[DISCO_L476VG] Added CAN support

Added CAN API support for DISCO_L476VG target.

*stm32l476xx.h* file was changed to avoid compilation errors.

NOTE: MBED_29 or MBED_30 cannot be tested on this platform because CAN pins are
soldered to USB, GYRO and others.

Change-Id: I2e85bd36dc45872b1ab617f072de98164f2c96f8

hal/targets/cmsis/TARGET_STM/TARGET_STM32L4/TARGET_DISCO_L476VG/stm32l476xx.h

@@ -1336,7 +1336,6 @@ typedef struct
 #define I2C1                ((I2C_TypeDef *) I2C1_BASE)
 #define I2C2                ((I2C_TypeDef *) I2C2_BASE)
 #define I2C3                ((I2C_TypeDef *) I2C3_BASE)
-#define CAN                 ((CAN_TypeDef *) CAN1_BASE)
 #define CAN1                ((CAN_TypeDef *) CAN1_BASE)
 #define LPTIM1              ((LPTIM_TypeDef *) LPTIM1_BASE)
 #define PWR                 ((PWR_TypeDef *) PWR_BASE)

hal/targets/hal/TARGET_STM/TARGET_STM32L4/TARGET_DISCO_L476VG/PeripheralNames.h

@@ -83,6 +83,10 @@ typedef enum {
     PWM_17 = (int)TIM17_BASE
 } PWMName;
 
+typedef enum {
+    CAN_1 = (int)CAN1_BASE
+} CANName;
+
 #ifdef __cplusplus
 }
 #endif

hal/targets/hal/TARGET_STM/TARGET_STM32L4/TARGET_DISCO_L476VG/PeripheralPins.c

@@ -234,3 +234,15 @@ const PinMap PinMap_SPI_SSEL[] = {
     {PE_12, SPI_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF5_SPI1)},
     {NC,    NC,    0}
 };
+
+const PinMap PinMap_CAN_RD[] = {
+    {PB_8 , CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {PA_11, CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {NC,    NC,    0}
+};
+
+const PinMap PinMap_CAN_TD[] = {
+    {PB_9 ,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {PA_12,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)},
+    {NC,    NC,    0}
+};

hal/targets/hal/TARGET_STM/TARGET_STM32L4/TARGET_DISCO_L476VG/device.h

@@ -41,6 +41,8 @@
 
 
 
+#define DEVICE_CAN              1
+
 //=======================================
 
 #define DEVICE_ID_LENGTH       24

hal/targets/hal/TARGET_STM/TARGET_STM32L4/TARGET_DISCO_L476VG/objects.h

@@ -105,6 +105,12 @@ struct pwmout_s {
     uint32_t inverted;
 };
 
+
+struct can_s {
+    CANName can;
+    int index;
+};
+
 #include "gpio_object.h"
 
 #ifdef __cplusplus

libraries/tests/mbed/can/main.cpp

@@ -65,7 +65,8 @@ int main() {
      !defined(TARGET_NUCLEO_F091RC) && !defined(TARGET_NUCLEO_F072RB) && \
      !defined(TARGET_NUCLEO_F042K6) && !defined(TARGET_NUCLEO_F334R8) && \
      !defined(TARGET_NUCLEO_F303RE) && !defined(TARGET_NUCLEO_F303K8) && \
-     !defined(TARGET_NUCLEO_F302R8) && !defined(TARGET_NUCLEO_F103RB))
+     !defined(TARGET_NUCLEO_F302R8) && !defined(TARGET_NUCLEO_F103RB) && \
+     !defined(TARGET_DISCO_L476VG))
       printf("loop()\n");
         if(can2.read(msg)) {
             printmsg("Rx message:", &msg);

libraries/tests/mbed/can_interrupt/main.cpp

@@ -60,7 +60,8 @@ void send() {
      !defined(TARGET_NUCLEO_F091RC) && !defined(TARGET_NUCLEO_F072RB) && \
      !defined(TARGET_NUCLEO_F042K6) && !defined(TARGET_NUCLEO_F334R8) && \
      !defined(TARGET_NUCLEO_F303RE) && !defined(TARGET_NUCLEO_F303K8) && \
-     !defined(TARGET_NUCLEO_F302R8) && !defined(TARGET_NUCLEO_F103RB))
+     !defined(TARGET_NUCLEO_F302R8) && !defined(TARGET_NUCLEO_F103RB) && \
+     !defined(TARGET_DISCO_L476VG))
 void read() {
     CANMessage msg;
     printf("rx()\n");
@@ -78,7 +79,8 @@ int main() {
      !defined(TARGET_NUCLEO_F091RC) && !defined(TARGET_NUCLEO_F072RB) && \
      !defined(TARGET_NUCLEO_F042K6) && !defined(TARGET_NUCLEO_F334R8) && \
      !defined(TARGET_NUCLEO_F303RE) && !defined(TARGET_NUCLEO_F303K8) && \
-     !defined(TARGET_NUCLEO_F302R8) && !defined(TARGET_NUCLEO_F103RB))
+     !defined(TARGET_NUCLEO_F302R8) && !defined(TARGET_NUCLEO_F103RB) && \
+     !defined(TARGET_DISCO_L476VG))
     can2.attach(&read);
 #endif
     while(1) {

libraries/tests/mbed/can_loopback/main.cpp

@@ -18,7 +18,7 @@ CAN can1(P5_9, P5_10);
       defined(TARGET_NUCLEO_F303RE) || defined(TARGET_NUCLEO_F303K8) || \
       defined(TARGET_NUCLEO_F302R8) || defined(TARGET_NUCLEO_F446RE) || \
       defined(TARGET_DISCO_F429ZI)  || defined(TARGET_NUCLEO_F103RB) || \
-      defined(TARGET_NUCLEO_F746ZG)
+      defined(TARGET_NUCLEO_F746ZG) || defined(TARGET_DISCO_L476VG)
 CAN can1(PA_11, PA_12);
 #elif defined(TARGET_DISCO_F469NI) || defined(TARGET_DISCO_F746NG)
 CAN can1(PB_8, PB_9);

workspace_tools/tests.py

@@ -104,6 +104,7 @@ Wiring:
      * NUCLEO_F103RB: (RX=PA_11, TX=PA_12)
      * NUCLEO_F746ZG: (RX=PA_11, TX=PA_12)
      * DISCO_F746NG:  (RX=PB_8, TX=PB_9)
+     * DISCO_L476VG:  (RX=PA_11, TX=PA_12)
 
 """
 TESTS = [
@@ -313,7 +314,7 @@ TESTS = [
 		"NUCLEO_F091RC", "NUCLEO_F072RB", "NUCLEO_F042K6", "NUCLEO_F334R8",
         "NUCLEO_F303RE", "NUCLEO_F303K8", "NUCLEO_F302R8", "NUCLEO_F446RE",
         "DISCO_F469NI", "DISCO_F429ZI", "NUCLEO_F103RB", "NUCLEO_F746ZG",
-        "DISCO_F746NG"]
+        "DISCO_F746NG", "DISCO_L476VG"]
     },
     {
         "id": "MBED_BLINKY", "description": "Blinky",