT_A, 12),
#endif
.tx_irqn = CAN1_TX_IRQn,
.rx0_irqn = CAN1_RX0_IRQn,
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3 changes: 2 additions & 1 deletion cpu/stm32_common/include/candev_stm32.h
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Expand Up @@ -41,7 +41,8 @@ extern "C" {
#define CANDEV_STM32_CHAN_NUMOF 3
#elif defined(CPU_FAM_STM32F1) || defined(CPU_FAM_STM32F2) || defined(CPU_FAM_STM32F4)
#define CANDEV_STM32_CHAN_NUMOF 2
#elif defined(CPU_FAM_STM32F0) || defined(CPU_FAM_STM32F3) || DOXYGEN
#elif defined(CPU_FAM_STM32F0) || defined(CPU_FAM_STM32F3) || \
defined(CPU_FAM_STM32L4) || DOXYGEN
/** Number of channels in the device (up to 3) */
#define CANDEV_STM32_CHAN_NUMOF 1
#else
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