blob: d28cbe4b91238699a35b2b83456f2cda8f1874fc [file] [log] [blame]
/*
* Copyright (c) 2018 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <string.h>
#include <kernel.h>
#include <stdbool.h>
#include <drivers/can.h>
#include "can_loopback.h"
#include <logging/log.h>
LOG_MODULE_DECLARE(can_driver, CONFIG_CAN_LOG_LEVEL);
static void dispatch_frame(const struct zcan_frame *frame,
struct can_loopback_filter *filter)
{
struct zcan_frame frame_tmp = *frame;
filter->rx_cb(&frame_tmp, filter->cb_arg);
}
static inline int check_filter_match(const struct zcan_frame *frame,
const struct zcan_filter *filter)
{
u32_t id, mask, frame_id;
frame_id = frame->id_type == CAN_STANDARD_IDENTIFIER ?
frame->std_id : frame->ext_id;
id = filter->id_type == CAN_STANDARD_IDENTIFIER ?
filter->std_id : filter->ext_id;
mask = filter->id_type == CAN_STANDARD_IDENTIFIER ?
filter->std_id_mask : filter->ext_id_mask;
return ((id & mask) == (frame_id & mask));
}
int can_loopback_send(struct device *dev, const struct zcan_frame *frame,
s32_t timeout, can_tx_callback_t callback,
void *callback_arg)
{
struct can_loopback_data *data = DEV_DATA(dev);
struct can_loopback_filter *filter;
LOG_DBG("Sending %d bytes on %s. "
"Id: 0x%x, "
"ID type: %s, "
"Remote Frame: %s"
, frame->dlc, dev->config->name
, frame->id_type == CAN_STANDARD_IDENTIFIER ?
frame->std_id : frame->ext_id
, frame->id_type == CAN_STANDARD_IDENTIFIER ?
"standard" : "extended"
, frame->rtr == CAN_DATAFRAME ? "no" : "yes");
if (!data->loopback) {
return 0;
}
k_mutex_lock(&data->mtx, timeout);
for (int i = 0; i < CONFIG_CAN_MAX_FILTER; i++) {
filter = &data->filters[i];
if (filter->rx_cb) {
if (check_filter_match(frame, &filter->filter)) {
dispatch_frame(frame, filter);
}
}
}
k_mutex_unlock(&data->mtx);
if (callback) {
callback(CAN_TX_OK, callback_arg);
}
return 0;
}
static inline int get_free_filter(struct can_loopback_filter *filters)
{
for (int i = 0; i < CONFIG_CAN_MAX_FILTER; i++) {
if (filters[i].rx_cb == NULL) {
return i;
}
}
return CAN_NO_FREE_FILTER;
}
int can_loopback_attach_isr(struct device *dev, can_rx_callback_t isr,
void *cb_arg,
const struct zcan_filter *filter)
{
struct can_loopback_data *data = DEV_DATA(dev);
struct can_loopback_filter *loopback_filter;
int filter_id;
LOG_DBG("Setting filter ID: 0x%x, mask: 0x%x", filter->ext_id,
filter->ext_id_mask);
LOG_DBG("Filter type: %s ID %s mask",
filter->id_type == CAN_STANDARD_IDENTIFIER ?
"standard" : "extended",
((filter->id_type && (filter->std_id_mask == CAN_STD_ID_MASK)) ||
(!filter->id_type && (filter->ext_id_mask == CAN_EXT_ID_MASK))) ?
"with" : "without");
k_mutex_lock(&data->mtx, K_FOREVER);
filter_id = get_free_filter(data->filters);
if (filter_id < 0) {
LOG_ERR("No free filter left");
k_mutex_unlock(&data->mtx);
return filter_id;
}
loopback_filter = &data->filters[filter_id];
loopback_filter->rx_cb = isr;
loopback_filter->cb_arg = cb_arg;
loopback_filter->filter = *filter;
k_mutex_unlock(&data->mtx);
LOG_DBG("Filter attached. ID: %d", filter_id);
return filter_id;
}
void can_loopback_detach(struct device *dev, int filter_id)
{
struct can_loopback_data *data = DEV_DATA(dev);
LOG_DBG("Detach filter ID: %d", filter_id);
k_mutex_lock(&data->mtx, K_FOREVER);
data->filters[filter_id].rx_cb = NULL;
k_mutex_unlock(&data->mtx);
}
int can_loopback_configure(struct device *dev, enum can_mode mode,
u32_t bitrate)
{
struct can_loopback_data *data = DEV_DATA(dev);
ARG_UNUSED(bitrate);
data->loopback = mode == CAN_LOOPBACK_MODE ? 1 : 0;
return 0;
}
static const struct can_driver_api can_api_funcs = {
.configure = can_loopback_configure,
.send = can_loopback_send,
.attach_isr = can_loopback_attach_isr,
.detach = can_loopback_detach
};
static int can_loopback_init(struct device *dev)
{
struct can_loopback_data *data = DEV_DATA(dev);
k_mutex_init(&data->mtx);
for (int i = 0; i < CONFIG_CAN_MAX_FILTER; i++) {
data->filters[i].rx_cb = NULL;
}
LOG_INF("Init of %s done", dev->config->name);
return 0;
}
#ifdef CONFIG_CAN_1
static struct can_loopback_data can_loopback_dev_data_1;
DEVICE_AND_API_INIT(can_loopback_1, CONFIG_CAN_LOOPBACK_DEV_NAME,
&can_loopback_init,
&can_loopback_dev_data_1, NULL,
POST_KERNEL, CONFIG_KERNEL_INIT_PRIORITY_DEVICE,
&can_api_funcs);
#if defined(CONFIG_NET_SOCKETS_CAN)
#include "socket_can_generic.h"
static int socket_can_init_1(struct device *dev)
{
struct device *can_dev = DEVICE_GET(can_loopback_1);
struct socket_can_context *socket_context = dev->driver_data;
LOG_DBG("Init socket CAN device %p (%s) for dev %p (%s)",
dev, dev->config->name, can_dev, can_dev->config->name);
socket_context->can_dev = can_dev;
socket_context->msgq = &socket_can_msgq;
socket_context->rx_tid =
k_thread_create(&socket_context->rx_thread_data,
rx_thread_stack,
K_THREAD_STACK_SIZEOF(rx_thread_stack),
rx_thread, socket_context, NULL, NULL,
RX_THREAD_PRIORITY, 0, K_NO_WAIT);
return 0;
}
NET_DEVICE_INIT(socket_can_loopback_1, SOCKET_CAN_NAME_1, socket_can_init_1,
&socket_can_context_1, NULL,
CONFIG_KERNEL_INIT_PRIORITY_DEVICE,
&socket_can_api,
CANBUS_RAW_L2, NET_L2_GET_CTX_TYPE(CANBUS_RAW_L2), CAN_MTU);
#endif /* CONFIG_NET_SOCKETS_CAN */
#endif /*CONFIG_CAN_1*/