[PATCH] cpukit/dev/can: Added CAN support
Prashanth S
fishesprashanth at gmail.com
Sun Aug 7 13:59:46 UTC 2022
Hi Christian,
general note: You add an API to cpukit. Most APIs there should have a
> test case in the testsuite. In this case the test case would have to
> create some dummy CAN driver and check whether everything works like
> expected. As an example take a look at the SPI test:
>
> https://git.rtems.org/rtems/tree/testsuites/libtests/spi01/init.c
>
> It creates a dummy device and checks whether the SPI layer does
> everything as expected. Would be great if you could add something like
> this. Target of such a test should be more or less that every branch in
> your code is triggered at least once (code coverage). It doesn't has to
> be every combination but it shows that the code is at least reachable
> and works as expected.
>
Adding a test application in testsuites/libtests/can01/init.c
Do you really mean "LOCK" or should it be a "LOG"? Both is reasonable
> here so I'm not entirely sure. But you use the LOCK macro also in
> can_xmit and similar so I'm a bit unsure.
>
It is a log for the lock. Now moved the logs and call to the lock
acquire/release to #defines.
> + if (sem_count > CAN_TX_BUF_COUNT) {
>
> If you increment sem_count only in a debug macro, you must not use it
> for any other code. The macro is processed by the preprocessor. So if
> you define the CAN_DEBUG_LOCK to something empty, the ++sem_count from
> above will never happen. If CAN_DEBUG_LOCK interpretes the argument
> twice, you will get the wrong value.
>
> Please note: It's in general a good idea not to use anything that
> changes a variable or has any side effect in a macro. For example if I
> define the following
>
> #define SQUARE(x) ((x) * (x))
>
> And use it like this:
>
> int a = 2;
> int b;
> b = SQUARE(++a);
>
> The result that I would expect from reading the code would be that b is
> 9 and a is 3 afterwards. But instead I will get b = 16 and a = 4. The
> reason for this is that the preprocessor will replace the code with the
> following one:
>
> int a = 2;
> int b;
> b = ((++a) * (++a));
>
> Therefore: Try to avoid statements with a side effect as a parameter to
> something if you are not 100% sure that the something is a function or
> is allways executed. You don't have to save lines. We don't have a limit
> on the maximum lines in a file. Readability is much more important than
> compact code.
>
> PS: Also true for "if". I wouldn't be sure whether the printf in the
> following code will be executed:
>
> if (0 || printf("Will someone call me?")) {
> }
>
> In general: Try to avoid anything where you have to think about the
> order of execution except if you can't avoid it or if it is really obvious.
Moved the increment out of the #define.
> +static int can_xmit(struct can_bus *bus)
> > +{
> > + int ret = RTEMS_SUCCESSFUL;
> > +
> > + struct can_msg *msg = NULL;
> > +
> > + while (1) {
> > + CAN_DEBUG_LOCK("can_xmit: acquiring lock\n");
> > + can_interrupt_lock_acquire(bus);
> > +
> > + ret = bus->can_dev_ops->dev_tx_ready(bus->priv);
> > + if (ret != true) {
> > + goto return_with_lock_release;
> > + }
> > +
> > + msg = can_tx_get_data_buf(bus);
> > + if (msg == NULL) {
> > + goto return_with_lock_release;
> > + }
> > +
> > + ret = bus->can_dev_ops->dev_tx(bus->priv, msg);
> > + if (ret != RTEMS_SUCCESSFUL) {
> > + printf("can_xmit: dev_send failed\n");
> > + }
> > +
> > + ret = give_sem(bus);
> > + if (ret != RTEMS_SUCCESSFUL) {
> > + printf("can_tx_done: rtems_semaphore_release failed = %d\n", ret);
> > + }
> > +
> > + CAN_DEBUG_LOCK("can_xmit: releasing lock\n");
> > + can_interrupt_lock_release(bus);
> > +
> > + //can_tx_done(bus);
> > + }
> > +
> > + return ret;
>
> If I see it correctly, you can never reach this return. You have a
> while(1) without any break condition. By the way: Code with goto, loops
> and break tends to get sphaghetti code. You should only use these
> constructions if it improves readability compared to a solution without
> these.
Updated to release the lock and break.
You use the macros a lot. You are aware that you could do something like
> that:
>
> - Declare the original can_interrupt_lock_acquire() as something with a
> prefix or postifix for example as real_can_interrupt_lock_acquire.
>
> - Then add a define that wrapps it with:
>
> #define can_interrupt_lock_acquire(...) do { \
> CAN_DEBUG_LOCK("%s:%d\n", __FILE__, __LINE__); \
> real_can_interrupt_lock_acquire(__VA_ARGS__);
> } while(0)
>
Then you can just write it as normal can_interrupt_lock_acquire but get
> a debug print with file and line on every call.
>
now moved the logs and call to the lock acquire/release to #defines.
> + can_interrupt_lock_acquire(bus);
> > + bus->can_tx_buf_waiters++;
> > + CAN_DEBUG_LOCK("can_bus_write: release lock
> can_tx_buf_waiters++\n");
> > + can_interrupt_lock_release(bus);
> > +
> > + ret = take_sem(bus);
> > +
> > + CAN_DEBUG_LOCK("can_bus_write: acquiring lock
> can_tx_buf_waiters--\n");
> > + can_interrupt_lock_acquire(bus);
> > + bus->can_tx_buf_waiters--;
> > + CAN_DEBUG_LOCK("can_bus_write: release lock
> can_tx_buf_waiters--\n");
> > + can_interrupt_lock_release(bus);
> > +
>
> + if (ret != RTEMS_SUCCESSFUL) {
> > + printf("can_bus_write: cannot take semaphore\n");
> > + ret = -RTEMS_INTERNAL_ERROR;
> > + goto return_from_func;
>
Why not just use a return here instead of the goto? The label isn't used
> anywhere else.
>
changed to return.
> > + }
> > + }
> > +
> > + /* sleep is for debug purpose to test concurrency issues */
> > + printf("can_bus_write: calling sleep\n");
> > + sleep(1);
> > + printf("can_bus_write: coming out sleep\n");
>
> Obviously this shouldn't be there in the later merge-ready patch.
Yes, these sleeps will be removed.
> Do these really have to be in a header that you (most likely) will later
> install? With that they are public visible API.
On Tue, 2 Aug 2022 at 23:19, <oss at c-mauderer.de> wrote:
> Hello Duc,
>
> general note: You add an API to cpukit. Most APIs there should have a
> test case in the testsuite. In this case the test case would have to
> create some dummy CAN driver and check whether everything works like
> expected. As an example take a look at the SPI test:
>
> https://git.rtems.org/rtems/tree/testsuites/libtests/spi01/init.c
>
> It creates a dummy device and checks whether the SPI layer does
> everything as expected. Would be great if you could add something like
> this. Target of such a test should be more or less that every branch in
> your code is triggered at least once (code coverage). It doesn't has to
> be every combination but it shows that the code is at least reachable
> and works as expected.
>
> Am 31.07.22 um 13:53 schrieb Prashanth S:
> > ---
> > cpukit/dev/can/can.c | 514 +++++++++++++++++++++++++++++
> > cpukit/include/dev/can/can-msg.h | 55 +++
> > cpukit/include/dev/can/can-queue.h | 127 +++++++
> > cpukit/include/dev/can/can.h | 102 ++++++
> > spec/build/cpukit/librtemscpu.yml | 6 +
> > 5 files changed, 804 insertions(+)
> > create mode 100644 cpukit/dev/can/can.c
> > create mode 100644 cpukit/include/dev/can/can-msg.h
> > create mode 100644 cpukit/include/dev/can/can-queue.h
> > create mode 100644 cpukit/include/dev/can/can.h
> >
> > diff --git a/cpukit/dev/can/can.c b/cpukit/dev/can/can.c
> > new file mode 100644
> > index 0000000000..8feec8800b
> > --- /dev/null
> > +++ b/cpukit/dev/can/can.c
> > @@ -0,0 +1,514 @@
> > +/* SPDX-License-Identifier: BSD-2-Clause */
> > +
> > +/**
> > + * @file
> > + *
> > + * @ingroup CANBus
> > + *
> > + * @brief Controller Area Network (CAN) Bus Implementation
> > + *
> > + */
> > +
> > +/*
> > + * Copyright (C) 2022 Prashanth S (fishesprashanth at gmail.com)
> > + *
> > + * Redistribution and use in source and binary forms, with or without
> > + * modification, are permitted provided that the following conditions
> > + * are met:
> > + * 1. Redistributions of source code must retain the above copyright
> > + * notice, this list of conditions and the following disclaimer.
> > + * 2. Redistributions in binary form must reproduce the above copyright
> > + * notice, this list of conditions and the following disclaimer in the
> > + * documentation and/or other materials provided with the distribution.
> > + *
> > + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
> "AS IS"
> > + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
> TO, THE
> > + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
> PURPOSE
> > + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
> CONTRIBUTORS BE
> > + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
> > + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
> > + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
> BUSINESS
> > + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
> IN
> > + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
> OTHERWISE)
> > + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
> OF THE
> > + * POSSIBILITY OF SUCH DAMAGE.
> > + */
> > +
> > +#include <rtems/imfs.h>
> > +#include <rtems/thread.h>
> > +
> > +#include <dev/can/can-queue.h>
> > +#include <dev/can/can.h>
> > +
> > +#include <string.h>
> > +#include <stdlib.h>
> > +
> > +#include <fcntl.h>
> > +
> > +static ssize_t
> > +can_bus_open(rtems_libio_t *iop, const char *path, int oflag, mode_t
> mode);
> > +static ssize_t
> > +can_bus_read(rtems_libio_t *iop, void *buffer, size_t count);
> > +static ssize_t
> > +can_bus_write(rtems_libio_t *iop, const void *buffer, size_t count);
> > +static ssize_t
> > +can_bus_ioctl(rtems_libio_t *iop, ioctl_command_t request, void
> *buffer);
> > +
> > +static int can_xmit(struct can_bus *bus);
> > +
> > +static int can_create_sem(struct can_bus *);
> > +static int try_sem(struct can_bus *);
> > +static int take_sem(struct can_bus *);
> > +static int give_sem(struct can_bus *);
> > +
> > +/* sem_count this is for debug purpose, for debugging
> > +the take_sem and give_sem
> > +*/
> > +static int sem_count = 0;
> > +
> > +static void can_bus_obtain(can_bus *bus)
> > +{
> > + rtems_recursive_mutex_lock(&bus->mutex);
> > +}
> > +
> > +static void can_bus_release(can_bus *bus)
> > +{
> > + rtems_recursive_mutex_unlock(&bus->mutex);
> > +}
> > +
> > +int can_create_sem(struct can_bus *bus)
> > +{
> > + int ret = 0;
> > +
> > + ret = rtems_semaphore_create(rtems_build_name('c', 'a', 'n',
> bus->index),
> > + CAN_TX_BUF_COUNT, RTEMS_FIFO | RTEMS_COUNTING_SEMAPHORE |
> RTEMS_LOCAL,
> > + 0, &bus->tx_fifo_sem_id);
> > +
> > + if (ret != 0) {
> > + printf("can_create_sem: rtems_semaphore_create failed %d\n", ret);
> > + }
> > +
> > + return ret;
> > +}
> > +
> > +static void can_interrupt_lock_acquire(struct can_bus *bus)
> > +{
> > + can_bus_obtain(bus);
> > + bus->can_dev_ops->dev_int(bus->priv, false);
> > +}
> > +
> > +static void can_interrupt_lock_release(struct can_bus *bus)
> > +{
> > + bus->can_dev_ops->dev_int(bus->priv, true);
> > + can_bus_release(bus);
> > +}
> > +
> > +static int take_sem(struct can_bus *bus)
> > +{
> > + int ret = rtems_semaphore_obtain(bus->tx_fifo_sem_id, RTEMS_WAIT,
> > + RTEMS_NO_TIMEOUT);
> > + if (ret == RTEMS_SUCCESSFUL) {
> > + CAN_DEBUG_LOCK("take_sem: Counting semaphore count = %d\n",
> ++sem_count);
>
>
> Do you really mean "LOCK" or should it be a "LOG"? Both is reasonable
> here so I'm not entirely sure. But you use the LOCK macro also in
> can_xmit and similar so I'm a bit unsure.
>
>
> > + if (sem_count > CAN_TX_BUF_COUNT) {
>
> If you increment sem_count only in a debug macro, you must not use it
> for any other code. The macro is processed by the preprocessor. So if
> you define the CAN_DEBUG_LOCK to something empty, the ++sem_count from
> above will never happen. If CAN_DEBUG_LOCK interpretes the argument
> twice, you will get the wrong value.
>
> Please note: It's in general a good idea not to use anything that
> changes a variable or has any side effect in a macro. For example if I
> define the following
>
> #define SQUARE(x) ((x) * (x))
>
> And use it like this:
>
> int a = 2;
> int b;
> b = SQUARE(++a);
>
> The result that I would expect from reading the code would be that b is
> 9 and a is 3 afterwards. But instead I will get b = 16 and a = 4. The
> reason for this is that the preprocessor will replace the code with the
> following one:
>
> int a = 2;
> int b;
> b = ((++a) * (++a));
>
> Therefore: Try to avoid statements with a side effect as a parameter to
> something if you are not 100% sure that the something is a function or
> is allways executed. You don't have to save lines. We don't have a limit
> on the maximum lines in a file. Readability is much more important than
> compact code.
>
> PS: Also true for "if". I wouldn't be sure whether the printf in the
> following code will be executed:
>
> if (0 || printf("Will someone call me?")) {
> }
>
> In general: Try to avoid anything where you have to think about the
> order of execution except if you can't avoid it or if it is really obvious.
>
> > + printf("take_sem error: sem_count is misleading\n");
> > + while (1);
> > + }
> > + }
> > +
> > + return ret;
> > +}
> > +
> > +static int give_sem(struct can_bus *bus)
> > +{
> > + int ret = rtems_semaphore_release(bus->tx_fifo_sem_id);
> > + if (ret == RTEMS_SUCCESSFUL) {
> > + CAN_DEBUG_LOCK("give_sem: Counting semaphore count = %d\n",
> --sem_count);
> > + if (sem_count < 0) {
> > + printf("give_sem error: sem_count is misleading\n");
> > + while (1);
> > + }
> > + }
> > +
> > + return ret;
> > +}
> > +
> > +static int try_sem(struct can_bus *bus)
> > +{
> > + int ret = rtems_semaphore_obtain(bus->tx_fifo_sem_id, RTEMS_NO_WAIT,
> > + RTEMS_NO_TIMEOUT);
> > + if (ret == RTEMS_SUCCESSFUL) {
> > + CAN_DEBUG_LOCK("take_sem: Counting semaphore count = %d\n",
> ++sem_count);
> > + if (sem_count > CAN_TX_BUF_COUNT) {
> > + printf("take_sem error: sem_count is misleading\n");
> > + while (1);
> > + }
> > + }
> > +
> > + return ret;
> > +}
> > +
> > +static ssize_t
> > +can_bus_open(rtems_libio_t *iop, const char *path, int oflag, mode_t
> mode)
> > +{
> > +/*
> > + can_bus *bus = IMFS_generic_get_context_by_iop(iop);
> > +
> > + if (bus == NULL) {
> > + return -RTEMS_NOT_DEFINED;
> > + }
> > +*/
> > + return 0;
> > +}
> > +
> > +int can_receive(struct can_bus *bus, struct can_msg *msg)
> > +{
> > + int32_t ret = 0;
> > +
> > + uint32_t count = 0;
> > +
> > + ret = rtems_message_queue_broadcast(bus->rx_queue_id, msg,
> CAN_MSGLEN(msg),
> > + &count);
> > + if (ret != RTEMS_SUCCESSFUL) {
> > + CAN_DEBUG_RX("rtems_message_queue_send failed\n");
> > + }
> > +
> > + CAN_DEBUG_RX("rtems_message_queue_broadcast = %u\n", count);
> > +
> > + return ret;
> > +}
> > +
> > +/* count argument is not used here as struct can_msg has the dlc member
> */
> > +static ssize_t can_bus_read(rtems_libio_t *iop, void *buffer, size_t
> count)
> > +{
> > + int32_t ret = 0;
> > + uint32_t flags = 0;
> > +
> > + can_bus *bus = IMFS_generic_get_context_by_iop(iop);
> > +
> > + if (bus == NULL || bus->can_dev_ops->dev_rx == NULL) {
> > + return -RTEMS_NOT_DEFINED;
> > + }
> > +
> > + struct can_msg *msg = (struct can_msg *)buffer;
> > +
> > + if ((iop->flags & O_NONBLOCK) != 0) {
> > + flags = RTEMS_NO_WAIT;
> > + }
> > +
> > + ret = rtems_message_queue_receive(bus->rx_queue_id, (void *)msg,
> &count,
> > + flags, 0);
> > + if (ret != RTEMS_SUCCESSFUL) {
> > + return ret;
> > + }
> > +
> > + return count;
> > +}
> > +
> > +static int can_xmit(struct can_bus *bus)
> > +{
> > + int ret = RTEMS_SUCCESSFUL;
> > +
> > + struct can_msg *msg = NULL;
> > +
> > + while (1) {
> > + CAN_DEBUG_LOCK("can_xmit: acquiring lock\n");
> > + can_interrupt_lock_acquire(bus);
> > +
> > + ret = bus->can_dev_ops->dev_tx_ready(bus->priv);
> > + if (ret != true) {
> > + goto return_with_lock_release;
> > + }
> > +
> > + msg = can_tx_get_data_buf(bus);
> > + if (msg == NULL) {
> > + goto return_with_lock_release;
> > + }
> > +
> > + ret = bus->can_dev_ops->dev_tx(bus->priv, msg);
> > + if (ret != RTEMS_SUCCESSFUL) {
> > + printf("can_xmit: dev_send failed\n");
> > + }
> > +
> > + ret = give_sem(bus);
> > + if (ret != RTEMS_SUCCESSFUL) {
> > + printf("can_tx_done: rtems_semaphore_release failed = %d\n", ret);
> > + }
> > +
> > + CAN_DEBUG_LOCK("can_xmit: releasing lock\n");
> > + can_interrupt_lock_release(bus);
> > +
> > + //can_tx_done(bus);
> > + }
> > +
> > + return ret;
>
> If I see it correctly, you can never reach this return. You have a
> while(1) without any break condition. By the way: Code with goto, loops
> and break tends to get sphaghetti code. You should only use these
> constructions if it improves readability compared to a solution without
> these.
>
> > +
> > +return_with_lock_release:
> > +
> > + CAN_DEBUG_LOCK("can_xmit: releasing lock\n");
> > + can_interrupt_lock_release(bus);
> > +
> > + return ret;
> > +}
> > +
> > +void can_print_msg(struct can_msg const *msg)
> > +{
> > +
> printf("\n----------------------------------------------------------------\n");
> > + printf("id = %d len = %d flags = 0x%08X\n", msg->id, msg->len,
> msg->flags);
> > +
> > + for (int i = 0; i < msg->len; i++) {
> > + printf("%02x ", msg->data[i]);
> > + }
> > +
> > +
> printf("\n-----------------------------------------------------------------\n");
> > +}
> > +
> > +/* can_tx_done should be called only with interrupts disabled */
> > +int can_tx_done(struct can_bus *bus)
> > +{
> > + int ret = 0;
> > +
> > + if (bus->can_dev_ops->dev_tx_ready(bus->priv) == true) {
> > + can_xmit(bus);
> > + }
> > +
> > + return ret;
> > +}
> > +
> > +static ssize_t
> > +can_bus_write(rtems_libio_t *iop, const void *buffer, size_t count)
> > +{
> > + can_bus *bus = IMFS_generic_get_context_by_iop(iop);
> > +
> > + if (bus == NULL || bus->can_dev_ops->dev_tx == NULL) {
> > + return -RTEMS_NOT_DEFINED;
> > + }
> > +
> > + int32_t ret = 0;
> > +
> > + struct can_msg const *msg = buffer;
> > + struct can_msg *fifo_buf = NULL;
> > +
> > + CAN_DEBUG_LOCK("can_bus_write: acquiring lock tx_fifo.empty_count\n");
> > + can_interrupt_lock_acquire(bus);
> > + CAN_DEBUG_TX("can_bus_write: empty_count = %u\n",
> bus->tx_fifo.empty_count);
> > + CAN_DEBUG_LOCK("can_bus_write: release lock tx_fifo.empty_count\n");
> > + can_interrupt_lock_release(bus);
> > +
> > + if ((iop->flags & O_NONBLOCK) != 0) {
> > + ret = try_sem(bus);
> > + if (ret != RTEMS_SUCCESSFUL) {
> > + return -RTEMS_NO_MEMORY;
> > + }
> > + } else {
> > + CAN_DEBUG_LOCK("can_bus_write: acquiring lock
> can_tx_buf_waiters++\n");
>
> You use the macros a lot. You are aware that you could do something like
> that:
>
> - Declare the original can_interrupt_lock_acquire() as something with a
> prefix or postifix for example as real_can_interrupt_lock_acquire.
>
> - Then add a define that wrapps it with:
>
> #define can_interrupt_lock_acquire(...) do { \
> CAN_DEBUG_LOCK("%s:%d\n", __FILE__, __LINE__); \
> real_can_interrupt_lock_acquire(__VA_ARGS__);
> } while(0)
>
> Then you can just write it as normal can_interrupt_lock_acquire but get
> a debug print with file and line on every call.
>
> > + can_interrupt_lock_acquire(bus);
> > + bus->can_tx_buf_waiters++;
> > + CAN_DEBUG_LOCK("can_bus_write: release lock
> can_tx_buf_waiters++\n");
> > + can_interrupt_lock_release(bus);
> > +
> > + ret = take_sem(bus);
> > +
> > + CAN_DEBUG_LOCK("can_bus_write: acquiring lock
> can_tx_buf_waiters--\n");
> > + can_interrupt_lock_acquire(bus);
> > + bus->can_tx_buf_waiters--;
> > + CAN_DEBUG_LOCK("can_bus_write: release lock
> can_tx_buf_waiters--\n");
> > + can_interrupt_lock_release(bus);
> > +
> > + if (ret != RTEMS_SUCCESSFUL) {
> > + printf("can_bus_write: cannot take semaphore\n");
> > + ret = -RTEMS_INTERNAL_ERROR;
> > + goto return_from_func;
>
> Why not just use a return here instead of the goto? The label isn't used
> anywhere else.
>
> > + }
> > + }
> > +
> > + /* sleep is for debug purpose to test concurrency issues */
> > + printf("can_bus_write: calling sleep\n");
> > + sleep(1);
> > + printf("can_bus_write: coming out sleep\n");
>
> Obviously this shouldn't be there in the later merge-ready patch.
>
> > +
> > + CAN_DEBUG_LOCK("can_bus_write: acquiring lock
> can_tx_get_empty_buf\n");
> > + can_interrupt_lock_acquire(bus);
> > + fifo_buf = can_tx_get_empty_buf(bus);
> > + CAN_DEBUG_LOCK("can_bus_write: releasing lock
> can_tx_get_empty_buf\n");
> > + can_interrupt_lock_release(bus);
> > +
> > + if (fifo_buf == NULL) {
> > + printf("can_bus_write: Buffer counts are not synchronized with
> semaphore count\n");
> > + return -RTEMS_INTERNAL_ERROR;
> > + }
> > +
> > + /* sleep is for debug purpose to test concurrency issues */
> > + printf("can_bus_write: calling sleep\n");
> > + sleep(1);
> > + printf("can_bus_write: coming out sleep\n");
> > +
> > + uint32_t msg_size = (char *)&msg->data[msg->len] - (char *)msg;
> > +
> > + CAN_DEBUG_TX("can_bus_write: can_msg_size = %u\n", msg_size);
> > + if (msg_size > sizeof(struct can_msg)) {
> > + printf("can_bus_write:"
> > + "can message len error msg_size = %u struct can_msg = %u\n",
> > + msg_size, sizeof(struct can_msg));
> > + return -RTEMS_INVALID_SIZE;
> > + }
> > +
> > + CAN_DEBUG_TX("can_bus_write: copying msg from application to driver
> buffer\n");
> > + memcpy(fifo_buf, msg, msg_size);
> > + ret = msg_size;
> > +
> > + /* sleep is for debug purpose to test concurrency issues */
> > + printf("can_bus_write: calling sleep\n");
> > + sleep(1);
> > + printf("can_bus_write: coming out sleep\n");
> > +
> > + if (bus->can_dev_ops->dev_tx_ready(bus->priv) == true) {
> > + can_xmit(bus);
> > + }
> > +
> > +return_from_func:
> > + return ret;
> > +}
> > +
> > +static ssize_t
> > +can_bus_ioctl(rtems_libio_t *iop, ioctl_command_t request, void *buffer)
> > +{
> > + can_bus *bus = IMFS_generic_get_context_by_iop(iop);
> > +
> > + if (bus == NULL || bus->can_dev_ops->dev_ioctl == NULL) {
> > + return -RTEMS_NOT_DEFINED;
> > + }
> > +
> > + can_bus_obtain(bus);
> > +
> > + bus->can_dev_ops->dev_ioctl(bus->priv, NULL, 0);
> > +
> > + can_bus_release(bus);
> > +
> > + return RTEMS_SUCCESSFUL;
> > +}
> > +
> > +static const rtems_filesystem_file_handlers_r can_bus_handler = {
> > + .open_h = can_bus_open,
> > + .close_h = rtems_filesystem_default_close,
> > + .read_h = can_bus_read,
> > + .write_h = can_bus_write,
> > + .ioctl_h = can_bus_ioctl,
> > + .lseek_h = rtems_filesystem_default_lseek,
> > + .fstat_h = IMFS_stat,
> > + .ftruncate_h = rtems_filesystem_default_ftruncate,
> > + .fsync_h = rtems_filesystem_default_fsync_or_fdatasync,
> > + .fdatasync_h = rtems_filesystem_default_fsync_or_fdatasync,
> > + .fcntl_h = rtems_filesystem_default_fcntl,
> > + .kqfilter_h = rtems_filesystem_default_kqfilter,
> > + .mmap_h = rtems_filesystem_default_mmap,
> > + .poll_h = rtems_filesystem_default_poll,
> > + .readv_h = rtems_filesystem_default_readv,
> > + .writev_h = rtems_filesystem_default_writev
> > +};
> > +
> > +static void can_bus_node_destroy(IMFS_jnode_t *node)
> > +{
> > + can_bus *bus;
> > +
> > + bus = IMFS_generic_get_context_by_node(node);
> > + (*bus->destroy)(bus);
> > +
> > + IMFS_node_destroy_default(node);
> > +}
> > +
> > +static const
> > +IMFS_node_control can_bus_node_control =
> IMFS_GENERIC_INITIALIZER(&can_bus_handler,
> > + IMFS_node_initialize_generic, can_bus_node_destroy);
> > +
> > +rtems_status_code can_bus_register(can_bus *bus, const char *bus_path)
> > +{
> > + int ret = RTEMS_SUCCESSFUL;
> > +
> > + static uint8_t index = 0;
> > +
> > + if (index == 255) {
> > + printf("can_bus_register: can bus registration limit reached\n");
> > + return RTEMS_TOO_MANY;
> > + }
> > +
> > + bus->index = index++;
> > + CAN_DEBUG("Registering CAN bus index = %u\n", bus->index);
> > +
> > + ret = IMFS_make_generic_node(bus_path, S_IFCHR | S_IRWXU | S_IRWXG |
> S_IRWXO,
> > + &can_bus_node_control, bus);
> > + if (ret != RTEMS_SUCCESSFUL) {
> > + printf("can_bus_register: Creating node failed = %d\n", ret);
> > + goto fail;
> > + }
> > +
> > + if ((ret = can_create_sem(bus)) != RTEMS_SUCCESSFUL) {
> > + printf("can_bus_register: can_create_sem failed = %d\n", ret);
> > + goto fail;
> > + }
> > +
> > + if ((ret = can_create_tx_buffers(bus)) != RTEMS_SUCCESSFUL) {
> > + printf("can_bus_register: can_create_tx_buffers failed = %d\n",
> ret);
> > + goto fail;
> > + }
> > +
> > + if ((ret = can_create_rx_buffers(bus)) != RTEMS_SUCCESSFUL) {
> > + printf("can_bus_register: can_create_rx_buffers failed = %d\n",
> ret);
> > + goto free_tx_buffers_return;
> > + }
> > +
> > + return ret;
> > +
> > +free_tx_buffers_return:
> > + free(bus->tx_fifo.pbuf);
> > +
> > +fail:
> > + (*bus->destroy)(bus);
> > + return ret;
> > +
> > +}
> > +
> > +static void can_bus_destroy(can_bus *bus)
> > +{
> > + rtems_recursive_mutex_destroy(&bus->mutex);
> > +}
> > +
> > +static int can_bus_do_init(can_bus *bus, void (*destroy)(can_bus *bus))
> > +{
> > + rtems_recursive_mutex_init(&bus->mutex, "CAN Bus");
> > + bus->destroy = can_bus_destroy;
> > +
> > + return RTEMS_SUCCESSFUL;
> > +}
> > +
> > +static void can_bus_destroy_and_free(can_bus *bus)
> > +{
> > + can_bus_destroy(bus);
> > + free(bus);
> > +}
> > +
> > +int can_bus_init(can_bus *bus)
> > +{
> > + memset(bus, 0, sizeof(*bus));
> > +
> > + return can_bus_do_init(bus, can_bus_destroy);
> > +}
> > +
> > +can_bus *can_bus_alloc_and_init(size_t size)
> > +{
> > + can_bus *bus = NULL;
> > +
> > + if (size >= sizeof(*bus)) {
> > + bus = calloc(1, size);
> > + if (bus == NULL) {
> > + printf("can_bus_alloc_and_init: calloc failed\b");
> > + return NULL;
> > + }
> > +
> > + int rv = can_bus_do_init(bus, can_bus_destroy_and_free);
> > + if (rv != 0) {
> > + printf("can_bus_alloc_and_init: can_bus_do_init failed\n");
> > + return NULL;
> > + }
> > + }
> > + return bus;
> > +}
> > diff --git a/cpukit/include/dev/can/can-msg.h
> b/cpukit/include/dev/can/can-msg.h
> > new file mode 100644
> > index 0000000000..5c79b91600
> > --- /dev/null
> > +++ b/cpukit/include/dev/can/can-msg.h
> > @@ -0,0 +1,55 @@
> > +/* SPDX-License-Identifier: BSD-2-Clause */
> > +
> > +/**
> > + * @file
> > + *
> > + * @ingroup CANBus
> > + *
> > + * @brief Controller Area Network (CAN) Bus Implementation
> > + *
> > + */
> > +
> > +/*
> > + * Copyright (C) 2022 Prashanth S <fishesprashanth at gmail.com>
> > + *
> > + * Redistribution and use in source and binary forms, with or without
> > + * modification, are permitted provided that the following conditions
> > + * are met:
> > + * 1. Redistributions of source code must retain the above copyright
> > + * notice, this list of conditions and the following disclaimer.
> > + * 2. Redistributions in binary form must reproduce the above copyright
> > + * notice, this list of conditions and the following disclaimer in the
> > + * documentation and/or other materials provided with the distribution.
> > + *
> > + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
> "AS IS"
> > + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
> TO, THE
> > + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
> PURPOSE
> > + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
> CONTRIBUTORS BE
> > + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
> > + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
> > + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
> BUSINESS
> > + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
> IN
> > + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
> OTHERWISE)
> > + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
> OF THE
> > + * POSSIBILITY OF SUCH DAMAGE.
> > + */
> > +
> > +#ifndef _DEV_CAN_CAN_MSG_H
> > +#define _DEV_CAN_CAN_MSG_H
> > +
> > +#define CAN_MSG_MAX_SIZE (8u)
> > +
> > +#define CAN_TX_BUF_COUNT (2u)
> > +#define CAN_RX_BUF_COUNT (2u)
> > +
> > +#define CAN_MSGLEN(msg) (sizeof(struct can_msg) - (CAN_MSG_MAX_SIZE -
> msg->len))
> > +
> > +struct can_msg {
> > + uint32_t id; // 32 bits to support
> extended id (29 bits).
> > + uint32_t timestamp;
> > + uint16_t flags; // RTR | BRS | EXT ...
> > + uint16_t len;
> > + uint8_t data[CAN_MSG_MAX_SIZE]; // For supporting data
> transfer up to 64 bytes.
> > +};
> > +
> > +#endif /* _DEV_CAN_CAN_MSG_H */
> > diff --git a/cpukit/include/dev/can/can-queue.h
> b/cpukit/include/dev/can/can-queue.h
> > new file mode 100644
> > index 0000000000..c018441320
> > --- /dev/null
> > +++ b/cpukit/include/dev/can/can-queue.h
> > @@ -0,0 +1,127 @@
> > +/* SPDX-License-Identifier: BSD-2-Clause */
> > +
> > +/**
> > + * @file
> > + *
> > + * @ingroup CANBus
> > + *
> > + * @brief Controller Area Network (CAN) Bus Implementation
> > + *
> > + */
> > +
> > +/*
> > + * Copyright (C) 2022 Prashanth S <fishesprashanth at gmail.com>
> > + *
> > + * Redistribution and use in source and binary forms, with or without
> > + * modification, are permitted provided that the following conditions
> > + * are met:
> > + * 1. Redistributions of source code must retain the above copyright
> > + * notice, this list of conditions and the following disclaimer.
> > + * 2. Redistributions in binary form must reproduce the above copyright
> > + * notice, this list of conditions and the following disclaimer in the
> > + * documentation and/or other materials provided with the distribution.
> > + *
> > + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
> "AS IS"
> > + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
> TO, THE
> > + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
> PURPOSE
> > + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
> CONTRIBUTORS BE
> > + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
> > + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
> > + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
> BUSINESS
> > + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
> IN
> > + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
> OTHERWISE)
> > + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
> OF THE
> > + * POSSIBILITY OF SUCH DAMAGE.
> > + */
> > +
> > +#ifndef _DEV_CAN_CAN_QUEUE_H
> > +#define _DEV_CAN_CAN_QUEUE_H
> > +
> > +#include <rtems/imfs.h>
> > +#include <rtems/thread.h>
> > +
> > +#include <string.h>
> > +#include <stdlib.h>
> > +#include <stdio.h>
> > +
> > +#include <dev/can/can-msg.h>
> > +#include <dev/can/can.h>
> > +
> > +static rtems_status_code can_create_tx_buffers(struct can_bus *bus);
> > +static rtems_status_code can_create_rx_buffers(struct can_bus *bus);
> > +static bool can_tx_buf_isempty(struct can_bus *bus);
> > +static struct can_msg *can_tx_get_data_buf(struct can_bus *bus);
> > +static struct can_msg *can_tx_get_empty_buf(struct can_bus *bus);
> > +
> > +static rtems_status_code can_create_rx_buffers(struct can_bus *bus)
> > +{
> > + return rtems_message_queue_create(rtems_build_name('c', 'a', 'n',
> bus->index),
> > + CAN_RX_BUF_COUNT, sizeof(struct can_msg),
> > + RTEMS_FIFO | RTEMS_LOCAL, &bus->rx_queue_id);
> > +}
> > +
> > +static rtems_status_code can_create_tx_buffers(struct can_bus *bus)
> > +{
> > + bus->tx_fifo.pbuf = (struct can_msg *)malloc(CAN_TX_BUF_COUNT *
> > + sizeof(struct can_msg));
> > + if (bus->tx_fifo.pbuf == NULL) {
> > + printf("can_create_tx_buffers: malloc failed\n");
> > + return RTEMS_NO_MEMORY;
> > + }
> > +
> > + bus->tx_fifo.empty_count = CAN_TX_BUF_COUNT;
> > +
> > + return RTEMS_SUCCESSFUL;
> > +}
> > +
> > +static bool can_tx_buf_isempty(struct can_bus *bus)
> > +{
> > + if (bus->tx_fifo.empty_count == 0) {
> > + return false;
> > + }
> > +
> > + return true;
> > +}
> > +
> > +// TODO: free the given data buf is done in the same function
> > +// SO the returned buffer should be consumed before releasing the
> > +// lock acquired while calling this function.
> > +static struct can_msg *can_tx_get_data_buf(struct can_bus *bus)
> > +{
> > + struct can_msg *msg = NULL;
> > +
> > + if (bus->tx_fifo.empty_count == CAN_TX_BUF_COUNT) {
> > + CAN_DEBUG_BUF("can_tx_get_data_buf: All buffers are empty\n");
> > + return NULL;
> > + }
> > +
> > + msg = &bus->tx_fifo.pbuf[bus->tx_fifo.tail];
> > + bus->tx_fifo.empty_count++;
> > + bus->tx_fifo.tail = (bus->tx_fifo.tail + 1) % CAN_TX_BUF_COUNT;
> > +
> > + return msg;
> > +}
> > +
> > +// TODO: marking the given buf as produced is done in the same function
> > +// So the returned buffer should be produced before releasing the
> > +// lock acquired while calling this function.
> > +static struct can_msg *can_tx_get_empty_buf(struct can_bus *bus)
> > +{
> > + struct can_msg *msg = NULL;
> > +
> > + /* Check whether there is a empty CAN msg buffer */
> > + if (can_tx_buf_isempty(bus) == false) {
> > + CAN_DEBUG_BUF("can_tx_get_empty_buf: No empty buffer\n");
> > + return NULL;
> > + }
> > +
> > + bus->tx_fifo.empty_count--;
> > +
> > + /* tx_fifo.head always points to a empty buffer if there is atleast
> one */
> > + msg = &bus->tx_fifo.pbuf[bus->tx_fifo.head];
> > + bus->tx_fifo.head = (bus->tx_fifo.head + 1) % CAN_TX_BUF_COUNT;
> > +
> > + return msg;
> > +}
> > +
> > +#endif /*_DEV_CAN_CAN_QUEUE_H */
> > diff --git a/cpukit/include/dev/can/can.h b/cpukit/include/dev/can/can.h
> > new file mode 100644
> > index 0000000000..eeb2eb2c0b
> > --- /dev/null
> > +++ b/cpukit/include/dev/can/can.h
> > @@ -0,0 +1,102 @@
> > +/* SPDX-License-Identifier: BSD-2-Clause */
> > +
> > +/**
> > + * @file
> > + *
> > + * @ingroup CANBus
> > + *
> > + * @brief Controller Area Network (CAN) Bus Implementation
> > + *
> > + */
> > +
> > +/*
> > + * Copyright (C) 2022 Prashanth S (fishesprashanth at gmail.com)
> > + *
> > + * Redistribution and use in source and binary forms, with or without
> > + * modification, are permitted provided that the following conditions
> > + * are met:
> > + * 1. Redistributions of source code must retain the above copyright
> > + * notice, this list of conditions and the following disclaimer.
> > + * 2. Redistributions in binary form must reproduce the above copyright
> > + * notice, this list of conditions and the following disclaimer in the
> > + * documentation and/or other materials provided with the distribution.
> > + *
> > + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
> "AS IS"
> > + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
> TO, THE
> > + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
> PURPOSE
> > + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
> CONTRIBUTORS BE
> > + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
> > + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
> > + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
> BUSINESS
> > + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
> IN
> > + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
> OTHERWISE)
> > + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
> OF THE
> > + * POSSIBILITY OF SUCH DAMAGE.
> > + */
> > +
> > +#ifndef _DEV_CAN_CAN_H
> > +#define _DEV_CAN_CAN_H
> > +
> > +#include <rtems/imfs.h>
> > +#include <rtems/thread.h>
> > +#include <semaphore.h>
> > +
> > +#include <string.h>
> > +#include <stdlib.h>
> > +#include <stdio.h>
> > +
> > +#include <dev/can/can-msg.h>
> > +
> > +#define CAN_DEBUG(str, ...) printf(str, ##__VA_ARGS__)
> > +#define CAN_DEBUG_BUF(str, ...) printf(str, ##__VA_ARGS__)
> > +#define CAN_DEBUG_ISR(str, ...) printf(str, ##__VA_ARGS__)
> > +#define CAN_DEBUG_LOCK(str, ...) printf(str, ##__VA_ARGS__)
> > +#define CAN_DEBUG_RX(str, ...) printf(str, ##__VA_ARGS__)
> > +#define CAN_DEBUG_TX(str, ...) printf(str, ##__VA_ARGS__)
>
> Do these really have to be in a header that you (most likely) will later
> install? With that they are public visible API.
>
> Best regards
>
> Christian
>
> > +
> > +struct ring_buf {
> > + struct can_msg *pbuf;
> > + uint32_t head;
> > + uint32_t tail;
> > + uint32_t empty_count;
> > +};
> > +
> > +typedef struct can_dev_ops {
> > + int32_t (*dev_rx)(void *priv, void *buffer);
> > + int32_t (*dev_tx)(void *priv, void *buffer);
> > + bool (*dev_tx_ready)(void *priv);
> > + void (*dev_int)(void *priv, bool);
> > + int32_t (*dev_ioctl)(void *priv, void *buffer, size_t cmd);
> > +} can_dev_ops;
> > +
> > +typedef struct can_bus {
> > + void *priv; // CAN controller specific
> struct.
> > + uint8_t index;
> > + struct can_dev_ops *can_dev_ops; // CAN controller
> operations.
> > +
> > + struct ring_buf tx_fifo; // TX fifo
> > + rtems_id tx_fifo_sem_id; // TX fifo counting
> semaphore id
> > + uint32_t can_tx_buf_waiters;
> > +
> > + rtems_id rx_queue_id;
> > + uint32_t rx_queue_name;
> > +
> > + rtems_recursive_mutex mutex; // For handling driver
> concurrency.
> > + RTEMS_INTERRUPT_LOCK_MEMBER(can_bus_lock);
> > +
> > + void (*destroy)(struct can_bus *bus); // Clean the CAN controller
> specific resources.
> > +} can_bus;
> > +
> > +extern rtems_status_code can_bus_register(can_bus *bus, const char
> *bus_path);
> > +
> > +extern can_bus *can_bus_alloc_and_init(size_t size);
> > +extern int can_bus_init(can_bus *bus);
> > +extern int can_tx_done(struct can_bus *);
> > +extern int can_receive(struct can_bus *, struct can_msg *);
> > +
> > +extern uint16_t can_len_to_dlc(uint16_t len);
> > +extern uint16_t can_dlc_to_len(uint16_t dlc);
> > +
> > +extern void can_print_msg(struct can_msg const *);
> > +
> > +#endif /* _DEV_CAN_CAN_H */
> > diff --git a/spec/build/cpukit/librtemscpu.yml
> b/spec/build/cpukit/librtemscpu.yml
> > index 31a68cf85a..b7f6c0457c 100644
> > --- a/spec/build/cpukit/librtemscpu.yml
> > +++ b/spec/build/cpukit/librtemscpu.yml
> > @@ -50,6 +50,11 @@ install:
> > - destination: ${BSP_INCLUDEDIR}/dev/spi
> > source:
> > - cpukit/include/dev/spi/spi.h
> > +- destination: ${BSP_INCLUDEDIR}/dev/can
> > + source:
> > + - cpukit/include/dev/can/can.h
> > + - cpukit/include/dev/can/can-msg.h
> > + - cpukit/include/dev/can/can-queue.h
> > - destination: ${BSP_INCLUDEDIR}/linux
> > source:
> > - cpukit/include/linux/i2c-dev.h
> > @@ -530,6 +535,7 @@ source:
> > - cpukit/dev/serial/sc16is752-spi.c
> > - cpukit/dev/serial/sc16is752.c
> > - cpukit/dev/spi/spi-bus.c
> > +- cpukit/dev/can/can.c
> > - cpukit/dtc/libfdt/fdt.c
> > - cpukit/dtc/libfdt/fdt_addresses.c
> > - cpukit/dtc/libfdt/fdt_empty_tree.c
>
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