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/*
* Copyright (c) 2021 Vestas Wind Systems A/S
* Copyright (c) 2018 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT zephyr_can_loopback
#include <stdbool.h>
#include <string.h>
#include <zephyr/drivers/can.h>
#include <zephyr/kernel.h>
#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(can_loopback, CONFIG_CAN_LOG_LEVEL);
struct can_loopback_frame {
struct can_frame frame;
can_tx_callback_t cb;
void *cb_arg;
};
struct can_loopback_filter {
can_rx_callback_t rx_cb;
void *cb_arg;
struct can_filter filter;
};
struct can_loopback_config {
const struct can_driver_config common;
};
struct can_loopback_data {
struct can_driver_data common;
struct can_loopback_filter filters[CONFIG_CAN_MAX_FILTER];
struct k_mutex mtx;
struct k_msgq tx_msgq;
char msgq_buffer[CONFIG_CAN_LOOPBACK_TX_MSGQ_SIZE * sizeof(struct can_loopback_frame)];
struct k_thread tx_thread_data;
K_KERNEL_STACK_MEMBER(tx_thread_stack,
CONFIG_CAN_LOOPBACK_TX_THREAD_STACK_SIZE);
};
static void receive_frame(const struct device *dev,
const struct can_frame *frame,
struct can_loopback_filter *filter)
{
struct can_frame frame_tmp = *frame;
LOG_DBG("Receiving %d bytes. Id: 0x%x, ID type: %s %s",
frame->dlc, frame->id,
(frame->flags & CAN_FRAME_IDE) != 0 ? "extended" : "standard",
(frame->flags & CAN_FRAME_RTR) != 0 ? ", RTR frame" : "");
filter->rx_cb(dev, &frame_tmp, filter->cb_arg);
}
static void tx_thread(void *arg1, void *arg2, void *arg3)
{
const struct device *dev = arg1;
struct can_loopback_data *data = dev->data;
struct can_loopback_frame frame;
struct can_loopback_filter *filter;
int ret;
ARG_UNUSED(arg2);
ARG_UNUSED(arg3);
while (1) {
ret = k_msgq_get(&data->tx_msgq, &frame, K_FOREVER);
if (ret < 0) {
LOG_DBG("Pend on TX queue returned without valid frame (err %d)", ret);
continue;
}
frame.cb(dev, 0, frame.cb_arg);
if ((data->common.mode & CAN_MODE_LOOPBACK) == 0U) {
continue;
}
#ifndef CONFIG_CAN_ACCEPT_RTR
if ((frame.frame.flags & CAN_FRAME_RTR) != 0U) {
continue;
}
#endif /* !CONFIG_CAN_ACCEPT_RTR */
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 != NULL &&
can_frame_matches_filter(&frame.frame, &filter->filter)) {
receive_frame(dev, &frame.frame, filter);
}
}
k_mutex_unlock(&data->mtx);
}
}
static int can_loopback_send(const struct device *dev,
const struct can_frame *frame,
k_timeout_t timeout, can_tx_callback_t callback,
void *user_data)
{
struct can_loopback_data *data = dev->data;
struct can_loopback_frame loopback_frame;
uint8_t max_dlc = CAN_MAX_DLC;
int ret;
__ASSERT_NO_MSG(callback != NULL);
LOG_DBG("Sending %d bytes on %s. Id: 0x%x, ID type: %s %s",
frame->dlc, dev->name, frame->id,
(frame->flags & CAN_FRAME_IDE) != 0 ? "extended" : "standard",
(frame->flags & CAN_FRAME_RTR) != 0 ? ", RTR frame" : "");
#ifdef CONFIG_CAN_FD_MODE
if ((frame->flags & ~(CAN_FRAME_IDE | CAN_FRAME_RTR |
CAN_FRAME_FDF | CAN_FRAME_BRS)) != 0) {
LOG_ERR("unsupported CAN frame flags 0x%02x", frame->flags);
return -ENOTSUP;
}
if ((frame->flags & CAN_FRAME_FDF) != 0) {
if ((data->common.mode & CAN_MODE_FD) == 0U) {
return -ENOTSUP;
}
max_dlc = CANFD_MAX_DLC;
}
#else /* CONFIG_CAN_FD_MODE */
if ((frame->flags & ~(CAN_FRAME_IDE | CAN_FRAME_RTR)) != 0) {
LOG_ERR("unsupported CAN frame flags 0x%02x", frame->flags);
return -ENOTSUP;
}
#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->common.started) {
return -ENETDOWN;
}
loopback_frame.frame = *frame;
loopback_frame.cb = callback;
loopback_frame.cb_arg = user_data;
ret = k_msgq_put(&data->tx_msgq, &loopback_frame, timeout);
if (ret < 0) {
LOG_DBG("TX queue full (err %d)", ret);
return -EAGAIN;
}
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 -ENOSPC;
}
static int can_loopback_add_rx_filter(const struct device *dev, can_rx_callback_t cb,
void *cb_arg, const struct can_filter *filter)
{
struct can_loopback_data *data = dev->data;
struct can_loopback_filter *loopback_filter;
int filter_id;
LOG_DBG("Setting filter ID: 0x%x, mask: 0x%x", filter->id, filter->mask);
if ((filter->flags & ~(CAN_FILTER_IDE)) != 0) {
LOG_ERR("unsupported CAN filter flags 0x%02x", filter->flags);
return -ENOTSUP;
}
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 = cb;
loopback_filter->cb_arg = cb_arg;
loopback_filter->filter = *filter;
k_mutex_unlock(&data->mtx);
LOG_DBG("Filter added. ID: %d", filter_id);
return filter_id;
}
static void can_loopback_remove_rx_filter(const struct device *dev, int filter_id)
{
struct can_loopback_data *data = dev->data;
if (filter_id < 0 || filter_id >= ARRAY_SIZE(data->filters)) {
LOG_ERR("filter ID %d out-of-bounds", filter_id);
return;
}
LOG_DBG("Remove filter ID: %d", filter_id);
k_mutex_lock(&data->mtx, K_FOREVER);
data->filters[filter_id].rx_cb = NULL;
k_mutex_unlock(&data->mtx);
}
static int can_loopback_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_loopback_start(const struct device *dev)
{
struct can_loopback_data *data = dev->data;
if (data->common.started) {
return -EALREADY;
}
data->common.started = true;
return 0;
}
static int can_loopback_stop(const struct device *dev)
{
struct can_loopback_data *data = dev->data;
if (!data->common.started) {
return -EALREADY;
}
data->common.started = false;
k_msgq_purge(&data->tx_msgq);
return 0;
}
static int can_loopback_set_mode(const struct device *dev, can_mode_t mode)
{
struct can_loopback_data *data = dev->data;
if (data->common.started) {
return -EBUSY;
}
#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 */
data->common.mode = mode;
return 0;
}
static int can_loopback_set_timing(const struct device *dev,
const struct can_timing *timing)
{
struct can_loopback_data *data = dev->data;
ARG_UNUSED(timing);
if (data->common.started) {
return -EBUSY;
}
return 0;
}
#ifdef CONFIG_CAN_FD_MODE
static int can_loopback_set_timing_data(const struct device *dev,
const struct can_timing *timing)
{
struct can_loopback_data *data = dev->data;
ARG_UNUSED(timing);
if (data->common.started) {
return -EBUSY;
}
return 0;
}
#endif /* CONFIG_CAN_FD_MODE */
static int can_loopback_get_state(const struct device *dev, enum can_state *state,
struct can_bus_err_cnt *err_cnt)
{
struct can_loopback_data *data = dev->data;
if (state != NULL) {
if (data->common.started) {
*state = CAN_STATE_ERROR_ACTIVE;
} else {
*state = CAN_STATE_STOPPED;
}
}
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_loopback_recover(const struct device *dev, k_timeout_t timeout)
{
struct can_loopback_data *data = dev->data;
ARG_UNUSED(timeout);
if (!data->common.started) {
return -ENETDOWN;
}
return 0;
}
#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
static void can_loopback_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_loopback_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_loopback_get_max_filters(const struct device *dev, bool ide)
{
ARG_UNUSED(ide);
return CONFIG_CAN_MAX_FILTER;
}
static const struct can_driver_api can_loopback_driver_api = {
.get_capabilities = can_loopback_get_capabilities,
.start = can_loopback_start,
.stop = can_loopback_stop,
.set_mode = can_loopback_set_mode,
.set_timing = can_loopback_set_timing,
.send = can_loopback_send,
.add_rx_filter = can_loopback_add_rx_filter,
.remove_rx_filter = can_loopback_remove_rx_filter,
.get_state = can_loopback_get_state,
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
.recover = can_loopback_recover,
#endif
.set_state_change_callback = can_loopback_set_state_change_callback,
.get_core_clock = can_loopback_get_core_clock,
.get_max_filters = can_loopback_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_loopback_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_loopback_init(const struct device *dev)
{
struct can_loopback_data *data = dev->data;
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;
}
k_msgq_init(&data->tx_msgq, data->msgq_buffer, sizeof(struct can_loopback_frame),
CONFIG_CAN_LOOPBACK_TX_MSGQ_SIZE);
tx_tid = k_thread_create(&data->tx_thread_data, data->tx_thread_stack,
K_KERNEL_STACK_SIZEOF(data->tx_thread_stack),
tx_thread, (void *)dev, 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;
}
#define CAN_LOOPBACK_INIT(inst) \
static const struct can_loopback_config can_loopback_config_##inst = { \
.common = CAN_DT_DRIVER_CONFIG_INST_GET(inst, 0U), \
}; \
\
static struct can_loopback_data can_loopback_data_##inst; \
\
CAN_DEVICE_DT_INST_DEFINE(inst, can_loopback_init, NULL, \
&can_loopback_data_##inst, \
&can_loopback_config_##inst, \
POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \
&can_loopback_driver_api);
DT_INST_FOREACH_STATUS_OKAY(CAN_LOOPBACK_INIT)