[NUCLEO_F072RB] Added CAN support

Added CAN API support for NUCLEO_F072RB target.

*stm32f072xb.h* file was changed to avoid compilation errors.

Change-Id: I9da75fde29fd19f0326d554acc1dbb5386b08317

libraries/mbed/targets/cmsis/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F072RB/stm32f072xb.h

@@ -732,7 +732,7 @@ typedef struct
 #define USART4              ((USART_TypeDef *) USART4_BASE)
 #define I2C1                ((I2C_TypeDef *) I2C1_BASE)
 #define I2C2                ((I2C_TypeDef *) I2C2_BASE)
-#define CAN                 ((CAN_TypeDef *) CAN_BASE)
+#define CAN1                ((CAN_TypeDef *) CAN_BASE)
 #define CRS                 ((CRS_TypeDef *) CRS_BASE)
 #define PWR                 ((PWR_TypeDef *) PWR_BASE)
 #define DAC                 ((DAC_TypeDef *) DAC_BASE)

libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F072RB/PeripheralNames.h

@@ -75,6 +75,10 @@ typedef enum {
     PWM_17 = (int)TIM17_BASE
 } PWMName;
 
+typedef enum {
+    CAN_1 = (int)CAN_BASE
+} CANName;
+
 #ifdef __cplusplus
 }
 #endif

libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F072RB/PeripheralPins.c

@@ -196,3 +196,15 @@ const PinMap PinMap_SPI_SSEL[] = {
     {PB_12, SPI_2, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF0_SPI2)},
     {NC,    NC,    0}
 };
+
+const PinMap PinMap_CAN_RD[] = {
+    {PB_8 , CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF4_CAN)},
+    {PA_11, CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF4_CAN)},
+    {NC,    NC,    0}
+};
+
+const PinMap PinMap_CAN_TD[] = {
+    {PB_9 ,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF4_CAN)},
+    {PA_12,  CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF4_CAN)},
+    {NC,    NC,    0}
+};

libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F072RB/device.h

@@ -54,6 +54,8 @@
 
 #define DEVICE_SLEEP            1
 
+#define DEVICE_CAN              1
+
 //=======================================
 
 #define DEVICE_SEMIHOST         0

libraries/mbed/targets/hal/TARGET_STM/TARGET_STM32F0/TARGET_NUCLEO_F072RB/objects.h

@@ -100,6 +100,11 @@ struct pwmout_s {
     uint32_t pulse;
 };
 
+struct can_s {
+    CANName can;
+    int index;
+};
+
 #include "gpio_object.h"
 
 #ifdef __cplusplus

libraries/tests/mbed/can/main.cpp

@@ -14,7 +14,7 @@ CAN can1(D2, D3);
 #elif defined(TARGET_B96B_F446VE)
 // B96B_F446VE support only single CAN channel
 CAN can1(PD_0, PD_1);
-#elif defined(TARGET_NUCLEO_F091RC)
+#elif defined(TARGET_NUCLEO_F091RC) || defined(TARGET_NUCLEO_F072RB)
 CAN can1(PA_11, PA_12);
 #else
 CAN can1(p9, p10);
@@ -50,7 +50,8 @@ int main() {
     ticker.attach(&send, 1);
     CANMessage msg;
     while(1) {
-#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && !defined(TARGET_NUCLEO_F091RC))
+#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && \
+     !defined(TARGET_NUCLEO_F091RC) && !defined(TARGET_NUCLEO_F072RB))
       printf("loop()\n");
         if(can2.read(msg)) {
             printmsg("Rx message:", &msg);

libraries/tests/mbed/can_interrupt/main.cpp

@@ -14,7 +14,7 @@ CAN can1(D2, D3);
 #elif defined(TARGET_B96B_F446VE)
 // B96B_F446VE support only single CAN channel
 CAN can1(PD_0, PD_1);
-#elif defined(TARGET_NUCLEO_F091RC)
+#elif defined(TARGET_NUCLEO_F091RC) || defined(TARGET_NUCLEO_F072RB)
 CAN can1(PA_11, PA_12);
 #else
 CAN can1(p9, p10);
@@ -45,7 +45,8 @@ void send() {
     led1 = !led1;
 }
 
-#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && !defined(TARGET_NUCLEO_F091RC))
+#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && \
+     !defined(TARGET_NUCLEO_F091RC) && !defined(TARGET_NUCLEO_F072RB))
 void read() {
     CANMessage msg;
     printf("rx()\n");
@@ -59,7 +60,8 @@ void read() {
 int main() {
     printf("main()\n");
     ticker.attach(&send, 1);
-#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && !defined(TARGET_NUCLEO_F091RC))
+#if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && \
+     !defined(TARGET_NUCLEO_F091RC) && !defined(TARGET_NUCLEO_F072RB)) 
     can2.attach(&read);
 #endif
     while(1) {

libraries/tests/mbed/can_loopback/main.cpp

@@ -13,7 +13,7 @@ CAN can1(p9, p10);
 CAN can1(PD_0, PD_1);
 #elif defined(TARGET_VK_RZ_A1H)
 CAN can1(P5_9, P5_10);
-#elif defined(TARGET_NUCLEO_F091RC)
+#elif defined(TARGET_NUCLEO_F091RC) || defined(TARGET_NUCLEO_F072RB)
 CAN can1(PA_11, PA_12);
 #endif
 

workspace_tools/tests.py

@@ -92,6 +92,7 @@ Wiring:
      * LPC4088: (RX=p9,   TX=p10)
      * VK_RZ_A1H:(RX=P5_9, TX=P5_10)
      * NUCLEO_F091RC: (RX=PA_11, TX=PA_12)
+     * NUCLEO_F072RB: (RX=PA_11, TX=PA_12)
 
 """
 TESTS = [
@@ -298,7 +299,7 @@ TESTS = [
         "duration": 20,
         "peripherals": ["can_transceiver"],
         "mcu": ["LPC1549", "LPC1768","B96B_F446VE", "VK_RZ_A1H",
-		"NUCLEO_F091RC"],
+		"NUCLEO_F091RC", "NUCLEO_F072RB"],
     },
     {
         "id": "MBED_BLINKY", "description": "Blinky",
@@ -569,13 +570,15 @@ TESTS = [
         "id": "MBED_29", "description": "CAN network test",
         "source_dir": join(TEST_DIR, "mbed", "can"),
         "dependencies": [MBED_LIBRARIES],
-        "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE", "NUCLEO_F091RC"]
+        "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE", "NUCLEO_F091RC",
+                "NUCLEO_F072RB"]
     },
     {
         "id": "MBED_30", "description": "CAN network test using interrupts",
         "source_dir": join(TEST_DIR, "mbed", "can_interrupt"),
         "dependencies": [MBED_LIBRARIES],
-        "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE", "NUCLEO_F091RC"]
+        "mcu": ["LPC1768", "LPC4088", "LPC1549", "RZ_A1H", "B96B_F446VE", "NUCLEO_F091RC",
+                "NUCLEO_F072RB"]
     },
     {
         "id": "MBED_31", "description": "PWM LED test",