cpukit: add support for common CAN/CAN FD stack

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>

spec/build/cpukit/cpuopts.yml

@@ -33,6 +33,10 @@ links:
   uid: optboothartid
 - role: build-dependency
   uid: optbuildlabel
+- role: build-dependency
+  uid: optcanfifosize
+- role: build-dependency
+  uid: optcanqueueprios
 - role: build-dependency
   uid: optdebug
 - role: build-dependency

spec/build/cpukit/librtemscpu.yml

@@ -35,6 +35,18 @@ install:
 - destination: ${BSP_INCLUDEDIR}/arpa
   source:
   - cpukit/include/arpa/ftp.h
+- destination: ${BSP_INCLUDEDIR}/dev/can
+  source:
+  - cpukit/include/dev/can/can-bittiming.h
+  - cpukit/include/dev/can/can-bus.h
+  - cpukit/include/dev/can/can-devcommon.h
+  - cpukit/include/dev/can/can-filter.h
+  - cpukit/include/dev/can/can-frame.h
+  - cpukit/include/dev/can/can-helpers.h
+  - cpukit/include/dev/can/can-impl.h
+  - cpukit/include/dev/can/can-queue.h
+  - cpukit/include/dev/can/can-stats.h
+  - cpukit/include/dev/can/can.h
 - destination: ${BSP_INCLUDEDIR}/dev/i2c
   source:
   - cpukit/include/dev/i2c/eeprom.h
@@ -531,6 +543,11 @@ source:
 - cpukit/crc/crc24q.c
 - cpukit/base64/base64-encode.c
 - cpukit/base64/base64-decode.c
+- cpukit/dev/can/can-bittiming.c
+- cpukit/dev/can/can-bus.c
+- cpukit/dev/can/can-devcommon.c
+- cpukit/dev/can/can-quekern.c
+- cpukit/dev/can/can-queue.c
 - cpukit/dev/flash/flashdev.c
 - cpukit/dev/i2c/eeprom.c
 - cpukit/dev/i2c/fpga-i2c-slave.c

spec/build/cpukit/optcanfifosize.yml

@@ -0,0 +1,17 @@
+SPDX-License-Identifier: BSD-2-Clause OR Apache-2.0 OR GPL-2.0-or-later
+actions:
+- get-integer: null
+- define: null
+build-type: option
+copyrights:
+- Copyright (C) 2023-2024 Michal Lenc <michallenc@seznam.cz>
+default:
+- enabled-by: true
+  value: 64
+description: |
+  Default size in CAN frames of FIFO queues.
+enabled-by: true
+format: '{}'
+links: []
+name: RTEMS_CAN_FIFO_SIZE
+type: build

spec/build/cpukit/optcanqueueprios.yml

@@ -0,0 +1,17 @@
+SPDX-License-Identifier: BSD-2-Clause OR Apache-2.0 OR GPL-2.0-or-later
+actions:
+- get-integer: null
+- define: null
+build-type: option
+copyrights:
+- Copyright (C) 2023-2024 Michal Lenc <michallenc@seznam.cz>
+default:
+- enabled-by: true
+  value: 3
+description: |
+  Number of available priorities for CAN priority queues.
+enabled-by: true
+format: '{}'
+links: []
+name: RTEMS_CAN_QUEUE_PRIO_NR
+type: build