tests/candev: add mcp2515 + driver/mcp2515: add driver

CODEOWNERS

@@ -77,6 +77,7 @@
 /drivers/dose/                              @jue89
 /drivers/ds18/                              @leandrolanzieri
 /drivers/itg320x/                           @gschorcht
+/drivers/mcp2515/                           @wosym
 /drivers/mrf24j40/                          @bergzand
 /drivers/pca9685/                           @gschorcht
 /drivers/sht3x/                             @gschorcht

boards/native/Makefile.dep

@@ -6,7 +6,7 @@ ifneq (,$(filter mtd,$(USEMODULE)))
   USEMODULE += mtd_native
 endif
 
-ifneq (,$(filter can,$(USEMODULE)))
+ifneq (,$(filter periph_can,$(FEATURES_USED)))
   ifeq ($(OS),Linux)
     USEMODULE += can_linux
     CFLAGS += -DCAN_DLL_NUMOF=2

drivers/Makefile.dep

@@ -72,6 +72,11 @@ ifneq (,$(filter ltc4150_%,$(USEMODULE)))
   USEMODULE += ltc4150
 endif
 
+ifneq (,$(filter mcp2515,$(USEMODULE)))
+  USEMODULE += xtimer
+  FEATURES_REQUIRED += periph_gpio periph_spi periph_gpio_irq
+endif
+
 ifneq (,$(filter mhz19_%,$(USEMODULE)))
   USEMODULE += mhz19
 endif

drivers/include/candev_mcp2515.h

@@ -0,0 +1,137 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @defgroup    drivers_mcp2515 MCP2515
+ * @ingroup     drivers_can
+ * @brief       Driver for the Microchip MCP2515 can controller.
+ *
+ * @{
+ *
+ * @file
+ * @brief       Definition of the implementation of the CAN controller driver.
+ *
+ *
+ * @author      Toon Stegen <toon.stegen@altran.com>
+ * @author      Vincent Dupont <vincent@otakeys.com>
+ * @author      Wouter Symons <wosym@airsantelmo.com>
+ */
+
+#ifndef CANDEV_MCP2515_H
+#define CANDEV_MCP2515_H
+
+#include <stdbool.h>
+
+#include "can/candev.h"
+#include "cpu_conf.h"
+#include "periph/gpio.h"
+#include "periph/spi.h"
+#include "mutex.h"
+#include "xtimer.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Default CAN bitrate
+ */
+#ifndef CANDEV_MCP2515_DEFAULT_BITRATE
+#define CANDEV_MCP2515_DEFAULT_BITRATE 125000
+#endif
+
+/**
+ * Default sampling point setup
+ */
+#ifndef CANDEV_MCP2515_DEFAULT_SPT
+#define CANDEV_MCP2515_DEFAULT_SPT 875
+#endif
+
+/**
+ * Number of transmit mailboxes
+ */
+#define MCP2515_TX_MAILBOXES 3
+
+/**
+ * @name Receive mailboxes and filters number
+ * @{
+ * for RX buffers: the MCP2515 managed 6 acceptance filters in 2 mailboxes:
+ *  - MB0 contains 2 acceptance filters in relation with 1 acceptance mask
+ *  - MB1 contains 4 acceptance filters in relation with 1 acceptance mask
+ *
+ *                    MB0          MB1
+ *                  +------+    +------+
+ *          mask 0  | RXM0 |    | RXM1 | mask 1
+ *                  +======+    +======+
+ *         filter 0 | RXF0 |    | RXF2 | filter 2
+ *                  +------+    +------+
+ *         filter 1 | RXF1 |    | RXF3 | filter 3
+ *                  +------+    +------+
+ *                              | RXF4 | filter 4
+ *                              +------+
+ *                              | RXF5 | filter 5
+ *                              +------+
+ */
+#define MCP2515_RX_MAILBOXES 2
+#define MCP2515_FILTERS_MB0 2
+#define MCP2515_FILTERS_MB1 4
+#define MCP2515_FILTERS (MCP2515_FILTERS_MB0 + MCP2515_FILTERS_MB1)
+/** @} */
+
+/** MCP2515 candev descriptor */
+typedef struct candev_mcp2515 candev_mcp2515_t;
+
+/**
+ * @brief MCP2515 configuration descriptor
+ */
+typedef struct candev_mcp2515_conf {
+    spi_t spi;                  /**< SPI bus */
+    spi_mode_t spi_mode;        /**< SPI mode */
+    spi_clk_t spi_clk;          /**< SPI clock speed */
+    gpio_t cs_pin;              /**< Slave select pin */
+    gpio_t rst_pin;             /**< Reset pin */
+    gpio_t int_pin;             /**< Interrupt pin */
+    uint32_t clk;               /**< External clock frequency */
+} candev_mcp2515_conf_t;
+
+/**
+ * @brief MCP2515 device descriptor
+ */
+struct candev_mcp2515 {
+    /** candev driver */
+    candev_t candev;
+    /** driver configuration */
+    const candev_mcp2515_conf_t *conf;
+    /** tx mailboxes local copy */
+    const struct can_frame *tx_mailbox[MCP2515_TX_MAILBOXES];
+    /** rx mailboxes local copy */
+    struct can_frame rx_buf[MCP2515_RX_MAILBOXES];
+    /** masks list */
+    uint32_t masks[MCP2515_RX_MAILBOXES];
+    /** filters list */
+    canid_t filter_ids[MCP2515_RX_MAILBOXES][MCP2515_FILTERS_MB1];
+    /** wakeup source */
+    int wakeup_src;
+};
+
+/**
+ * @brief Initialize a mcp2515 device by assigning a @p timing and an SPI
+ *        configuration @p conf.
+ *
+ * @param[out] dev      mcp2515 device descriptor
+ * @param[in]  conf     mcp2515 configuration
+ */
+void candev_mcp2515_init(candev_mcp2515_t *dev,
+                         const candev_mcp2515_conf_t *conf);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CANDEV_MCP2515_H */
+/** @} */

drivers/mcp2515/Makefile

@@ -0,0 +1 @@
+include $(RIOTBASE)/Makefile.base

drivers/mcp2515/Makefile.include

@@ -0,0 +1,2 @@
+USEMODULE_INCLUDES_mcp2515 := $(LAST_MAKEFILEDIR)/include
+USEMODULE_INCLUDES += $(USEMODULE_INCLUDES_mcp2515)