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c3f4e215b1
This adds support for common full-featured CAN/CAN FD stack to RTEMS. The API is provided in form the form of the POSIX character driver with each CAN controller (chip) registered as node into “/dev” namespace. The stack utilizes FIFO queues (also called edges) organized into oriented edges between controller side and application side. Edges, responsible for message transfers from application to controller and vice versa, can have different priorities and function as priority classes. The stack provides run time configuration options to create new queues with desired priority, direction and filter, making it suitable for various applications requirements. There is also a possibility to configure controller’s characteristics (bit rate, mode, chip specific ioctl calls). Both blocking and nonblocking mode is supported. Signed-off-by: Michal Lenc <michallenc@seznam.cz> Co-authored-by: Pavel Pisa <pisa@cmp.felk.cvut.cz>
381 lines
12 KiB
C
381 lines
12 KiB
C
/* SPDX-License-Identifier: BSD-2-Clause OR Apache-2.0 OR GPL-2.0-or-later */
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/**
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* @file
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*
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* @ingroup CANFDStack
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*
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* @brief This file is part of CAN/CAN FD bus common support
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* and defines generic CAN structures used for common IO
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* operations.
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*/
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/*
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* Copyright (C) 2023-2024 Michal Lenc <michallenc@seznam.cz>
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* Implementation is based on original LinCAN - Linux CAN bus driver
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* Part of OrtCAN project https://ortcan.sourceforge.net/
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* Copyright (C) 2002-2009 DCE FEE CTU Prague <http://control.fel.cvut.cz>
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* Copyright (C) 2002-2024 Pavel Pisa <pisa@cmp.felk.cvut.cz>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef _DEV_CAN_CAN_H
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#define _DEV_CAN_CAN_H
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#include <sys/queue.h>
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#include <stdatomic.h>
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#include <rtems.h>
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#include <rtems/seterr.h>
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#include <rtems/thread.h>
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#include <sys/ioccom.h>
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#include <dev/can/can-stats.h>
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#include <dev/can/can-bittiming.h>
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#include <dev/can/can-frame.h>
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#include <dev/can/can-filter.h>
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#define CAN_IOC_MAGIC 'd'
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/**
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* @defgroup CANChip
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*
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* @ingroup CANFDStack
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*
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* @{
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*/
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/**
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* @name RTEMS CAN Chip Flags
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*
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* @{
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*/
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/**
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* @brief This define provides controller flags determining whether the chip
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* is configured and ready to be started.
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*/
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#define RTEMS_CAN_CHIP_CONFIGURED ( 0 )
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/**
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* @brief This define provides controller flags determining whether the chip
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* is currently running or not.
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*/
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#define RTEMS_CAN_CHIP_RUNNING ( 1 )
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/**
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* @name RTEMS CAN Chip Capabilities
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*
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* @{
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*/
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/**
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* @brief This define provides controller flags determining whether the chip
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* is CAN FD capable.
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*/
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#define RTEMS_CAN_CHIP_CAPABILITIES_FD ( 1 << 0 )
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/**
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* @brief This define provides controller flags determining whether the chip
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* has TX timestamping support.
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*/
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#define RTEMS_CAN_CHIP_CAPABILITIES_TX_TIMESTAMP ( 1 << 1 )
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/**
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* @brief This define provides controller flags determining whether the chip
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* has TX timestamping support.
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*/
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#define RTEMS_CAN_CHIP_CAPABILITIES_RX_TIMESTAMP ( 1 << 2 )
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/** @} */
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/**
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* @name RTEMS CAN Chip Info.
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*
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* Arguments that can be used with @ref RTEMS_CAN_CHIP_GET_INFO IOCTL command.
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*
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* @{
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*/
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/**
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* @brief This define specifies user wants to obtain controller's nominal
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* bitrate via @ref RTEMS_CAN_CHIP_GET_INFO ioctl.
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*/
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#define RTEMS_CAN_CHIP_BITRATE ( 1 )
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/**
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* @brief This define specifies user wants to obtain controller's data bitrate
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* via @ref RTEMS_CAN_CHIP_GET_INFO ioctl.
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*/
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#define RTEMS_CAN_CHIP_DBITRATE ( 2 )
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/**
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* @brief This define specifies user wants to obtain number of users using
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* the controller via @ref RTEMS_CAN_CHIP_GET_INFO ioctl.
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*/
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#define RTEMS_CAN_CHIP_NUSERS ( 3 )
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/**
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* @brief This define specifies user wants to obtain controller's flags
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* via @ref RTEMS_CAN_CHIP_GET_INFO ioctl. Refer to @ref CANChip
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* for flags definitions.
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*/
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#define RTEMS_CAN_CHIP_FLAGS ( 4 )
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/**
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* @brief This define specifies user wants to obtain currently set
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* controller's modes via @ref RTEMS_CAN_CHIP_GET_INFO ioctl.
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*/
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#define RTEMS_CAN_CHIP_MODE ( 5 )
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/**
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* @brief This define specifies user wants to obtain modes supported
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* by the controller via @ref RTEMS_CAN_CHIP_GET_INFO ioctl.
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*/
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#define RTEMS_CAN_CHIP_MODE_SUPPORTED ( 6 )
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/** @} */
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/** @} */
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/**
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* @name RTEMS CAN Queue Direction Helpers
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*
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* @{
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*/
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/**
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* @brief This define can be used to select queue RX (from controller to
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* application) direction.
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*/
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#define RTEMS_CAN_QUEUE_RX ( 1 << 0 )
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/**
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* @brief This define can be used to select queue TX (from application to
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* controller) direction.
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*/
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#define RTEMS_CAN_QUEUE_TX ( 1 << 1 )
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/** @} */
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/**
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* @name RTEMS CAN Modes
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*
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* These can be set with @ref RTEMS_CAN_CHIP_SET_MODE command.
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*
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* @{
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*/
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/**
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* @brief This define is used to set loopback mode via
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* @ref RTEMS_CAN_CHIP_SET_MODE ioctl.
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*/
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#define CAN_CTRLMODE_LOOPBACK ( 1 << 0 )
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/**
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* @brief This define is used to set listen only mode via
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* @ref RTEMS_CAN_CHIP_SET_MODE ioctl.
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*/
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#define CAN_CTRLMODE_LISTENONLY ( 1 << 1 )
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/**
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* @brief This define is used to set triple sampling mode via
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* @ref RTEMS_CAN_CHIP_SET_MODE ioctl.
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*/
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#define CAN_CTRLMODE_3_SAMPLES ( 1 << 2 )
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/**
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* @brief This define is used to set one shot mode via
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* @ref RTEMS_CAN_CHIP_SET_MODE ioctl.
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*/
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#define CAN_CTRLMODE_ONE_SHOT ( 1 << 3 )
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/**
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* @brief This define is used to enable bus error reporting via
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* @ref RTEMS_CAN_CHIP_SET_MODE ioctl.
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*/
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#define CAN_CTRLMODE_BERR_REPORTING ( 1 << 4 )
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/**
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* @brief This define is used to set CAN FD mode via
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* @ref RTEMS_CAN_CHIP_SET_MODE ioctl.
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*/
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#define CAN_CTRLMODE_FD ( 1 << 5 )
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/**
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* @brief This define is used to set to ignore missing CAN ack via
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* @ref RTEMS_CAN_CHIP_SET_MODE ioctl.
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*/
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#define CAN_CTRLMODE_PRESUME_ACK ( 1 << 6 )
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/**
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* @brief This define is used to set CAN FD in non-ISO mode via
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* @ref RTEMS_CAN_CHIP_SET_MODE ioctl.
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*/
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#define CAN_CTRLMODE_FD_NON_ISO ( 1 << 7 )
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/**
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* @brief This define is used to set classic CAN DLC option via
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* @ref RTEMS_CAN_CHIP_SET_MODE ioctl.
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*/
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#define CAN_CTRLMODE_CC_LEN8_DLC ( 1 << 8 )
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/**
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* @brief This define is used to let CAN transiver automatically calculates TDCV
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* via @ref RTEMS_CAN_CHIP_SET_MODE ioctl.
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*/
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#define CAN_CTRLMODE_TDC_AUTO ( 1 << 9 )
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/**
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* @brief This define is used to let TDCV calculate manually by user
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* via @ref RTEMS_CAN_CHIP_SET_MODE ioctl.
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*/
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#define CAN_CTRLMODE_TDC_MANUAL ( 1 << 10 )
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#define CAN_CTRLMODE_MASK ( CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY | \
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CAN_CTRLMODE_3_SAMPLES | CAN_CTRLMODE_ONE_SHOT | \
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CAN_CTRLMODE_BERR_REPORTING | CAN_CTRLMODE_FD | \
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CAN_CTRLMODE_PRESUME_ACK | CAN_CTRLMODE_FD_NON_ISO | \
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CAN_CTRLMODE_CC_LEN8_DLC | CAN_CTRLMODE_TDC_AUTO | \
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CAN_CTRLMODE_TDC_MANUAL)
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/** @} */
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/**
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* @defgroup CANIoctl
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*
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* @ingroup CANFDStack
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*
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* @{
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*/
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/**
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* @name RTEMS CAN Stack Supported IOCTL calls.
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*
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* @{
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*/
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/**
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* @brief This ioctl call starts the controller. This is required in order
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* to perform read/write operations. It has no effect if the chip is already
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* started.
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*/
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#define RTEMS_CAN_CHIP_START _IO( CAN_IOC_MAGIC, 1 )
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/**
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* @brief This ioctl call stops the controller. It has no effect if the chip
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* is already stopped.
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*/
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#define RTEMS_CAN_CHIP_STOP _IOW( CAN_IOC_MAGIC, 2, struct timespec )
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/**
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* @brief This ioctl call sets close operation to be blocking or nonblocking
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* based on input parameter.
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*/
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#define RTEMS_CAN_CLOSE_NONBLOCK _IO( CAN_IOC_MAGIC, 3 )
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/**
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* @brief This ioctl call discards all RX/TX queues. Direction can be
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* set with uint8_t parameter, see @ref RTEMS_CAN_QUEUE_RX and
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* @ref RTEMS_CAN_QUEUE_TX.
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*/
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#define RTEMS_CAN_DISCARD_QUEUES _IO( CAN_IOC_MAGIC, 4 )
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/**
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* @brief This ioctl call flushes all RX/TX queues. Direction can be
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* set with uint8_t parameter, see @ref RTEMS_CAN_QUEUE_RX and
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* @ref RTEMS_CAN_QUEUE_TX.
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*/
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#define RTEMS_CAN_FLUSH_QUEUES _IO( CAN_IOC_MAGIC, 5 )
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/**
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* @brief This ioctl call sets controller's mode. Modes are
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* passed uint32_t argument. Writing mode unsupported by the controller
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* results in error as well as setting mode when the chip is already started.
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*/
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#define RTEMS_CAN_CHIP_SET_MODE _IO( CAN_IOC_MAGIC, 6 )
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/**
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* @brief This ioctl call obtains controller's info specified by input integer
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* argument
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*/
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#define RTEMS_CAN_CHIP_GET_INFO _IO( CAN_IOC_MAGIC, 7 )
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/**
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* @brief This ioctl call waits until all TX messages from all FIFOs are
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* sent to the network or until timeout defined in struct timespec. The
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* timeout is specified as a relative timeout. Passing NULL indicates
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* an infinite timeout.
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*/
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#define RTEMS_CAN_WAIT_TX_DONE _IOW( CAN_IOC_MAGIC, 8, struct timespec )
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/**
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* @brief This ioctl call waits until there is a free space in any TX
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* FIFO queue or until timeout defined in struct timespec. The
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* timeout is specified as a relative timeout. Passing NULL indicates
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* an infinite timeout.
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*/
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#define RTEMS_CAN_POLL_TX_READY _IOW( CAN_IOC_MAGIC, 9, struct timespec )
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/**
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* @brief This ioctl call waits until there is an available frame in any RX
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* FIFO queue or until timeout defined in struct timespec. The
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* timeout is specified as a relative timeout. Passing NULL indicates
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* an infinite timeout.
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*/
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#define RTEMS_CAN_POLL_RX_AVAIL _IOW( CAN_IOC_MAGIC, 10, struct timespec )
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/**
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* @brief This ioctl call creates new queue. Parameters are set with
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* @ref rtems_can_queue_param structure.
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*/
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#define RTEMS_CAN_CREATE_QUEUE _IOW( CAN_IOC_MAGIC, 11, struct rtems_can_queue_param )
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/**
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* @brief This ioctl call sets controller's bitrate. See structure
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* @ref rtems_can_set_bittiming.
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*/
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#define RTEMS_CAN_SET_BITRATE _IOW( CAN_IOC_MAGIC, 12, struct rtems_can_set_bittiming )
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/**
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* @brief This ioctl call obtains 64 unsigned timestamp from the controller.
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*/
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#define RTEMS_CAN_CHIP_GET_TIMESTAMP _IOR( CAN_IOC_MAGIC, 13, uint64_t )
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/**
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* @brief This ioctl call obtains controller's statistics via
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* @ref rtems_can_stats.
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*/
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#define RTEMS_CAN_CHIP_STATISTICS _IOR( CAN_IOC_MAGIC, 14, struct rtems_can_stats )
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/**
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* @brief This ioctl call gets controller's bitrate. See structure
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* @ref rtems_can_set_bittiming.
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*/
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#define RTEMS_CAN_GET_BITTIMING _IOWR( CAN_IOC_MAGIC, 15, struct rtems_can_get_bittiming )
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/** @} */
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/**
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* @brief This structure represents parameters of FIFO queue. It is used to
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* setup new queues via @ref RTEMS_CAN_CREATE_QUEUE ioctl call.
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*/
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struct rtems_can_queue_param {
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/**
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* @brief This member specifies queue's direction. Use
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* @ref RTEMS_CAN_QUEUE_RX or @ref RTEMS_CAN_QUEUE_TX
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*/
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uint8_t direction;
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/**
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* @brief This member specifies queue's priority. Maximum priority value
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* is available from @ref RTEMS_CAN_QUEUE_PRIO_NR define. Higher number
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* means higher priority.
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*/
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uint8_t priority;
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/**
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* @brief This member specifies queue's maximum data length. Passing 0
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* applies default value: @ref CAN_FRAME_STANDARD_DLEN for standard
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* frames only and @ref CAN_FRAME_FD_DLEN for CAN FD capable chips.
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*/
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uint8_t dlen_max;
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/**
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* @brief This member specifies queue's buffer size. Passing 0 applies
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* default @ref RTEMS_CAN_FIFO_SIZE value.
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*/
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uint8_t buffer_size;
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/**
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* @brief This member holds a queue's filter. Refer to @ref rtems_can_filter
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* for more information.
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*/
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struct rtems_can_filter filter;
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};
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/** @} */
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#endif
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