158 lines
3.7 KiB
C
158 lines
3.7 KiB
C
/*
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* Copyright (c) 2019 Intel Corporation.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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*/
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/* CANBUS related functions that are generic in all the drivers. */
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#include <net/net_pkt.h>
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#include <net/socket_can.h>
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#ifndef ZEPHYR_DRIVERS_CAN_SOCKET_CAN_GENERIC_H_
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#define ZEPHYR_DRIVERS_CAN_SOCKET_CAN_GENERIC_H_
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#define SOCKET_CAN_NAME_1 "SOCKET_CAN_1"
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#define SEND_TIMEOUT K_MSEC(100)
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#define RX_THREAD_STACK_SIZE 512
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#define RX_THREAD_PRIORITY 2
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#define BUF_ALLOC_TIMEOUT K_MSEC(50)
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/* TODO: make msgq size configurable */
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CAN_DEFINE_MSGQ(socket_can_msgq, 5);
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K_THREAD_STACK_DEFINE(rx_thread_stack, RX_THREAD_STACK_SIZE);
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struct socket_can_context {
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struct device *can_dev;
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struct net_if *iface;
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struct k_msgq *msgq;
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/* TODO: remove the thread and push data to net directly from rx isr */
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k_tid_t rx_tid;
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struct k_thread rx_thread_data;
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};
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static inline void socket_can_iface_init(struct net_if *iface)
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{
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struct device *dev = net_if_get_device(iface);
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struct socket_can_context *socket_context = dev->driver_data;
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socket_context->iface = iface;
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LOG_DBG("Init CAN interface %p dev %p", iface, dev);
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}
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static inline void tx_irq_callback(u32_t error_flags, void *arg)
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{
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char *caller_str = (char *)arg;
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if (error_flags) {
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LOG_DBG("TX error from %s! error-code: %d",
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caller_str, error_flags);
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}
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}
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/* This is called by net_if.c when packet is about to be sent */
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static inline int socket_can_send(struct device *dev, struct net_pkt *pkt)
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{
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struct socket_can_context *socket_context = dev->driver_data;
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int ret;
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if (net_pkt_family(pkt) != AF_CAN) {
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return -EPFNOSUPPORT;
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}
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ret = can_send(socket_context->can_dev,
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(struct zcan_frame *)pkt->frags->data,
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SEND_TIMEOUT, tx_irq_callback, "socket_can_send");
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if (ret) {
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LOG_DBG("Cannot send socket CAN msg (%d)", ret);
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}
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/* If something went wrong, then we need to return negative value to
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* net_if.c:net_if_tx() so that the net_pkt will get released.
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*/
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return -ret;
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}
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static inline int socket_can_setsockopt(struct device *dev, void *obj,
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int level, int optname,
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const void *optval, socklen_t optlen)
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{
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struct socket_can_context *socket_context = dev->driver_data;
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struct net_context *ctx = obj;
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int ret;
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if (level != SOL_CAN_RAW && optname != CAN_RAW_FILTER) {
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errno = EINVAL;
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return -1;
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}
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__ASSERT_NO_MSG(optlen == sizeof(struct zcan_filter));
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ret = can_attach_msgq(socket_context->can_dev, socket_context->msgq,
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optval);
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if (ret == CAN_NO_FREE_FILTER) {
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errno = ENOSPC;
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return -1;
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}
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net_context_set_filter_id(ctx, ret);
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return 0;
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}
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static inline void socket_can_close(struct device *dev, int filter_id)
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{
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struct socket_can_context *socket_context = dev->driver_data;
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can_detach(socket_context->can_dev, filter_id);
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}
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static struct canbus_api socket_can_api = {
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.iface_api.init = socket_can_iface_init,
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.send = socket_can_send,
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.close = socket_can_close,
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.setsockopt = socket_can_setsockopt,
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};
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static struct socket_can_context socket_can_context_1;
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static inline void rx_thread(void *ctx, void *unused1, void *unused2)
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{
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struct socket_can_context *socket_context = ctx;
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struct net_pkt *pkt;
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struct zcan_frame msg;
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int ret;
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ARG_UNUSED(unused1);
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ARG_UNUSED(unused2);
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while (1) {
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k_msgq_get((struct k_msgq *)socket_context->msgq, &msg,
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K_FOREVER);
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pkt = net_pkt_rx_alloc_with_buffer(socket_context->iface,
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sizeof(msg),
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AF_CAN, 0,
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BUF_ALLOC_TIMEOUT);
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if (!pkt) {
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LOG_ERR("Failed to obtain RX buffer");
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continue;
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}
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if (net_pkt_write(pkt, (void *)&msg, sizeof(msg))) {
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LOG_ERR("Failed to append RX data");
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net_pkt_unref(pkt);
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continue;
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}
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ret = net_recv_data(socket_context->iface, pkt);
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if (ret < 0) {
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net_pkt_unref(pkt);
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}
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}
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}
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#endif /* ZEPHYR_DRIVERS_CAN_SOCKET_CAN_GENERIC_H_ */
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