From f740d2f3bc6241403a2a7ffe44b85b44bded4b7f Mon Sep 17 00:00:00 2001
From: adustm <adustm13@gmail.com>
Date: Tue, 11 Apr 2017 15:36:05 +0200
Subject: [PATCH 01/12] Add an mbed API that allows the initialization of the
 CAN at the correct CAN bus frequency

---
 drivers/CAN.cpp | 11 +++++++++++
 drivers/CAN.h   |  9 +++++++++
 hal/can_api.h   |  7 ++++---
 3 files changed, 24 insertions(+), 3 deletions(-)

diff --git a/drivers/CAN.cpp b/drivers/CAN.cpp
index 93d6f6315d7..219b6d0c29d 100644
--- a/drivers/CAN.cpp
+++ b/drivers/CAN.cpp
@@ -34,6 +34,17 @@ CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
     can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
 }
 
+CAN::CAN(PinName rd, PinName td, int f) : _can(), _irq() {
+    // No lock needed in constructor
+
+    for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
+        _irq[i].attach(donothing);
+    }
+
+    can_init_freq(&_can, rd, td, f);
+    can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
+}
+
 CAN::~CAN() {
     // No lock needed in destructor
     can_irq_free(&_can);
diff --git a/drivers/CAN.h b/drivers/CAN.h
index 9a81e9c7874..edbb39228c4 100644
--- a/drivers/CAN.h
+++ b/drivers/CAN.h
@@ -111,6 +111,15 @@ class CAN {
      * @endcode
      */
     CAN(PinName rd, PinName td);
+
+    /** Initialize CAN interface and set the frequency
+      *
+      * @param rd the rd pin
+      * @param td the td pin
+      * @param f the bus frequency in hertz
+      */
+    CAN(PinName rd, PinName td, int f);
+
     virtual ~CAN();
 
     /** Set the frequency of the CAN interface
diff --git a/hal/can_api.h b/hal/can_api.h
index 2a9182187e1..723342f0821 100644
--- a/hal/can_api.h
+++ b/hal/can_api.h
@@ -57,9 +57,10 @@ typedef void (*can_irq_handler)(uint32_t id, CanIrqType type);
 
 typedef struct can_s can_t;
 
-void          can_init     (can_t *obj, PinName rd, PinName td);
-void          can_free     (can_t *obj);
-int           can_frequency(can_t *obj, int hz);
+void          can_init      (can_t *obj, PinName rd, PinName td);
+void          can_init_freq (can_t *obj, PinName rd, PinName td, int hz);
+void          can_free      (can_t *obj);
+int           can_frequency (can_t *obj, int hz);
 
 void          can_irq_init (can_t *obj, can_irq_handler handler, uint32_t id);
 void          can_irq_free (can_t *obj);

From a912d05f3b78ed4f65d07f0236b6b36d6751352a Mon Sep 17 00:00:00 2001
From: adustm <adustm13@gmail.com>
Date: Mon, 24 Apr 2017 15:04:44 +0200
Subject: [PATCH 02/12] Add can_init_frequency to RENESAS targets hz is not
 used in can_init functions

---
 targets/TARGET_RENESAS/TARGET_RZ_A1H/can_api.c    | 6 +++++-
 targets/TARGET_RENESAS/TARGET_VK_RZ_A1H/can_api.c | 6 +++++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/targets/TARGET_RENESAS/TARGET_RZ_A1H/can_api.c b/targets/TARGET_RENESAS/TARGET_RZ_A1H/can_api.c
index 1c22489be26..4a6e86033cd 100644
--- a/targets/TARGET_RENESAS/TARGET_RZ_A1H/can_api.c
+++ b/targets/TARGET_RENESAS/TARGET_RZ_A1H/can_api.c
@@ -539,7 +539,7 @@ static void can4_bus_err_irq(void) {
     can_err_irq(CAN_4, IRQ_BUS);
 }
 
-void can_init(can_t *obj, PinName rd, PinName td) {
+void can_init_freq(can_t *obj, PinName rd, PinName td, int hz) {
     __IO uint32_t *dmy_ctr;
 
     /* determine the CAN to use */
@@ -575,6 +575,10 @@ void can_init(can_t *obj, PinName rd, PinName td) {
     pinmap_pinout(td, PinMap_CAN_TD);
 }
 
+void can_init(can_t *obj, PinName rd, PinName td) {
+    can_init_freq(obj, rd, td, 0);
+}
+
 void can_free(can_t *obj) {
     /* disable CAN clock */
     CPGSTBCR3 |= CPG_STBCR3_BIT_MSTP32;
diff --git a/targets/TARGET_RENESAS/TARGET_VK_RZ_A1H/can_api.c b/targets/TARGET_RENESAS/TARGET_VK_RZ_A1H/can_api.c
index 7b6cf12e4e3..3e431cb4b55 100644
--- a/targets/TARGET_RENESAS/TARGET_VK_RZ_A1H/can_api.c
+++ b/targets/TARGET_RENESAS/TARGET_VK_RZ_A1H/can_api.c
@@ -556,7 +556,7 @@ static void can4_bus_err_irq(void) {
     can_err_irq(CAN_4, IRQ_BUS);
 }
 
-void can_init(can_t *obj, PinName rd, PinName td) {
+void can_init_freq(can_t *obj, PinName rd, PinName td, int hz) {
     __IO uint32_t *dmy_ctr;
 
     /* determine the CAN to use */
@@ -592,6 +592,10 @@ void can_init(can_t *obj, PinName rd, PinName td) {
     pinmap_pinout(td, PinMap_CAN_TD);
 }
 
+void can_init(can_t *obj, PinName rd, PinName td) {
+    can_init_freq(obj, rd, td, 0);
+}
+
 void can_free(can_t *obj) {
     /* disable CAN clock */
     CPGSTBCR3 |= CPG_STBCR3_BIT_MSTP32;

From 1fe20b281ac94d9f897a85108ceb64c922368c48 Mon Sep 17 00:00:00 2001
From: adustm <adustm13@gmail.com>
Date: Mon, 24 Apr 2017 18:22:56 +0200
Subject: [PATCH 03/12] Add can_init_frequency for NXP platforms

---
 .../TARGET_LPC11CXX/can_api.c                    | 16 ++++++++++------
 targets/TARGET_NXP/TARGET_LPC15XX/can_api.c      |  9 ++++++---
 targets/TARGET_NXP/TARGET_LPC176X/can_api.c      |  8 ++++++--
 .../TARGET_LPC408X/TARGET_LPC4088/can_api.c      | 12 ++++++++----
 .../TARGET_LPC408X/TARGET_LPC4088_DM/can_api.c   |  8 ++++++--
 5 files changed, 36 insertions(+), 17 deletions(-)

diff --git a/targets/TARGET_NXP/TARGET_LPC11XX_11CXX/TARGET_LPC11CXX/can_api.c b/targets/TARGET_NXP/TARGET_LPC11XX_11CXX/TARGET_LPC11CXX/can_api.c
index 643dec6334b..dfb0da85bda 100644
--- a/targets/TARGET_NXP/TARGET_LPC11XX_11CXX/TARGET_LPC11CXX/can_api.c
+++ b/targets/TARGET_NXP/TARGET_LPC11XX_11CXX/TARGET_LPC11CXX/can_api.c
@@ -268,26 +268,30 @@ int can_config_rxmsgobj(can_t *obj) {
 }
 
 
-void can_init(can_t *obj, PinName rd, PinName td) {
+void can_init_freq(can_t *obj, PinName rd, PinName td, int hz) {
     // Enable power and clock
     LPC_SYSCON->PRESETCTRL |= PRESETCTRL_CAN_RST_N;
     LPC_SYSCON->SYSAHBCLKCTRL |= SYSAHBCLKCTRL_CAN;
-    
+
     // Enable Initialization mode
     if (!(LPC_CAN->CNTL & CANCNTL_INIT)) {
         LPC_CAN->CNTL |= CANCNTL_INIT;
     }
-    
-    can_frequency(obj, 125000);
-    
+
+    can_frequency(obj, hz);
+
     // Resume operation
     LPC_CAN->CNTL &= ~CANCNTL_INIT;
     while ( LPC_CAN->CNTL & CANCNTL_INIT );
-    
+
     // Initialize RX message object
     can_config_rxmsgobj(obj);
 }
 
+void can_init(can_t *obj, PinName rd, PinName td) {
+    can_init_freq(obj, rd, td, 125000);
+}
+
 void can_free(can_t *obj) {
     LPC_SYSCON->SYSAHBCLKCTRL &= ~(SYSAHBCLKCTRL_CAN);
     LPC_SYSCON->PRESETCTRL &= ~(PRESETCTRL_CAN_RST_N);
diff --git a/targets/TARGET_NXP/TARGET_LPC15XX/can_api.c b/targets/TARGET_NXP/TARGET_LPC15XX/can_api.c
index 26fcbf21701..d0f0ff307ea 100644
--- a/targets/TARGET_NXP/TARGET_LPC15XX/can_api.c
+++ b/targets/TARGET_NXP/TARGET_LPC15XX/can_api.c
@@ -415,8 +415,7 @@ int can_config_txmsgobj(can_t *obj) {
     return 1;
 }
 
-
-void can_init(can_t *obj, PinName rd, PinName td) {
+void can_init_freq(can_t *obj, PinName rd, PinName td, int hz) {
     // Enable power and clock
     LPC_SYSCON->SYSAHBCLKCTRL1 |= (1UL << 7);
     LPC_SYSCON->PRESETCTRL1    |= (1UL << 7);
@@ -430,7 +429,7 @@ void can_init(can_t *obj, PinName rd, PinName td) {
     LPC_SWM->PINASSIGN[6] &= ~(0x00FFFF00L);
     LPC_SWM->PINASSIGN[6] |= (rd << 16) | (td << 8);
 
-    can_frequency(obj, 100000);
+    can_frequency(obj, hz);
 
     // Resume operation
     LPC_C_CAN0->CANCNTL &= ~(1UL << 0);
@@ -442,6 +441,10 @@ void can_init(can_t *obj, PinName rd, PinName td) {
     can_config_txmsgobj(obj);
 }
 
+void can_init(can_t *obj, PinName rd, PinName td) {
+    can_init_freq(obj, rd, td, 100000);
+}
+
 void can_free(can_t *obj) {
     LPC_SYSCON->SYSAHBCLKCTRL1 &= ~(1UL << 7);
     LPC_SYSCON->PRESETCTRL1    &= ~(1UL << 7);
diff --git a/targets/TARGET_NXP/TARGET_LPC176X/can_api.c b/targets/TARGET_NXP/TARGET_LPC176X/can_api.c
index 75d6d7e633a..f1301c24c08 100644
--- a/targets/TARGET_NXP/TARGET_LPC176X/can_api.c
+++ b/targets/TARGET_NXP/TARGET_LPC176X/can_api.c
@@ -292,7 +292,7 @@ static unsigned int can_speed(unsigned int sclk, unsigned int pclk, unsigned int
 
 }
 
-void can_init(can_t *obj, PinName rd, PinName td) {
+void can_init_freq(can_t *obj, PinName rd, PinName td, int hz) {
     CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
     CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
     obj->dev = (LPC_CAN_TypeDef *)pinmap_merge(can_rd, can_td);
@@ -313,11 +313,15 @@ void can_init(can_t *obj, PinName rd, PinName td) {
     
     can_reset(obj);
     obj->dev->IER = 0;             // Disable Interrupts
-    can_frequency(obj, 100000);
+    can_frequency(obj, hz);
 
     LPC_CANAF->AFMR = ACCF_BYPASS; // Bypass Filter
 }
 
+void can_init(can_t *obj, PinName rd, PinName td) {
+    can_init_freq(obj, rd, td, 100000);
+}
+
 void can_free(can_t *obj) {
     switch ((int)obj->dev) {
         case CAN_1: LPC_SC->PCONP &= ~(1 << 13); break;
diff --git a/targets/TARGET_NXP/TARGET_LPC408X/TARGET_LPC4088/can_api.c b/targets/TARGET_NXP/TARGET_LPC408X/TARGET_LPC4088/can_api.c
index 34f1a04d248..aeda13e60a5 100644
--- a/targets/TARGET_NXP/TARGET_LPC408X/TARGET_LPC4088/can_api.c
+++ b/targets/TARGET_NXP/TARGET_LPC408X/TARGET_LPC4088/can_api.c
@@ -239,7 +239,7 @@ static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned cha
 
 }
 
-void can_init(can_t *obj, PinName rd, PinName td) {
+void can_init_freq(can_t *obj, PinName rd, PinName td, int hz) {
     CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
     CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
     obj->dev = (LPC_CAN_TypeDef *)pinmap_merge(can_rd, can_td);
@@ -252,19 +252,23 @@ void can_init(can_t *obj, PinName rd, PinName td) {
 
     pinmap_pinout(rd, PinMap_CAN_RD);
     pinmap_pinout(td, PinMap_CAN_TD);
-    
+
     switch ((int)obj->dev) {
         case CAN_1: obj->index = 0; break;
         case CAN_2: obj->index = 1; break;
     }
-    
+
     can_reset(obj);
     obj->dev->IER = 0;             // Disable Interrupts
-    can_frequency(obj, 100000);
+    can_frequency(obj, hz);
 
     LPC_CANAF->AFMR = ACCF_BYPASS; // Bypass Filter
 }
 
+void can_init(can_t *obj, PinName rd, PinName td) {
+    can_init_freq(obj, rd, td, 100000);
+}
+
 void can_free(can_t *obj) {
     switch ((int)obj->dev) {
         case CAN_1: LPC_SC->PCONP &= ~(1 << 13); break;
diff --git a/targets/TARGET_NXP/TARGET_LPC408X/TARGET_LPC4088_DM/can_api.c b/targets/TARGET_NXP/TARGET_LPC408X/TARGET_LPC4088_DM/can_api.c
index 676bc274010..03f8bb1977e 100644
--- a/targets/TARGET_NXP/TARGET_LPC408X/TARGET_LPC4088_DM/can_api.c
+++ b/targets/TARGET_NXP/TARGET_LPC408X/TARGET_LPC4088_DM/can_api.c
@@ -236,7 +236,7 @@ static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned cha
 
 }
 
-void can_init(can_t *obj, PinName rd, PinName td) {
+void can_init_freq(can_t *obj, PinName rd, PinName td, int hz) {
     CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
     CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
     obj->dev = (LPC_CAN_TypeDef *)pinmap_merge(can_rd, can_td);
@@ -257,11 +257,15 @@ void can_init(can_t *obj, PinName rd, PinName td) {
 
     can_reset(obj);
     obj->dev->IER = 0;             // Disable Interrupts
-    can_frequency(obj, 100000);
+    can_frequency(obj, hz);
 
     LPC_CANAF->AFMR = ACCF_BYPASS; // Bypass Filter
 }
 
+void can_init(can_t *obj, PinName rd, PinName td) {
+    can_init_freq(obj, rd, td, 100000);
+}
+
 void can_free(can_t *obj) {
     switch ((int)obj->dev) {
         case CAN_1: LPC_SC->PCONP &= ~(1 << 13); break;

From 3d44a3fcc30970e02ff89ecc77320b9d58c9ea27 Mon Sep 17 00:00:00 2001
From: adustm <adustm13@gmail.com>
Date: Mon, 24 Apr 2017 18:41:35 +0200
Subject: [PATCH 04/12] add can_init_freq for NUVOTON platforms

---
 targets/TARGET_NUVOTON/TARGET_M451/can_api.c   | 16 +++++++++++-----
 targets/TARGET_NUVOTON/TARGET_NUC472/can_api.c | 16 +++++++++++-----
 2 files changed, 22 insertions(+), 10 deletions(-)

diff --git a/targets/TARGET_NUVOTON/TARGET_M451/can_api.c b/targets/TARGET_NUVOTON/TARGET_M451/can_api.c
index 2625298a781..0fd92d9a5ab 100644
--- a/targets/TARGET_NUVOTON/TARGET_M451/can_api.c
+++ b/targets/TARGET_NUVOTON/TARGET_M451/can_api.c
@@ -42,8 +42,8 @@
 };
 
  
- void can_init(can_t *obj, PinName rd, PinName td)
- {
+void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
+{
     uint32_t can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
     uint32_t can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
     obj->can = (CANName)pinmap_merge(can_td, can_rd);
@@ -69,12 +69,18 @@
     PA0 = 0x00;
     PA1 = 0x00;   
 
-    CAN_Open((CAN_T *)NU_MODBASE(obj->can), 500000, CAN_NORMAL_MODE);
+    CAN_Open((CAN_T *)NU_MODBASE(obj->can), hz, CAN_NORMAL_MODE);
     
     can_filter(obj, 0, 0, CANStandard, 0);
  }
- 
- 
+
+
+void can_init(can_t *obj, PinName rd, PinName td)
+{
+    can_init_freq(obj, rd, td, 500000);
+}
+
+
 void can_free(can_t *obj)
 {
 
diff --git a/targets/TARGET_NUVOTON/TARGET_NUC472/can_api.c b/targets/TARGET_NUVOTON/TARGET_NUC472/can_api.c
index ad4d30582b0..e77948e8e31 100644
--- a/targets/TARGET_NUVOTON/TARGET_NUC472/can_api.c
+++ b/targets/TARGET_NUVOTON/TARGET_NUC472/can_api.c
@@ -43,8 +43,8 @@
     {NC, 0, 0, 0, 0, (IRQn_Type) 0, NULL}
 };
 
- 
- void can_init(can_t *obj, PinName rd, PinName td)
+
+ void can_init_freq(can_t *obj, PinName rd, PinName td, int hz)
  {
     uint32_t can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
     uint32_t can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
@@ -75,12 +75,18 @@
     PA2 = 0x00;
     PA3 = 0x00; 
 
-    CAN_Open((CAN_T *)NU_MODBASE(obj->can), 500000, CAN_NORMAL_MODE);
+    CAN_Open((CAN_T *)NU_MODBASE(obj->can), hz, CAN_NORMAL_MODE);
     
     can_filter(obj, 0, 0, CANStandard, 0);
  }
- 
- 
+
+
+void can_init(can_t *obj, PinName rd, PinName td)
+{
+    can_init_freq(obj, rd, td, 500000);
+}
+
+
 void can_free(can_t *obj)
 {
 

From 9115dd9b9864051b6c818fe4149075e6eb7ce828 Mon Sep 17 00:00:00 2001
From: adustm <adustm13@gmail.com>
Date: Mon, 24 Apr 2017 18:47:39 +0200
Subject: [PATCH 05/12] Add can_init_freq for STM devices

---
 targets/TARGET_STM/can_api.c | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/targets/TARGET_STM/can_api.c b/targets/TARGET_STM/can_api.c
index 8b6340fedf8..46b58ef1b3e 100644
--- a/targets/TARGET_STM/can_api.c
+++ b/targets/TARGET_STM/can_api.c
@@ -30,6 +30,11 @@ static uint32_t can_irq_ids[CAN_NUM] = {0};
 static can_irq_handler irq_handler;
 
 void can_init(can_t *obj, PinName rd, PinName td)
+{
+    can_init_freq(obj, rd, td, 100000);
+}
+
+void can_init_freq (can_t *obj, PinName rd, PinName td, int hz)
 {
     CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
     CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
@@ -80,8 +85,8 @@ void can_init(can_t *obj, PinName rd, PinName td)
         error("Cannot initialize CAN");
     }
 
-    // Set initial CAN frequency to 100 kb/s
-    can_frequency(obj, 100000);
+    // Set initial CAN frequency to requested kb/s
+    can_frequency(obj, hz);
 
     uint32_t filter_number = (obj->can == CAN_1) ? 0 : 14;
     can_filter(obj, 0, 0, CANStandard, filter_number);
@@ -227,16 +232,16 @@ int can_write(can_t *obj, CAN_Message msg, int cc)
     } else {
       can->sTxMailBox[transmitmailbox].TIR |= ((msg.id << 3) | CAN_ID_EXT | msg.type);
     }
-    
+
     /* Set up the DLC */
     can->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
     can->sTxMailBox[transmitmailbox].TDTR |= (msg.len & (uint8_t)0x0000000F);
-    
+
     /* Set up the data field */
     can->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)msg.data[3] << 24) |
-					     ((uint32_t)msg.data[2] << 16) |
-					     ((uint32_t)msg.data[1] << 8) |
-					     ((uint32_t)msg.data[0]));
+                                            ((uint32_t)msg.data[2] << 16) |
+                                            ((uint32_t)msg.data[1] << 8) |
+                                            ((uint32_t)msg.data[0]));
     can->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)msg.data[7] << 24) |
 					     ((uint32_t)msg.data[6] << 16) |
 					     ((uint32_t)msg.data[5] << 8) |

From 6c1fc983b7ca60f8582f4aa39c330ab15988eb01 Mon Sep 17 00:00:00 2001
From: adustm <adustm13@gmail.com>
Date: Thu, 27 Apr 2017 14:30:39 +0200
Subject: [PATCH 06/12] RENESAS: add call to can_frequency and use hz parameter
 of can_init_freq

---
 targets/TARGET_RENESAS/TARGET_RZ_A1H/can_api.c    | 5 ++++-
 targets/TARGET_RENESAS/TARGET_VK_RZ_A1H/can_api.c | 5 ++++-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/targets/TARGET_RENESAS/TARGET_RZ_A1H/can_api.c b/targets/TARGET_RENESAS/TARGET_RZ_A1H/can_api.c
index 4a6e86033cd..6a727b84979 100644
--- a/targets/TARGET_RENESAS/TARGET_RZ_A1H/can_api.c
+++ b/targets/TARGET_RENESAS/TARGET_RZ_A1H/can_api.c
@@ -573,10 +573,13 @@ void can_init_freq(can_t *obj, PinName rd, PinName td, int hz) {
     /* pin out the can pins */
     pinmap_pinout(rd, PinMap_CAN_RD);
     pinmap_pinout(td, PinMap_CAN_TD);
+
+    /* set can frequency */
+    can_frequency(obj, hz);
 }
 
 void can_init(can_t *obj, PinName rd, PinName td) {
-    can_init_freq(obj, rd, td, 0);
+    can_init_freq(obj, rd, td, 100000);
 }
 
 void can_free(can_t *obj) {
diff --git a/targets/TARGET_RENESAS/TARGET_VK_RZ_A1H/can_api.c b/targets/TARGET_RENESAS/TARGET_VK_RZ_A1H/can_api.c
index 3e431cb4b55..7192cf1ce66 100644
--- a/targets/TARGET_RENESAS/TARGET_VK_RZ_A1H/can_api.c
+++ b/targets/TARGET_RENESAS/TARGET_VK_RZ_A1H/can_api.c
@@ -590,10 +590,13 @@ void can_init_freq(can_t *obj, PinName rd, PinName td, int hz) {
     /* pin out the can pins */
     pinmap_pinout(rd, PinMap_CAN_RD);
     pinmap_pinout(td, PinMap_CAN_TD);
+
+    /* set can frequency */
+    can_frequency(obj, hz);
 }
 
 void can_init(can_t *obj, PinName rd, PinName td) {
-    can_init_freq(obj, rd, td, 0);
+    can_init_freq(obj, rd, td, 100000);
 }
 
 void can_free(can_t *obj) {

From f027cf429bc3fc886a5d74e8ae9f2e9dca07308b Mon Sep 17 00:00:00 2001
From: jeromecoutant <jerome.coutant@st.com>
Date: Fri, 5 May 2017 17:47:24 +0200
Subject: [PATCH 07/12] Add new CAN API test MBED_A30

---
 .../unsupported/tests/mbed/can_api/main.cpp   | 85 +++++++++++++++++++
 tools/tests.py                                | 13 +++
 2 files changed, 98 insertions(+)
 create mode 100644 features/unsupported/tests/mbed/can_api/main.cpp

diff --git a/features/unsupported/tests/mbed/can_api/main.cpp b/features/unsupported/tests/mbed/can_api/main.cpp
new file mode 100644
index 00000000000..db864615fb2
--- /dev/null
+++ b/features/unsupported/tests/mbed/can_api/main.cpp
@@ -0,0 +1,85 @@
+#include "mbed.h"
+#include "test_env.h"
+
+#if !DEVICE_CAN
+#error [NOT_SUPPORTED] CAN not supported
+#endif
+
+#if defined(TARGET_LPC1549)
+#define CAN_RD D9
+#define CAN_TD D8
+#elif defined(TARGET_LPC1768) || defined(TARGET_LPC4088)
+#define CAN_RD p9
+#define CAN_TD p10
+#elif defined(TARGET_B96B_F446VE)
+#define CAN_RD PD_0
+#define CAN_TD PD_1
+#elif defined(TARGET_VK_RZ_A1H)
+#define CAN_RD P5_9
+#define CAN_TD P5_10
+#elif defined(TARGET_NUCLEO_F042K6) || \
+      defined(TARGET_NUCLEO_F072RB) || \
+      defined(TARGET_NUCLEO_F091RC) || \
+      defined(TARGET_NUCLEO_F302R8) || \
+      defined(TARGET_NUCLEO_F303RE) || \
+      defined(TARGET_NUCLEO_F303K8) || \
+      defined(TARGET_NUCLEO_F334R8) || \
+      defined(TARGET_NUCLEO_F412ZG) || \
+      defined(TARGET_DISCO_F429ZI)  || \
+      defined(TARGET_NUCLEO_F446RE) || \
+      defined(TARGET_NUCLEO_F746ZG) || \
+      defined(TARGET_NUCLEO_L432KC) || \
+      defined(TARGET_DISCO_L476VG)  || \
+      defined(TARGET_NUCLEO_L476RG)
+#define CAN_RD PA_11
+#define CAN_TD PA_12
+#elif defined(TARGET_NUCLEO_F103RB) || \
+      defined(TARGET_NUCLEO_F207ZG) || \
+      defined(TARGET_DISCO_F303VC)  || \
+      defined(TARGET_NUCLEO_F303ZE) || \
+      defined(TARGET_NUCLEO_F412ZG) || \
+      defined(TARGET_NUCLEO_F429ZI) || \
+      defined(TARGET_NUCLEO_F439ZI) || \
+      defined(TARGET_NUCLEO_F446ZE) || \
+      defined(TARGET_DISCO_F469NI)  || \
+      defined(TARGET_DISCO_F746NG)  || \
+      defined(TARGET_NUCLEO_F756ZG) || \
+      defined(TARGET_NUCLEO_F767ZI) || \
+      defined(TARGET_DISCO_F769NI)  || \
+      defined(TARGET_NUCLEO_L486RG)
+#define CAN_RD PB_8
+#define CAN_TD PB_9
+#endif
+
+int result = true;
+
+void Check_CAN_Frequency(int CanFrequency)
+{
+    printf("Init CAN at %d Hz\n", CanFrequency);
+
+    CAN can_object(CAN_RD, CAN_TD, CanFrequency);
+
+#if !defined(TARGET_VK_RZ_A1H)
+    can_object.mode(CAN::Reset);
+#endif
+
+    if (!can_object.mode(CAN::LocalTest)) {
+        printf("CAN MODE_TEST_LOCAL failed\n");
+        result = false;
+    }
+}
+
+int main()
+{
+    MBED_HOSTTEST_TIMEOUT(20);
+    MBED_HOSTTEST_SELECT(dev_null);
+    MBED_HOSTTEST_DESCRIPTION(CAN API at different frequency);
+    MBED_HOSTTEST_START("MBED_A30");
+
+    const int frequency_table[] = {10000, 50000, 100000, 500000, 1000000};
+    for (uint32_t i = 0; i < sizeof(frequency_table)/sizeof(int); i++) {
+        Check_CAN_Frequency(frequency_table[i]);
+    }
+
+    MBED_HOSTTEST_RESULT(result);
+}
diff --git a/tools/tests.py b/tools/tests.py
index de409473a76..dfdf3d4130e 100644
--- a/tools/tests.py
+++ b/tools/tests.py
@@ -339,6 +339,19 @@
         "automated": True,
         "peripherals": ["i2c_loop"]
     },
+    {
+        "id": "MBED_A30", "description": "CAN API",
+        "source_dir": join(TEST_DIR, "mbed", "can_api"),
+        "dependencies": [MBED_LIBRARIES, TEST_MBED_LIB],
+        "automated": True,
+        "mcu": ["LPC1549", "LPC1768","B96B_F446VE", "VK_RZ_A1H",
+                "NUCLEO_F091RC", "NUCLEO_F072RB", "NUCLEO_F042K6", "NUCLEO_F334R8", "NUCLEO_F207ZG",
+                "NUCLEO_F303RE", "NUCLEO_F303K8", "NUCLEO_F302R8", "NUCLEO_F446RE","NUCLEO_F446ZE",
+                "DISCO_F469NI", "DISCO_F429ZI", "NUCLEO_F103RB", "NUCLEO_F746ZG",
+                "NUCLEO_F429ZI", "NUCLEO_F439ZI", "NUCLEO_F756ZG", "NUCLEO_L486RG",
+                "DISCO_F746NG", "DISCO_L476VG", "NUCLEO_L476RG", "NUCLEO_L432KC",
+                "DISCO_F769NI", "NUCLEO_F767ZI", "DISCO_F303VC", "NUCLEO_F412ZG"]
+    },
     {
         "id": "MBED_BLINKY", "description": "Blinky",
         "source_dir": join(TEST_DIR, "mbed", "blinky"),

From 577a0d972b65080ef1160893bc9b8839b1ecec7f Mon Sep 17 00:00:00 2001
From: adustm <adustm13@gmail.com>
Date: Thu, 11 May 2017 16:53:26 +0200
Subject: [PATCH 08/12] STM targets: the free irq function was not well
 implemented the index of the table was out of range

---
 targets/TARGET_STM/can_api.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/targets/TARGET_STM/can_api.c b/targets/TARGET_STM/can_api.c
index 46b58ef1b3e..202a860bfb2 100644
--- a/targets/TARGET_STM/can_api.c
+++ b/targets/TARGET_STM/can_api.c
@@ -104,7 +104,7 @@ void can_irq_free(can_t *obj)
 
     can->IER &= ~(CAN_IT_FMP0 | CAN_IT_FMP1 | CAN_IT_TME | \
                   CAN_IT_ERR | CAN_IT_EPV | CAN_IT_BOF);
-    can_irq_ids[obj->can] = 0;
+    can_irq_ids[obj->index] = 0;
 }
 
 void can_free(can_t *obj)

From f9b94d5f6c80140b65f4e0ba5db2cfae03419935 Mon Sep 17 00:00:00 2001
From: adustm <adustm13@gmail.com>
Date: Thu, 11 May 2017 17:05:18 +0200
Subject: [PATCH 09/12] Add NUCLEO_F303ZE in MBED_A30 test list

---
 tools/tests.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/tests.py b/tools/tests.py
index dfdf3d4130e..871834f5f66 100644
--- a/tools/tests.py
+++ b/tools/tests.py
@@ -346,7 +346,7 @@
         "automated": True,
         "mcu": ["LPC1549", "LPC1768","B96B_F446VE", "VK_RZ_A1H",
                 "NUCLEO_F091RC", "NUCLEO_F072RB", "NUCLEO_F042K6", "NUCLEO_F334R8", "NUCLEO_F207ZG",
-                "NUCLEO_F303RE", "NUCLEO_F303K8", "NUCLEO_F302R8", "NUCLEO_F446RE","NUCLEO_F446ZE",
+                "NUCLEO_F303RE", "NUCLEO_F303K8", "NUCLEO_F303ZE", "NUCLEO_F302R8", "NUCLEO_F446RE","NUCLEO_F446ZE",
                 "DISCO_F469NI", "DISCO_F429ZI", "NUCLEO_F103RB", "NUCLEO_F746ZG",
                 "NUCLEO_F429ZI", "NUCLEO_F439ZI", "NUCLEO_F756ZG", "NUCLEO_L486RG",
                 "DISCO_F746NG", "DISCO_L476VG", "NUCLEO_L476RG", "NUCLEO_L432KC",

From cd15589c45d9fd9bd4dc6bf5c27c452dd4bcc4a6 Mon Sep 17 00:00:00 2001
From: adustm <adustm13@gmail.com>
Date: Thu, 11 May 2017 17:51:28 +0200
Subject: [PATCH 10/12] Add header to the test main.cpp

---
 features/unsupported/tests/mbed/can_api/main.cpp | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/features/unsupported/tests/mbed/can_api/main.cpp b/features/unsupported/tests/mbed/can_api/main.cpp
index db864615fb2..9c753136f93 100644
--- a/features/unsupported/tests/mbed/can_api/main.cpp
+++ b/features/unsupported/tests/mbed/can_api/main.cpp
@@ -1,3 +1,18 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2017 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
 #include "mbed.h"
 #include "test_env.h"
 

From a769d2b6a5be9546c92bba2789c46be07fc3d1fd Mon Sep 17 00:00:00 2001
From: adustm <adustm13@gmail.com>
Date: Mon, 15 May 2017 15:06:29 +0200
Subject: [PATCH 11/12] add comment in peripheral pin of DISCO_L476VG so that
 the user is aware of conflicts

---
 .../TARGET_STM32L476xG/TARGET_DISCO_L476VG/PeripheralPins.c   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L476xG/TARGET_DISCO_L476VG/PeripheralPins.c b/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L476xG/TARGET_DISCO_L476VG/PeripheralPins.c
index 32d63680265..fef7dd6f1ed 100644
--- a/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L476xG/TARGET_DISCO_L476VG/PeripheralPins.c
+++ b/targets/TARGET_STM/TARGET_STM32L4/TARGET_STM32L476xG/TARGET_DISCO_L476VG/PeripheralPins.c
@@ -275,8 +275,8 @@ const PinMap PinMap_SPI_SSEL[] = {
 };
 
 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)},
+    {PB_8 , CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)}, // warning: pin used by gyroscope
+    {PA_11, CAN_1, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF9_CAN1)}, // warning: pin used by USB
     {NC,    NC,    0}
 };
 

From b6581d317c1bf3a076e2588b45d346ef9ce3d441 Mon Sep 17 00:00:00 2001
From: adustm <adustm13@gmail.com>
Date: Tue, 16 May 2017 10:37:50 +0200
Subject: [PATCH 12/12] Rename the f parameter into hz to avoid confusion with
 a loopcounter

---
 drivers/CAN.cpp | 4 ++--
 drivers/CAN.h   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/drivers/CAN.cpp b/drivers/CAN.cpp
index 219b6d0c29d..675a47f2382 100644
--- a/drivers/CAN.cpp
+++ b/drivers/CAN.cpp
@@ -34,14 +34,14 @@ CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
     can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
 }
 
-CAN::CAN(PinName rd, PinName td, int f) : _can(), _irq() {
+CAN::CAN(PinName rd, PinName td, int hz) : _can(), _irq() {
     // No lock needed in constructor
 
     for (int i = 0; i < sizeof _irq / sizeof _irq[0]; i++) {
         _irq[i].attach(donothing);
     }
 
-    can_init_freq(&_can, rd, td, f);
+    can_init_freq(&_can, rd, td, hz);
     can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
 }
 
diff --git a/drivers/CAN.h b/drivers/CAN.h
index edbb39228c4..3f3c1cecda8 100644
--- a/drivers/CAN.h
+++ b/drivers/CAN.h
@@ -116,9 +116,9 @@ class CAN {
       *
       * @param rd the rd pin
       * @param td the td pin
-      * @param f the bus frequency in hertz
+      * @param hz the bus frequency in hertz
       */
-    CAN(PinName rd, PinName td, int f);
+    CAN(PinName rd, PinName td, int hz);
 
     virtual ~CAN();