Remove unnecessary asserts from various CAN controller drivers. These
asserts are all covered by the common CAN subsystem API implementations.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Add support for specifying the minimum bitrate supported by a CAN
controller in CAN_DT_DRIVER_CONFIG_GET() and
CAN_DT_DRIVER_CONFIG_INST_GET().
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Since all CAN controllers drivers seem to support automatic recovery (for
any future drivers for hardware without this hardware capability this can
easily be implemented in the driver), change the Zephyr CAN controller API
policy to:
- Always enable automatic bus recovery upon driver initialization,
regardless of Kconfig options. Since CAN controllers are initialized in
"stopped" state, no unwanted bus-off recovery will be started at this
point.
- Invert and rename the Kconfig CONFIG_CAN_AUTO_BUS_OFF_RECOVERY, which is
enabled by default, to CONFIG_CAN_MANUAL_RECOVERY_MODE, which is disabled
by default. Enabling CONFIG_CAN_MANUAL_RECOVERY_MODE=y enables support
for the can_recover() API function and a new manual recovery mode (see
next bullet). Keeping this guarded by Kconfig allows keeping the flash
footprint down for applications not using manual bus-off recovery.
- Introduce a new CAN controller operational mode
CAN_MODE_MANUAL_RECOVERY. Support for this is only enabled if
CONFIG_CAN_MANUAL_RECOVERY_MODE=y. Having this as a mode allows
applications to inquire whether the CAN controller supports manual
recovery mode via the can_get_capabilities() API function and either fail
or rely on automatic recovery - and it allows CAN controller drivers not
supporting manual recovery mode to fail early in can_set_mode() during
application startup instead of failing when can_recover() is called at a
later point in time.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
A growing number of CAN controllers do not have support for individual RX
hardware filters based on the Remote Transmission Request (RTR) bit. This
leads to various work-arounds on the driver level mixing hardware and
software filtering.
As the use of RTR frames is discouraged by CAN in Automation (CiA) - and
not even supported by newer standards, e.g. CAN FD - this often leads to
unnecessary overhead, added complexity, and worst-case to non-portable
behavior between various CAN controller drivers.
Instead, move to a simpler approach where the ability to accept/reject RTR
frames is globally configured via Kconfig. By default, all incoming RTR
frames are rejected at the driver level, a setting which can be supported
in hardware by most in-tree CAN controllers drivers.
Legacy applications or protocol implementations, where RTR reception is
required, can now select CONFIG_CAN_ACCEPT_RTR to accept incoming RTR
frames matching added CAN filters. These applications or protocols will
need to distinguish between RTR and data frames in their respective CAN RX
frame handling routines.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Remove the CAN_FILTER_FDF flag for filtering on classic CAN/CAN FD frames
as it is not supported natively by any known CAN controller.
Applications can still filter on classic CAN/CAN FD frames in their receive
callback functions as needed.
Fixes: #64554
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Change the CAN controller driver implementations for the
can_remove_rx_filter() API call to be consistent in their validation of the
supplied filter_id.
Fixes: #64398
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Switch from using DEVICE_DT_DEFINE()/DEVICE_DT_INST_DEFINE() to using
CAN_DEVICE_DT_DEFINE()/CAN_DEVICE_DT_INST_DEFINE() for remaining drivers.
This unifies CAN controller device driver initialization regardless of the
driver implementing CAN statistics support or not.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Rename the can_utils_filter_match() utility function to
can_frame_matches_filter(), move it to the public
include/zephyr/drivers/can.h header file, and add a missing mismatch for
standard (11-bit) ID frames passing extended (29-bit) filters.
This allows using the utility function in out-of-tree CAN drivers.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit aims at updating the drivers stop function to better
follow the CAN header file which specifiec that stopping the CAN
controller should "abort any pending CAN frame transmissions".
Signed-off-by: Benjamin Björnsson <benjamin.bjornsson@gmail.com>
Add support FD frame filter to configure type frame for
each Rx msg to receive corresponding frames (classic, FD frames).
The Bosch M_CAN driver does not support FD frame filter,
so inmplement driver to handle it in software.
Signed-off-by: Cong Nguyen Huu <cong.nguyenhuu@nxp.com>
Rename the CAN loopback driver receive function to make the code easier to
understand. Add proper check against NULL for RX callback function
pointers.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
The can_frame and can_filter structs support a number of different flags
(standard/extended CAN ID type, Remote Transmission Request, CAN-FD format,
Bit Rate Switch, ...). Each of these flags is represented as a discrete bit
in the given structure.
This design pattern requires every user of these structs to initialize all
of these flags to either 0 or 1, which does not scale well for future flag
additions.
Some of these flags have associated enumerations to be used for assignment,
some do not. CAN drivers and protocols tend to rely on the logical value of
the flag instead of using the enumeration, leading to a very fragile
API. The enumerations are used inconsistently between the can_frame and
can_filter structures, which further complicates the API.
Instead, convert these flags to bitfields with separate flag definitions
for the can_frame and can_filter structures. This API allows for future
extensions without having to revisit existing users of the two
structures. Furthermore, this allows driver to easily check for unsupported
flags in the respective API calls.
As this change leads to the "id_mask" field of the can_filter to be the
only mask present in that structure, rename it to "mask" for simplicity.
Fixes: #50776
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Given the recent change to the CAN controller can_send() API wrapper,
assume that a callback is always provided at the driver level.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Up until now, the Zephyr CAN controller drivers set a default bitrate (or
timing) specified via devicetree and start the CAN controller in their
respective driver initialization functions.
This is fine for CAN nodes using only one fixed bitrate, but if the bitrate
is set by the user (e.g. via a DIP-switch or other HMI which is very
common), the CAN driver will still initialise with the default
bitrate/timing at boot and use this until the application has determined
the requested bitrate/timing and set it using
can_set_bitrate()/can_set_timing().
During this period, the CAN node will potentially destroy valid CAN frames
on the CAN bus (which is using the soon-to-be-set-by-the-application
bitrate) by sending error frames. This causes interruptions to the ongoing
CAN bus traffic when a Zephyr-based CAN node connected to the bus is
(re-)booted.
Instead, require all configuration (setting bitrate, timing, or mode) to
take place when the CAN controller is stopped. This maps nicely to entering
"reset mode" (called "configuration mode" or "freeze mode" for some CAN
controller implementations) when stopping and exiting this mode when
starting the CAN controller.
Fixes: #45304
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Rename the can_state enumerations to contain the word STATE to make their
meaning more clear:
- CAN_ERROR_ACTIVE => CAN_STATE_ERROR_ACTIVE
- CAN_ERROR_WARNING => CAN_STATE_ERROR_WARNING
- CAN_ERROR_PASSIVE => CAN_STATE_ERROR_PASSIVE
- CAN_BUS_OFF => CAN_STATE_BUS_OFF
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Remove the "z" prefix from the public CAN controller API types as this
makes them appear as internal APIs.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Check the frame ID type and RTR bit when comparing loopback CAN frames
against installed RX filters.
Fixes: #47904
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Add API function for getting the supported capabilities of a CAN
controller. This allows for writing portable CAN applications.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Convert the can_mode enum to a bit field to prepare for future extensions
(CAN-FD mode, transmitter delay compensation, one-shot mode, 3-samples
mode, ...).
Rename the existing modes:
- CAN_NORMAL_MODE -> CAN_MODE_NORMAL
- CAN_SILENT_MODE -> CAN_MODE_LISTENONLY
- CAN_LOOPBACK_MODE -> CAN_MODE_LOOPBACK
These mode names align with the Linux naming for CAN control modes.
The old CAN_SILENT_LOOPBACK_MODE can be set with the bitmask
(CAN_MODE_LISTENONLY | CAN_MODE_LOOPBACK).
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
In order to bring consistency in-tree, migrate all drivers to the new
prefix <zephyr/...>. Note that the conversion has been scripted, refer
to #45388 for more details.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Move the code for socket instanciation from each driver
to a generic driver, that makes an instance of a socketCAN
net device for the chosen node.
Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
Include a pointer to the CAN controller device for the CAN
transmit, receive, and state change callback functions.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
The CAN_BUS_UNKNOWN CAN controller state is only used to indicate that
the current CAN controller state could not be read.
Remove it and change the signature of the can_get_state() API function
to return an integer indicating success or failure.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Add optional user data argument to can_set_state_change_callback() to
comply with Zephyr API design guidelines.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Rename a few CAN API functions for clarity and consistency with other
Zephyr RTOS APIs.
CAN_DEFINE_MSGQ() becomes CAN_MSGQ_DEFINE() to match K_MSGQ_DEFINE().
can_attach_isr() becomes can_add_rx_filter() since a filter callback
function is not an interrupt service routine (although it is called in
isr context). The word "attach" is replaced with "add" since filters are
added, not attached. This matches the terminology used is other Zephyr
APIs better.
can_detach() becomes can_remove_rx_filter() to pair with
can_add_rx_filter().
can_attach_msgq() becomes can_add_rx_filter_msgq() and documentation is
updated to mention its relationship with can_add_rx_filter().
can_register_state_change_isr() becomes can_set_state_change_callback()
since a state change callback function is not an interrupt service
routine (although it is called in isr context). The word "register" is
replaced with "set" since only one state change callback can be in
place.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Convert the CAN loopback driver from being configured via Kconfig to
multi-instance configured via devicetree.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Deprecate the use of CAN-specific error return values and replace them
with standard errno values.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Catch up on the CAN driver API argument naming changes:
- Unify naming of callback function pointers as "callback".
- Unify naming of user-specified callback function arguments as
"user_data".
- Instances and pointers to struct zcan_frame are named "frame",
not "msg", to avoid confusion with the CAN message queue support.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
The maximum number of concurrent filters depends on the hardware and
the driver implementation. This API allows the application to obtain
the maximum number of available filters.
Signed-off-by: Martin Jäger <martin@libre.solar>
Refactors all of the CAN drivers to use a shared driver class
initialization priority configuration, CONFIG_CAN_INIT_PRIORITY, to
allow configuring CAN drivers separately from other devices. This is
similar to other driver classes like I2C and SPI.
The default is set to CONFIG_KERNEL_INIT_PRIORITY_DEVICE to preserve the
existing default initialization priority for most drivers. The exception
is the mcp2515 driver which has a dependency on a SPI driver and must
therefore initialize later than the default device priority.
Signed-off-by: Maureen Helm <maureen.helm@intel.com>
socket_can_generic.h makes some assumptions that are not always valid
for various drivers with regards to numbering. To clean this up we
add defines for SOCKET_CAN_NAME_0 and SOCKET_CAN_NAME_2 in addition to
SOCKET_CAN_NAME_1.
We also move struct socket_can_context into the drivers themselves
since they know best how many CAN interfaces are getting supported and
what naming/number convention they'd have.
Additionally, this also exposes a few other build issues with the
can_mcux_flexcan driver that get fixed.
Finally, we remove the platform_allow from samples/net/sockets/can
since it is no longer needed.
Fixes#31733
Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
Convert driver(s) to DEVICE_DEFINE instead of DEVICE_AND_API_INIT
so we can deprecate DEVICE_AND_API_INIT in the future.
Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
Added tests for the timing algorithm.
The tests calculate timings for some bitrates with sample-points
and verify the results.
Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
Reordering of the struct elements to match the Linux format.
The __packed() is not necessary anymore.
std_id and ext_id is merged to id in the frame and filter.
Additionally, the frames are ready for CAN-FD.
Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
The previous API can't change the sampling-point and only allowed
bitrates that fit the time segments.
The new API allows for shifting the sampling-point and adjusts the
number of time quantum in a bit to all more possible bitrates.
The functions to calculate the timings are moved to the can_common file.
They can be used for all drivers.
Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
Now that device_api attribute is unmodified at runtime, as well as all
the other attributes, it is possible to switch all device driver
instance to be constant.
A coccinelle rule is used for this:
@r_const_dev_1
disable optional_qualifier
@
@@
-struct device *
+const struct device *
@r_const_dev_2
disable optional_qualifier
@
@@
-struct device * const
+const struct device *
Fixes#27399
Signed-off-by: Tomasz Bursztyka <tomasz.bursztyka@linux.intel.com>
