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can: Add Linux compatible frame and filter structs

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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: Jukka Rissanen <jukka.rissanen@linux.intel.com>
This commit is contained in:
Jukka Rissanen 2019-02-13 14:26:57 +02:00 committed by Anas Nashif
parent c2d5e7b01c
commit 58f3ae5334
4 changed files with 132 additions and 23 deletions
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16
drivers/can/stm32_can.c
View file

@ -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;

131
include/can.h
View file

@ -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

6
samples/drivers/CAN/src/main.c
View file

@ -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,

2
samples/net/sockets/can/src/main.c
View file

@ -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,