forked from Imagelibrary/rtems
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>
118 lines
3.5 KiB
C
118 lines
3.5 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 implements controller's side of FIFO 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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#include <string.h>
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#include <rtems/score/basedefs.h>
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#include <dev/can/can-devcommon.h>
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#include <dev/can/can-stats.h>
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#define SEC_TO_NSEC 1000000000
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static void can_queue_notify_chip(
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struct rtems_can_queue_ends *qends,
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struct rtems_can_queue_edge *qedge,
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int what
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)
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{
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struct rtems_can_queue_ends_dev *qends_dev = RTEMS_CONTAINER_OF(
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qends,
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struct rtems_can_queue_ends_dev,
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base
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);
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switch ( what ) {
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case RTEMS_CAN_QUEUE_NOTIFY_PROC:
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rtems_binary_semaphore_post( &qends_dev->worker_sem );
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break;
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case RTEMS_CAN_QUEUE_NOTIFY_DEAD_WANTED:
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case RTEMS_CAN_QUEUE_NOTIFY_DEAD:
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if ( rtems_can_queue_fifo_test_and_clear_fl(
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&qedge->fifo,
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RTEMS_CAN_FIFOF_READY
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) ) {
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rtems_can_queue_edge_decref( qedge );
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}
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break;
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case RTEMS_CAN_QUEUE_NOTIFY_ATTACH:
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break;
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}
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}
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void rtems_can_stats_reset( struct rtems_can_stats *stats )
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{
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memset( stats, 0, sizeof( *stats ) );
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}
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int rtems_can_queue_ends_init_chip(
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struct rtems_can_chip *chip,
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const char *name
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)
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{
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int ret;
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ret = rtems_can_queue_ends_init( &chip->qends_dev->base );
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if ( ret < 0 ) {
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return ret;
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}
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chip->qends_dev->chip = chip;
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chip->qends_dev->base.notify = can_queue_notify_chip;
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rtems_binary_semaphore_init( &chip->qends_dev->worker_sem, name );
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return 0;
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}
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uint64_t rtems_can_fill_timestamp( void )
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{
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struct timespec tp;
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clock_gettime( CLOCK_MONOTONIC, &tp );
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return ( tp.tv_sec * SEC_TO_NSEC + tp.tv_nsec );
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}
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int rtems_can_chip_start( struct rtems_can_chip *chip )
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{
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if ( chip->chip_ops.start_chip != NULL ) {
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return chip->chip_ops.start_chip( chip );
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}
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return -ENODEV;
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}
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