Commit 58f3ae53 authored by Jukka Rissanen's avatar Jukka Rissanen Committed by Anas Nashif
Browse files

can: Add Linux compatible frame and filter structs 



Add new "struct can_frame" which is compatible with Linux so that it
is easier to port socket-can applications from Linux.
Rename existing can_filter to can_msg_filter so that the name will
not conflict with Linux compatible can_filter struct.

Signed-off-by: default avatarJukka Rissanen <jukka.rissanen@linux.intel.com>
parent c2d5e7b0

drivers/can/stm32_can.c

+8 −8
Original line number Diff line number Diff line
@@ -578,21 +578,21 @@ static inline void can_stm32_set_mode_scale(enum can_filter_type filter_type, 
	*scale_reg |= scale_reg_bit;

}



static inline u32_t can_generate_std_mask(const struct can_filter *filter)

static inline u32_t can_generate_std_mask(const struct can_msg_filter *filter)

{

	return  (filter->std_id_mask << CAN_FIRX_STD_ID_POS) |

		(filter->rtr_mask    << CAN_FIRX_STD_RTR_POS) |

		(1U                  << CAN_FIRX_STD_IDE_POS);

}



static inline u32_t can_generate_ext_mask(const struct can_filter *filter)

static inline u32_t can_generate_ext_mask(const struct can_msg_filter *filter)

{

	return  (filter->ext_id_mask << CAN_FIRX_EXT_EXT_ID_POS) |

		(filter->rtr_mask    << CAN_FIRX_EXT_RTR_POS) |

		(1U                  << CAN_FIRX_EXT_IDE_POS);

}



static inline u32_t can_generate_std_id(const struct can_filter *filter)

static inline u32_t can_generate_std_id(const struct can_msg_filter *filter)

{



	return  (filter->std_id << CAN_FIRX_STD_ID_POS) |
@@ -600,14 +600,14 @@ static inline u32_t can_generate_std_id(const struct can_filter *filter) 


}



static inline u32_t can_generate_ext_id(const struct can_filter *filter)

static inline u32_t can_generate_ext_id(const struct can_msg_filter *filter)

{

	return  (filter->ext_id << CAN_FIRX_EXT_EXT_ID_POS) |

		(filter->rtr    << CAN_FIRX_EXT_RTR_POS) |

		(1U             << CAN_FIRX_EXT_IDE_POS);

}



static inline int can_stm32_set_filter(const struct can_filter *filter,

static inline int can_stm32_set_filter(const struct can_msg_filter *filter,

				       struct can_stm32_data *device_data,

				       CAN_TypeDef *can,

				       int *filter_index)
@@ -739,7 +739,7 @@ done: 




static inline int can_stm32_attach(struct device *dev, void *response_ptr,

				   const struct can_filter *filter,

				   const struct can_msg_filter *filter,

				   int *filter_index)

{

	const struct can_stm32_config *cfg = DEV_CFG(dev);
@@ -758,7 +758,7 @@ static inline int can_stm32_attach(struct device *dev, void *response_ptr, 
}



int can_stm32_attach_msgq(struct device *dev, struct k_msgq *msgq,

			  const struct can_filter *filter)

			  const struct can_msg_filter *filter)

{

	int filter_nr;

	int filter_index;
@@ -772,7 +772,7 @@ int can_stm32_attach_msgq(struct device *dev, struct k_msgq *msgq, 
}



int can_stm32_attach_isr(struct device *dev, can_rx_callback_t isr,

			 const struct can_filter *filter)

			 const struct can_msg_filter *filter)

{

	struct can_stm32_data *data = DEV_DATA(dev);

	int filter_nr;

include/can.h

+120 −11
Original line number Diff line number Diff line
@@ -33,6 +33,7 @@ extern "C" { 
#define CAN_STD_ID_MASK CAN_MAX_STD_ID

#define CAN_EXT_ID_MASK (0x1FFFFFFF)

#define CAN_MAX_DLC    (8)

#define CAN_MAX_DLEN    8



/* CAN_TX_* are the error flags from tx_callback and send.*/

/** send successfully */
@@ -96,8 +97,49 @@ enum can_mode { 
	CAN_SILENT_LOOPBACK_MODE

};



/*

 * Controller Area Network Identifier structure for Linux compatibility.

 *

 * The fields in this type are:

 *

 * bit 0-28	: CAN identifier (11/29 bit)

 * bit 29	: error message frame flag (0 = data frame, 1 = error message)

 * bit 30	: remote transmission request flag (1 = rtr frame)

 * bit 31	: frame format flag (0 = standard 11 bit, 1 = extended 29 bit)

 */

typedef u32_t canid_t;



/**

 * @brief can message structure

 * @brief CAN frame structure that is compatible with Linux. This is mainly

 * used by Socket CAN code.

 *

 * @details Used to pass CAN messages from userspace to the socket CAN and vice

 * versa.

 */

struct can_frame {

	/** 32 bit CAN_ID + EFF/RTR/ERR flags */

	canid_t can_id;



	/** The length of the message */

	u8_t can_dlc;



	/** The message data */

	u8_t data[CAN_MAX_DLEN];

};



/**

 * @brief CAN filter that is compatible with Linux. This is mainly used by

 * Socket CAN code.

 *

 * @details A filter matches, when "received_can_id & mask == can_id & mask"

 */

struct can_filter {

	canid_t can_id;

	canid_t can_mask;

};



/**

 * @brief CAN message structure

 *

 * Used to pass can messages from userspace to the driver and

 * from driver to userspace
@@ -127,7 +169,7 @@ struct can_msg { 
} __packed;



/**

 * @brief can filter structure

 * @brief CAN filter structure

 *

 * Used to pass can identifier filter information to the driver.

 * rtr_mask and *_id_mask are used to mask bits of the rtr and id fields.
@@ -135,7 +177,7 @@ struct can_msg { 
 * field don't care for the filter matching.

 *

 */

struct can_filter {

struct can_msg_filter {

	/** Indicates the identifier type (standard or extended)

	 * use can_ide enum for assignment

	 */
@@ -218,13 +260,14 @@ typedef int (*can_send_t)(struct device *dev, struct can_msg *msg, 
 * *

 * @param dev    Pointer to the device structure for the driver instance.

 * @param msgq   Pointer to the already initialized message queue.

 * @param filter Pointer to a can_filter structure defining the id filtering.

 * @param filter Pointer to a can_msg_filter structure defining the id

 *               filtering.

 *

 * @retval filter id on success.

 * @retval CAN_NO_FREE_FILTER if there is no filter left.

 */

typedef int (*can_attach_msgq_t)(struct device *dev, struct k_msgq *msg_q,

				 const struct can_filter *filter);

				 const struct can_msg_filter *filter);



/**

 * @brief Attach an isr callback function to a single or group of identifiers.
@@ -238,13 +281,14 @@ typedef int (*can_attach_msgq_t)(struct device *dev, struct k_msgq *msg_q, 
 * *

 * @param dev    Pointer to the device structure for the driver instance.

 * @param isr    Callback function pointer.

 * @param filter Pointer to a can_filter structure defining the id filtering.

 * @param filter Pointer to a can_msg_filter structure defining the id

 *               filtering.

 *

 * @retval filter id on success.

 * @retval CAN_NO_FREE_FILTER if there is no filter left.

 */

typedef int (*can_attach_isr_t)(struct device *dev, can_rx_callback_t isr,

				const struct can_filter *filter);

				const struct can_msg_filter *filter);



/**

 * @brief Detach an isr or message queue from the identifier filtering.
@@ -325,11 +369,11 @@ static inline int can_write(struct device *dev, u8_t *data, u8_t length, 




__syscall int can_attach_msgq(struct device *dev, struct k_msgq *msg_q,

			      const struct can_filter *filter);

			      const struct can_msg_filter *filter);



static inline int _impl_can_attach_msgq(struct device *dev,

					struct k_msgq *msg_q,

					const struct can_filter *filter)

					const struct can_msg_filter *filter)

{

	const struct can_driver_api *api = dev->driver_api;
@@ -338,10 +382,10 @@ static inline int _impl_can_attach_msgq(struct device *dev, 




__syscall int can_attach_isr(struct device *dev, can_rx_callback_t isr,

			     const struct can_filter *filter);

			     const struct can_msg_filter *filter);

static inline int _impl_can_attach_isr(struct device *dev,

				       can_rx_callback_t isr,

				       const struct can_filter *filter)

				       const struct can_msg_filter *filter)

{

	const struct can_driver_api *api = dev->driver_api;
@@ -370,6 +414,71 @@ static inline int _impl_can_configure(struct device *dev, enum can_mode mode, 
	return api->configure(dev, mode, bitrate);

}



/**

 * @brief Converter that translates betwen can_frame and can_msg structs.

 *

 * @param frame Pointer to can_frame struct.

 * @param msg Pointer to can_msg struct.

 */

static inline void can_copy_frame_to_msg(struct can_frame *frame,

					 struct can_msg *msg)

{

	msg->id_type = (frame->can_id & BIT(31)) >> 31;

	msg->rtr = (frame->can_id & BIT(30)) >> 30;

	msg->ext_id = frame->can_id & BIT_MASK(29);

	msg->dlc = frame->can_dlc;

	memcpy(msg->data, frame->data, sizeof(msg->data));

}



/**

 * @brief Converter that translates betwen can_msg and can_frame structs.

 *

 * @param msg Pointer to can_msg struct.

 * @param frame Pointer to can_frame struct.

 */

static inline void can_copy_msg_to_frame(struct can_msg *msg,

					 struct can_frame *frame)

{

	frame->can_id = (msg->id_type << 31) | (msg->rtr << 30) | msg->ext_id;

	frame->can_dlc = msg->dlc;

	memcpy(frame->data, msg->data, sizeof(frame->data));

}



/**

 * @brief Converter that translates betwen can_filter and can_msg_filter

 * structs.

 *

 * @param filter Pointer to can_filter struct.

 * @param msg_filter Pointer to can_msg_filter struct.

 */

static inline

void can_copy_filter_to_msg_filter(struct can_filter *filter,

				   struct can_msg_filter *msg_filter)

{

	msg_filter->id_type = (filter->can_id & BIT(31)) >> 31;

	msg_filter->rtr = (filter->can_id & BIT(30)) >> 30;

	msg_filter->ext_id = filter->can_id & BIT_MASK(29);

	msg_filter->rtr_mask = (filter->can_mask & BIT(30)) >> 30;

	msg_filter->ext_id_mask = filter->can_mask & BIT_MASK(29);

}



/**

 * @brief Converter that translates betwen can_msg_filter and can_filter

 * structs.

 *

 * @param msg_filter Pointer to can_msg_filter struct.

 * @param filter Pointer to can_filter struct.

 */

static inline

void can_copy_msg_filter_to_filter(struct can_msg_filter *msg_filter,

				   struct can_filter *filter)

{

	filter->can_id = (msg_filter->id_type << 31) |

		(msg_filter->rtr << 30) | msg_filter->ext_id;

	filter->can_mask = (msg_filter->rtr_mask << 30) |

		(msg_filter->id_type << 31) | msg_filter->ext_id_mask;

}



#ifdef __cplusplus

}

#endif

samples/drivers/CAN/src/main.c

+3 −3
Original line number Diff line number Diff line
@@ -109,7 +109,7 @@ void tx_thread(void *can_dev_param, void *unused2, void *unused3) 
void rx_str_thread(void *msgq, void *can_dev_param, void *unused)

{

	struct can_msg msg;

	const struct can_filter filter = {

	const struct can_msg_filter filter = {

		.id_type = CAN_EXTENDED_IDENTIFIER,

		.rtr = CAN_DATAFRAME,

		.ext_id = STR_MSG_ID,
@@ -129,7 +129,7 @@ void rx_str_thread(void *msgq, void *can_dev_param, void *unused) 


void led_thread(void *msgq, void *can_dev_param, void *gpio_dev_param)

{

	const struct can_filter filter = {

	const struct can_msg_filter filter = {

		.id_type = CAN_STANDARD_IDENTIFIER,

		.rtr = CAN_DATAFRAME,

		.std_id = LED_MSG_ID,
@@ -181,7 +181,7 @@ void rx_button_isr(struct can_msg *msg) 


void main(void)

{

	const struct can_filter filter = {

	const struct can_msg_filter filter = {

		.id_type = CAN_STANDARD_IDENTIFIER,

		.rtr = CAN_DATAFRAME,

		.std_id = BUTTON_MSG_ID,

samples/net/sockets/can/src/main.c

+1 −1
Original line number Diff line number Diff line
@@ -90,7 +90,7 @@ static void rx(int fd) 


static int setup_socket(void)

{

	const struct can_filter filter = {

	const struct can_msg_filter filter = {

		.id_type = CAN_STANDARD_IDENTIFIER,

		.rtr = CAN_DATAFRAME,

		.std_id = 0x1,

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