blob: 1a1d01b3f2945c05017468490642a12ed6afa804 [file] [log] [blame]
/*
* Copyright (c) 2022 Martin J├Ąger <martin@libre.solar>
*
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT zephyr_native_posix_linux_can
#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <zephyr/drivers/can.h>
#include <zephyr/kernel.h>
#include <zephyr/logging/log.h>
#include <zephyr/net/net_pkt.h>
#include <zephyr/net/socketcan.h>
#include <zephyr/net/socketcan_utils.h>
#include "can_utils.h"
#include "can_native_posix_linux_socketcan.h"
LOG_MODULE_REGISTER(can_npl, CONFIG_CAN_LOG_LEVEL);
struct can_filter_context {
can_rx_callback_t rx_cb;
void *cb_arg;
struct can_filter filter;
};
struct can_npl_data {
struct can_filter_context filters[CONFIG_CAN_MAX_FILTER];
struct k_mutex filter_mutex;
struct k_sem tx_idle;
struct k_sem tx_done;
can_tx_callback_t tx_callback;
void *tx_user_data;
bool loopback;
bool mode_fd;
int dev_fd; /* Linux socket file descriptor */
struct k_thread rx_thread;
bool started;
K_KERNEL_STACK_MEMBER(rx_thread_stack, CONFIG_ARCH_POSIX_RECOMMENDED_STACK_SIZE);
};
struct can_npl_config {
const char *if_name;
};
static void dispatch_frame(const struct device *dev, struct can_frame *frame)
{
struct can_npl_data *data = dev->data;
can_rx_callback_t callback;
struct can_frame tmp_frame;
k_mutex_lock(&data->filter_mutex, K_FOREVER);
for (int filter_id = 0; filter_id < ARRAY_SIZE(data->filters); filter_id++) {
if (data->filters[filter_id].rx_cb == NULL) {
continue;
}
if (!can_utils_filter_match(frame,
&data->filters[filter_id].filter)) {
continue;
}
/* Make a temporary copy in case the user modifies the message */
tmp_frame = *frame;
callback = data->filters[filter_id].rx_cb;
callback(dev, &tmp_frame, data->filters[filter_id].cb_arg);
}
k_mutex_unlock(&data->filter_mutex);
}
static void rx_thread(void *arg1, void *arg2, void *arg3)
{
const struct device *dev = arg1;
struct can_npl_data *data = dev->data;
struct socketcan_frame sframe;
struct can_frame frame;
bool msg_confirm;
int count;
ARG_UNUSED(arg2);
ARG_UNUSED(arg3);
LOG_DBG("Starting Linux SocketCAN RX thread");
while (true) {
while (linux_socketcan_poll_data(data->dev_fd) == 0) {
count = linux_socketcan_read_data(data->dev_fd, (void *)(&sframe),
sizeof(sframe), &msg_confirm);
if (msg_confirm) {
if (data->tx_callback != NULL) {
data->tx_callback(dev, 0, data->tx_user_data);
} else {
k_sem_give(&data->tx_done);
}
k_sem_give(&data->tx_idle);
if (!data->loopback) {
continue;
}
}
if ((count <= 0) || !data->started) {
break;
}
socketcan_to_can_frame(&sframe, &frame);
LOG_DBG("Received %d bytes. Id: 0x%x, ID type: %s %s",
frame.dlc, frame.id,
frame.id_type == CAN_STANDARD_IDENTIFIER ?
"standard" : "extended",
frame.rtr == CAN_DATAFRAME ? "" : ", RTR frame");
dispatch_frame(dev, &frame);
}
/* short sleep required to avoid blocking the whole native_posix process */
k_sleep(K_MSEC(1));
}
}
static int can_npl_send(const struct device *dev, const struct can_frame *frame,
k_timeout_t timeout, can_tx_callback_t callback, void *user_data)
{
struct can_npl_data *data = dev->data;
struct socketcan_frame sframe;
uint8_t max_dlc = CAN_MAX_DLC;
size_t mtu = CAN_MTU;
int ret = -EIO;
LOG_DBG("Sending %d bytes on %s. Id: 0x%x, ID type: %s %s",
frame->dlc, dev->name, frame->id,
frame->id_type == CAN_STANDARD_IDENTIFIER ?
"standard" : "extended",
frame->rtr == CAN_DATAFRAME ? "" : ", RTR frame");
#ifdef CONFIG_CAN_FD_MODE
if (data->mode_fd && frame->fd == 1) {
max_dlc = CANFD_MAX_DLC;
mtu = CANFD_MTU;
}
#endif /* CONFIG_CAN_FD_MODE */
if (frame->dlc > max_dlc) {
LOG_ERR("DLC of %d exceeds maximum (%d)", frame->dlc, max_dlc);
return -EINVAL;
}
if (data->dev_fd <= 0) {
LOG_ERR("No file descriptor: %d", data->dev_fd);
return -EIO;
}
if (!data->started) {
return -ENETDOWN;
}
socketcan_from_can_frame(frame, &sframe);
if (k_sem_take(&data->tx_idle, timeout) != 0) {
return -EAGAIN;
}
data->tx_callback = callback;
data->tx_user_data = user_data;
ret = linux_socketcan_write_data(data->dev_fd, &sframe, mtu);
if (ret < 0) {
LOG_ERR("Cannot send CAN data len %d (%d)", sframe.len, -errno);
}
if (callback == NULL) {
k_sem_take(&data->tx_done, K_FOREVER);
}
return 0;
}
static int can_npl_add_rx_filter(const struct device *dev, can_rx_callback_t cb,
void *cb_arg, const struct can_filter *filter)
{
struct can_npl_data *data = dev->data;
struct can_filter_context *filter_ctx;
int filter_id = -ENOSPC;
LOG_DBG("Setting filter ID: 0x%x, mask: 0x%x", filter->id,
filter->id_mask);
LOG_DBG("Filter type: %s ID %s mask",
filter->id_type == CAN_STANDARD_IDENTIFIER ?
"standard" : "extended",
((filter->id_type && (filter->id_mask == CAN_STD_ID_MASK)) ||
(!filter->id_type && (filter->id_mask == CAN_EXT_ID_MASK))) ?
"with" : "without");
k_mutex_lock(&data->filter_mutex, K_FOREVER);
for (int i = 0; i < ARRAY_SIZE(data->filters); i++) {
if (data->filters[i].rx_cb == NULL) {
filter_id = i;
break;
}
}
if (filter_id < 0) {
LOG_ERR("No free filter left");
k_mutex_unlock(&data->filter_mutex);
return filter_id;
}
filter_ctx = &data->filters[filter_id];
filter_ctx->rx_cb = cb;
filter_ctx->cb_arg = cb_arg;
filter_ctx->filter = *filter;
k_mutex_unlock(&data->filter_mutex);
LOG_DBG("Filter added. ID: %d", filter_id);
return filter_id;
}
static void can_npl_remove_rx_filter(const struct device *dev, int filter_id)
{
struct can_npl_data *data = dev->data;
if (filter_id < 0 || filter_id >= ARRAY_SIZE(data->filters)) {
return;
}
k_mutex_lock(&data->filter_mutex, K_FOREVER);
data->filters[filter_id].rx_cb = NULL;
k_mutex_unlock(&data->filter_mutex);
LOG_DBG("Filter removed. ID: %d", filter_id);
}
static int can_npl_get_capabilities(const struct device *dev, can_mode_t *cap)
{
ARG_UNUSED(dev);
*cap = CAN_MODE_NORMAL | CAN_MODE_LOOPBACK;
#if CONFIG_CAN_FD_MODE
*cap |= CAN_MODE_FD;
#endif /* CONFIG_CAN_FD_MODE */
return 0;
}
static int can_npl_start(const struct device *dev)
{
struct can_npl_data *data = dev->data;
if (data->started) {
return -EALREADY;
}
data->started = true;
return 0;
}
static int can_npl_stop(const struct device *dev)
{
struct can_npl_data *data = dev->data;
if (!data->started) {
return -EALREADY;
}
data->started = false;
return 0;
}
static int can_npl_set_mode(const struct device *dev, can_mode_t mode)
{
struct can_npl_data *data = dev->data;
#ifdef CONFIG_CAN_FD_MODE
if ((mode & ~(CAN_MODE_LOOPBACK | CAN_MODE_FD)) != 0) {
LOG_ERR("unsupported mode: 0x%08x", mode);
return -ENOTSUP;
}
#else
if ((mode & ~(CAN_MODE_LOOPBACK)) != 0) {
LOG_ERR("unsupported mode: 0x%08x", mode);
return -ENOTSUP;
}
#endif /* CONFIG_CAN_FD_MODE */
if (data->started) {
return -EBUSY;
}
/* loopback is handled internally in rx_thread */
data->loopback = (mode & CAN_MODE_LOOPBACK) != 0;
data->mode_fd = (mode & CAN_MODE_FD) != 0;
linux_socketcan_set_mode_fd(data->dev_fd, data->mode_fd);
return 0;
}
static int can_npl_set_timing(const struct device *dev, const struct can_timing *timing)
{
struct can_npl_data *data = dev->data;
ARG_UNUSED(timing);
if (data->started) {
return -EBUSY;
}
return 0;
}
#ifdef CONFIG_CAN_FD_MODE
static int can_npl_set_timing_data(const struct device *dev, const struct can_timing *timing)
{
struct can_npl_data *data = dev->data;
ARG_UNUSED(timing);
if (data->started) {
return -EBUSY;
}
return 0;
}
#endif /* CONFIG_CAN_FD_MODE */
static int can_npl_get_state(const struct device *dev, enum can_state *state,
struct can_bus_err_cnt *err_cnt)
{
struct can_npl_data *data = dev->data;
if (state != NULL) {
if (!data->started) {
*state = CAN_STATE_STOPPED;
} else {
/* SocketCAN does not forward error frames by default */
*state = CAN_STATE_ERROR_ACTIVE;
}
}
if (err_cnt) {
err_cnt->tx_err_cnt = 0;
err_cnt->rx_err_cnt = 0;
}
return 0;
}
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
static int can_npl_recover(const struct device *dev, k_timeout_t timeout)
{
struct can_npl_data *data = dev->data;
ARG_UNUSED(timeout);
if (!data->started) {
return -ENETDOWN;
}
return 0;
}
#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
static void can_npl_set_state_change_callback(const struct device *dev,
can_state_change_callback_t cb,
void *user_data)
{
ARG_UNUSED(dev);
ARG_UNUSED(cb);
ARG_UNUSED(user_data);
}
static int can_npl_get_core_clock(const struct device *dev, uint32_t *rate)
{
/* Return 16MHz as an realistic value for the testcases */
*rate = 16000000;
return 0;
}
static int can_npl_get_max_filters(const struct device *dev, enum can_ide id_type)
{
ARG_UNUSED(id_type);
return CONFIG_CAN_MAX_FILTER;
}
static const struct can_driver_api can_npl_driver_api = {
.start = can_npl_start,
.stop = can_npl_stop,
.get_capabilities = can_npl_get_capabilities,
.set_mode = can_npl_set_mode,
.set_timing = can_npl_set_timing,
.send = can_npl_send,
.add_rx_filter = can_npl_add_rx_filter,
.remove_rx_filter = can_npl_remove_rx_filter,
.get_state = can_npl_get_state,
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
.recover = can_npl_recover,
#endif
.set_state_change_callback = can_npl_set_state_change_callback,
.get_core_clock = can_npl_get_core_clock,
.get_max_filters = can_npl_get_max_filters,
.timing_min = {
.sjw = 0x1,
.prop_seg = 0x01,
.phase_seg1 = 0x01,
.phase_seg2 = 0x01,
.prescaler = 0x01
},
.timing_max = {
.sjw = 0x0F,
.prop_seg = 0x0F,
.phase_seg1 = 0x0F,
.phase_seg2 = 0x0F,
.prescaler = 0xFFFF
},
#ifdef CONFIG_CAN_FD_MODE
.set_timing_data = can_npl_set_timing_data,
.timing_data_min = {
.sjw = 0x1,
.prop_seg = 0x01,
.phase_seg1 = 0x01,
.phase_seg2 = 0x01,
.prescaler = 0x01
},
.timing_data_max = {
.sjw = 0x0F,
.prop_seg = 0x0F,
.phase_seg1 = 0x0F,
.phase_seg2 = 0x0F,
.prescaler = 0xFFFF
},
#endif /* CONFIG_CAN_FD_MODE */
};
static int can_npl_init(const struct device *dev)
{
const struct can_npl_config *cfg = dev->config;
struct can_npl_data *data = dev->data;
k_mutex_init(&data->filter_mutex);
k_sem_init(&data->tx_idle, 1, 1);
k_sem_init(&data->tx_done, 0, 1);
data->dev_fd = linux_socketcan_iface_open(cfg->if_name);
if (data->dev_fd < 0) {
LOG_ERR("Cannot open %s (%d)", cfg->if_name, data->dev_fd);
return -ENODEV;
}
k_thread_create(&data->rx_thread, data->rx_thread_stack,
K_KERNEL_STACK_SIZEOF(data->rx_thread_stack),
rx_thread, (void *)dev, NULL, NULL,
CONFIG_CAN_NATIVE_POSIX_LINUX_RX_THREAD_PRIORITY,
0, K_NO_WAIT);
LOG_DBG("Init of %s done", dev->name);
return 0;
}
#define CAN_NATIVE_POSIX_LINUX_INIT(inst) \
\
static const struct can_npl_config can_npl_cfg_##inst = { \
.if_name = DT_INST_PROP(inst, host_interface), \
}; \
\
static struct can_npl_data can_npl_data_##inst; \
\
DEVICE_DT_INST_DEFINE(inst, &can_npl_init, NULL, \
&can_npl_data_##inst, &can_npl_cfg_##inst, \
POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \
&can_npl_driver_api);
DT_INST_FOREACH_STATUS_OKAY(CAN_NATIVE_POSIX_LINUX_INIT)