| /* |
| * 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); |
| |
| K_THREAD_STACK_DEFINE(tx_thread_stack, |
| CONFIG_CAN_LOOPBACK_TX_THREAD_STACK_SIZE); |
| struct k_thread tx_thread_data; |
| |
| struct can_looppback_frame { |
| struct zcan_frame frame; |
| can_tx_callback_t cb; |
| void *cb_arg; |
| struct k_sem *tx_compl; |
| }; |
| |
| K_MSGQ_DEFINE(tx_msgq, sizeof(struct can_looppback_frame), |
| CONFIG_CAN_LOOPBACK_TX_MSGQ_SIZE, 4); |
| |
| static void dispatch_frame(const struct zcan_frame *frame, |
| struct can_loopback_filter *filter) |
| { |
| struct zcan_frame frame_tmp = *frame; |
| |
| LOG_DBG("Receiving %d bytes. Id: 0x%x, ID type: %s %s", |
| frame->dlc, |
| frame->id_type == CAN_STANDARD_IDENTIFIER ? |
| frame->std_id : frame->ext_id, |
| frame->id_type == CAN_STANDARD_IDENTIFIER ? |
| "standard" : "extended", |
| frame->rtr == CAN_DATAFRAME ? "" : ", RTR 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)); |
| } |
| |
| void tx_thread(void *data_arg, void *arg2, void *arg3) |
| { |
| ARG_UNUSED(arg2); |
| ARG_UNUSED(arg3); |
| struct can_looppback_frame frame; |
| struct can_loopback_filter *filter; |
| struct can_loopback_data *data = (struct can_loopback_data *)data_arg; |
| |
| while (1) { |
| k_msgq_get(&tx_msgq, &frame, K_FOREVER); |
| k_mutex_lock(&data->mtx, K_FOREVER); |
| |
| for (int i = 0; i < CONFIG_CAN_MAX_FILTER; i++) { |
| filter = &data->filters[i]; |
| if (filter->rx_cb && |
| check_filter_match(&frame.frame, &filter->filter)) { |
| dispatch_frame(&frame.frame, filter); |
| } |
| } |
| |
| k_mutex_unlock(&data->mtx); |
| |
| if (!frame.cb) { |
| k_sem_give(frame.tx_compl); |
| } else { |
| frame.cb(CAN_TX_OK, frame.cb_arg); |
| } |
| } |
| } |
| |
| int can_loopback_send(struct device *dev, const struct zcan_frame *frame, |
| k_timeout_t timeout, can_tx_callback_t callback, |
| void *callback_arg) |
| { |
| struct can_loopback_data *data = DEV_DATA(dev); |
| int ret; |
| struct can_looppback_frame loopback_frame; |
| struct k_sem tx_sem; |
| |
| LOG_DBG("Sending %d bytes on %s. Id: 0x%x, ID type: %s %s", |
| frame->dlc, dev->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 ? "" : ", RTR frame"); |
| |
| if (frame->dlc > CAN_MAX_DLC) { |
| LOG_ERR("DLC of %d exceeds maximum (%d)", frame->dlc, CAN_MAX_DLC); |
| return CAN_TX_EINVAL; |
| } |
| |
| if (!data->loopback) { |
| return 0; |
| } |
| |
| loopback_frame.frame = *frame; |
| loopback_frame.cb = callback; |
| loopback_frame.cb_arg = callback_arg; |
| loopback_frame.tx_compl = &tx_sem; |
| |
| if (!callback) { |
| k_sem_init(&tx_sem, 0, 1); |
| } |
| |
| ret = k_msgq_put(&tx_msgq, &loopback_frame, timeout); |
| |
| if (!callback) { |
| k_sem_take(&tx_sem, K_FOREVER); |
| } |
| |
| return ret ? CAN_TIMEOUT : CAN_TX_OK; |
| } |
| |
| |
| 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 enum can_state can_loopback_get_state(struct device *dev, |
| struct can_bus_err_cnt *err_cnt) |
| { |
| ARG_UNUSED(dev); |
| |
| if (err_cnt) { |
| err_cnt->tx_err_cnt = 0; |
| err_cnt->rx_err_cnt = 0; |
| } |
| |
| return CAN_ERROR_ACTIVE; |
| } |
| |
| #ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY |
| int can_loopback_recover(struct device *dev, k_timeout_t timeout) |
| { |
| ARG_UNUSED(dev); |
| ARG_UNUSED(timeout); |
| |
| return 0; |
| } |
| #endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */ |
| |
| static void can_loopback_register_state_change_isr(struct device *dev, |
| can_state_change_isr_t isr) |
| { |
| ARG_UNUSED(dev); |
| ARG_UNUSED(isr); |
| } |
| |
| 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, |
| .get_state = can_loopback_get_state, |
| #ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY |
| .recover = can_loopback_recover, |
| #endif |
| .register_state_change_isr = can_loopback_register_state_change_isr |
| }; |
| |
| |
| static int can_loopback_init(struct device *dev) |
| { |
| struct can_loopback_data *data = DEV_DATA(dev); |
| k_tid_t tx_tid; |
| |
| k_mutex_init(&data->mtx); |
| |
| for (int i = 0; i < CONFIG_CAN_MAX_FILTER; i++) { |
| data->filters[i].rx_cb = NULL; |
| } |
| |
| tx_tid = k_thread_create(&tx_thread_data, tx_thread_stack, |
| K_THREAD_STACK_SIZEOF(tx_thread_stack), |
| tx_thread, data, NULL, NULL, |
| CONFIG_CAN_LOOPBACK_TX_THREAD_PRIORITY, |
| 0, K_NO_WAIT); |
| if (!tx_tid) { |
| LOG_ERR("ERROR spawning tx thread"); |
| return -1; |
| } |
| |
| LOG_INF("Init of %s done", dev->name); |
| |
| return 0; |
| } |
| |
| 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->name, can_dev, can_dev->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, |
| device_pm_control_nop, &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 */ |