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drivers/can/ctucanfd_pci.c: refactor to use netdev_uperhalf
refactor ctucanfd_pci.c to use netdev_uperhalf for SocketCAN interface Signed-off-by: p-szafonimateusz <p-szafonimateusz@xiaomi.com>
This commit is contained in:
p-szafonimateusz
Xiang Xiao
parent
9014af9ae7
commit
f84d34a57b
1 changed files with 270 additions and 464 deletions
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@ -40,8 +40,7 @@
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#endif
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#ifdef CONFIG_CAN_CTUCANFD_SOCKET
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# include <nuttx/wqueue.h>
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# include <nuttx/net/netdev.h>
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# include <nuttx/net/netdev_lowerhalf.h>
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# include <nuttx/net/can.h>
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#endif
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@ -76,19 +75,19 @@
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/* SocketCAN specific */
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#ifdef CONFIG_CAN_CTUCANFD_SOCKET
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# define CTUCANFD_POOL_SIZE 1
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/* Work queue support is required. */
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# if !defined(CONFIG_SCHED_WORKQUEUE)
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# error Work queue support is required
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# define CTUCANFD_TX_QUOTA 1
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# define CTUCANFD_RX_QUOTA 1
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# if CONFIG_IOB_NBUFFERS < (CTUCANFD_RX_QUOTA + CTUCANFD_TX_QUOTA)
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# error CONFIG_IOB_NBUFFERS must be > (CTUCANFD_RX_QUOTA + CTUCANFD_TX_QUOTA)
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# endif
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# define CTUCANFD_CANWORK LPWORK
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#endif /* CONFIG_CAN_CTUCANFD_SOCKET */
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#ifndef CONFIG_NET_CAN_ERRORS
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# define CTUCANFD_SOCK_RXINT (CTUCANFD_INT_RBNEI)
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#else
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# define CTUCANFD_SOCK_RXINT (CTUCANFD_INT_RBNEI | CTUCANFD_INT_ERR)
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#endif
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/*****************************************************************************
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* Private Types
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*****************************************************************************/
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@ -102,18 +101,9 @@ struct ctucanfd_can_s
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#endif
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#ifdef CONFIG_CAN_CTUCANFD_SOCKET
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struct net_driver_s dev; /* Interface understood by the network */
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struct work_s pollwork; /* For deferring poll work to the work wq */
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/* This holds the information visible to the NuttX network */
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/* TX/RX pool */
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# ifdef CONFIG_NET_CAN_CANFD
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struct canfd_frame tx_pool[CTUCANFD_POOL_SIZE];
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struct canfd_frame rx_pool[CTUCANFD_POOL_SIZE];
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# else
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struct can_frame tx_pool[CTUCANFD_POOL_SIZE];
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struct can_frame rx_pool[CTUCANFD_POOL_SIZE];
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# endif
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struct netdev_lowerhalf_s dev;
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#endif
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FAR struct pci_device_s *pcidev;
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@ -135,12 +125,6 @@ struct ctucanfd_driver_s
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FAR struct pci_device_s *pcidev;
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int irq;
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uintptr_t base;
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#ifdef CONFIG_CAN_CTUCANFD_SOCKET
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/* For deferring interrupt work to the wq */
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struct work_s irqwork;
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#endif
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};
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/*****************************************************************************
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@ -162,9 +146,9 @@ static void ctucanfd_shutdown(FAR struct ctucanfd_can_s *priv);
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static void ctucanfd_setup(FAR struct ctucanfd_can_s *priv);
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static void ctucanfd_rxint(FAR struct ctucanfd_can_s *priv, bool enable);
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static void ctucanfd_txint(FAR struct ctucanfd_can_s *priv, bool enable);
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static bool ctucanfd_txready(FAR struct ctucanfd_can_s *priv);
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#ifdef CONFIG_CAN_CTUCANFD_CHARDEV
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/* CAN character device methods */
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static void ctucanfd_chrdev_reset(FAR struct can_dev_s *dev);
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@ -187,21 +171,22 @@ static void ctucanfd_chardev_interrupt(FAR struct ctucanfd_driver_s *priv);
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#ifdef CONFIG_CAN_CTUCANFD_SOCKET
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/* SocketCAN methods */
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static int ctucanfd_sock_ifup(FAR struct net_driver_s *dev);
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static int ctucanfd_sock_ifdown(FAR struct net_driver_s *dev);
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static void ctucanfd_sock_txavail_work(FAR void *arg);
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static int ctucanfd_sock_txavail(FAR struct net_driver_s *dev);
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static int ctucanfd_sock_ifup(FAR struct netdev_lowerhalf_s *dev);
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static int ctucanfd_sock_ifdown(FAR struct netdev_lowerhalf_s *dev);
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static int ctucanfd_sock_transmit(FAR struct netdev_lowerhalf_s *dev,
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FAR netpkt_t *pkt);
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static FAR netpkt_t *ctucanfd_sock_recv(FAR struct netdev_lowerhalf_s *dev);
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# ifdef CONFIG_NETDEV_IOCTL
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static int ctucanfd_sock_ioctl(FAR struct net_driver_s *dev, int cmd,
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static int ctucanfd_sock_ioctl(FAR struct netdev_lowerhalf_s *dev, int cmd,
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unsigned long arg);
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# endif
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static int ctucanfd_sock_txpoll(FAR struct net_driver_s *dev);
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static int ctucanfd_sock_send(FAR struct ctucanfd_can_s *priv);
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static void ctucanfd_sock_receive(FAR struct ctucanfd_can_s *priv);
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static void ctucanfd_sock_interrupt_work(FAR void *arg);
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# ifdef CONFIG_NET_CAN_ERRORS
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static FAR netpkt_t *ctucanfd_sock_error(FAR struct netdev_lowerhalf_s *dev);
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# endif
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static void ctucanfd_sock_interrupt(FAR struct ctucanfd_driver_s *priv);
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#endif
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/* Interrupts */
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@ -234,6 +219,19 @@ static const struct can_ops_s g_ctucanfd_can_ops =
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};
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#endif
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#ifdef CONFIG_CAN_CTUCANFD_SOCKET
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static const struct netdev_ops_s g_ctucanfd_net_ops =
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{
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.ifup = ctucanfd_sock_ifup,
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.ifdown = ctucanfd_sock_ifdown,
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.transmit = ctucanfd_sock_transmit,
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.receive = ctucanfd_sock_recv,
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#ifdef CONFIG_NETDEV_IOCTL
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.ioctl = ctucanfd_sock_ioctl,
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#endif
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};
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#endif
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static const struct pci_device_id_s g_ctucanfd_id_table[] =
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{
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{
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@ -385,28 +383,6 @@ static void ctucanfd_txint(FAR struct ctucanfd_can_s *priv, bool enable)
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}
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}
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/*****************************************************************************
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* Name: ctucanfd_txready
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*****************************************************************************/
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static bool ctucanfd_txready(FAR struct ctucanfd_can_s *priv)
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{
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uint32_t regval;
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int i;
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regval = ctucanfd_getreg(priv, CTUCANFD_TXSTAT);
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for (i = 0; i < priv->txbufcnt; i++)
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{
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if (CTUCANFD_TXSTAT_GET(regval, i) == CTUCANFD_TXSTAT_ETY)
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{
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return true;
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}
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}
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return false;
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}
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#ifdef CONFIG_CAN_CTUCANFD_CHARDEV
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/*****************************************************************************
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* Name: ctucanfd_chrdev_reset
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@ -689,8 +665,20 @@ static int ctucanfd_chrdev_send(FAR struct can_dev_s *dev,
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static bool ctucanfd_chrdev_txready(FAR struct can_dev_s *dev)
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{
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FAR struct ctucanfd_can_s *priv = (FAR struct ctucanfd_can_s *)dev;
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uint32_t regval;
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int i;
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return ctucanfd_txready(priv);
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regval = ctucanfd_getreg(priv, CTUCANFD_TXSTAT);
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for (i = 0; i < priv->txbufcnt; i++)
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{
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if (CTUCANFD_TXSTAT_GET(regval, i) == CTUCANFD_TXSTAT_ETY)
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{
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return true;
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}
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}
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return false;
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}
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/*****************************************************************************
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@ -998,12 +986,9 @@ static void ctucanfd_chardev_interrupt(FAR struct ctucanfd_driver_s *priv)
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*
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*****************************************************************************/
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static int ctucanfd_sock_ifup(FAR struct net_driver_s *dev)
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static int ctucanfd_sock_ifup(FAR struct netdev_lowerhalf_s *dev)
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{
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FAR struct ctucanfd_can_s *priv =
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(FAR struct ctucanfd_can_s *)dev->d_private;
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priv->dev.d_buf = (FAR uint8_t *)priv->tx_pool;
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FAR struct ctucanfd_can_s *priv = (FAR struct ctucanfd_can_s *)dev;
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ctucanfd_reset(priv);
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ctucanfd_setup(priv);
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@ -1028,10 +1013,9 @@ static int ctucanfd_sock_ifup(FAR struct net_driver_s *dev)
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*
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*****************************************************************************/
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static int ctucanfd_sock_ifdown(FAR struct net_driver_s *dev)
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static int ctucanfd_sock_ifdown(FAR struct netdev_lowerhalf_s *dev)
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{
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FAR struct ctucanfd_can_s *priv =
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(FAR struct ctucanfd_can_s *)dev->d_private;
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FAR struct ctucanfd_can_s *priv = (FAR struct ctucanfd_can_s *)dev;
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ctucanfd_txint(priv, false);
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ctucanfd_rxint(priv, false);
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@ -1043,88 +1027,6 @@ static int ctucanfd_sock_ifdown(FAR struct net_driver_s *dev)
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return OK;
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}
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/*****************************************************************************
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* Name: ctucanfd_sock_txavail_work
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*
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* Description:
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* Perform an out-of-cycle poll on the worker thread.
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*
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* Input Parameters:
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* arg - Reference to the NuttX driver state structure (cast to void*)
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*
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* Returned Value:
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* None
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*
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* Assumptions:
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* Called on the higher priority worker thread.
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*
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*****************************************************************************/
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static void ctucanfd_sock_txavail_work(FAR void *arg)
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{
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FAR struct ctucanfd_can_s *priv = (FAR struct ctucanfd_can_s *)arg;
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/* Ignore the notification if the interface is not yet up */
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net_lock();
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if (IFF_IS_UP(priv->dev.d_flags))
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{
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/* Check if there is room in the hardware to hold another outgoing
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* packet.
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*/
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if (ctucanfd_txready(priv))
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{
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/* No, there is space for another transfer. Poll the network for
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* new XMIT data.
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*/
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devif_poll(&priv->dev, ctucanfd_sock_txpoll);
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}
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}
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net_unlock();
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}
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/*****************************************************************************
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* Name: ctucanfd_sock_txavail
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*
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* Description:
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* Driver callback invoked when new TX data is available. This is a
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* stimulus perform an out-of-cycle poll and, thereby, reduce the TX
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* latency.
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*
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* Input Parameters:
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* dev - Reference to the NuttX driver state structure
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*
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* Returned Value:
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* None
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*
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* Assumptions:
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* Called in normal user mode
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*
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*****************************************************************************/
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static int ctucanfd_sock_txavail(FAR struct net_driver_s *dev)
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{
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FAR struct ctucanfd_can_s *priv =
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(FAR struct ctucanfd_can_s *)dev->d_private;
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/* Is our single work structure available? It may not be if there are
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* pending interrupt actions and we will have to ignore the Tx
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* availability action.
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*/
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if (work_available(&priv->pollwork))
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{
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/* Schedule to serialize the poll on the worker thread. */
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ctucanfd_sock_txavail_work(priv);
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}
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return OK;
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}
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# ifdef CONFIG_NETDEV_IOCTL
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/*****************************************************************************
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* Name: ctucanfd_sock_ioctl
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@ -1144,8 +1046,8 @@ static int ctucanfd_sock_txavail(FAR struct net_driver_s *dev)
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*
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*****************************************************************************/
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static int ctucanfd_sock_ioctl(FAR struct net_driver_s *dev, int cmd,
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unsigned long arg)
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static int ctucanfd_sock_ioctl(FAR struct netdev_lowerhalf_s *dev, int cmd,
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unsigned long arg)
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{
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return -ENOTTY;
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}
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@ -1153,74 +1055,19 @@ static int ctucanfd_sock_ioctl(FAR struct net_driver_s *dev, int cmd,
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# endif /* CONFIG_NETDEV_IOCTL */
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/*****************************************************************************
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* Name: ctucanfd_sock_txpoll
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*
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* Description:
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* The transmitter is available, check if the network has any outgoing
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* packets ready to send. This is a callback from devif_poll().
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* devif_poll() may be called:
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*
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* 1. When the preceding TX packet send is complete,
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* 2. When the preceding TX packet send timesout and the interface is reset
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* 3. During normal TX polling
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*
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* Input Parameters:
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* dev - Reference to the NuttX driver state structure
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*
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* Returned Value:
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* OK on success; a negated errno on failure
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*
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* Assumptions:
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* May or may not be called from an interrupt handler. In either case,
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* global interrupts are disabled, either explicitly or indirectly through
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* interrupt handling logic.
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*
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* Name: ctucanfd_sock_transmit
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*****************************************************************************/
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static int ctucanfd_sock_txpoll(FAR struct net_driver_s *dev)
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static int ctucanfd_sock_transmit(FAR struct netdev_lowerhalf_s *dev,
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FAR netpkt_t *pkt)
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{
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FAR struct ctucanfd_can_s *priv =
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(FAR struct ctucanfd_can_s *)dev->d_private;
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/* If the polling resulted in data that should be sent out on the network,
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* the field d_len is set to a value > 0.
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*/
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if (priv->dev.d_len > 0)
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{
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/* Send the packet */
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ctucanfd_sock_send(priv);
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/* Check if there is room in the device to hold another packet. If
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* not, return a non-zero value to terminate the poll.
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*/
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if (!ctucanfd_txready(priv))
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{
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return -EBUSY;
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}
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}
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/* If zero is returned, the polling will continue until all connections
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* have been examined.
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*/
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return 0;
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}
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/*****************************************************************************
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* Name: ctucanfd_sock_send
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*****************************************************************************/
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static int ctucanfd_sock_send(FAR struct ctucanfd_can_s *priv)
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{
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union ctucanfd_frame_fmt_u fmt;
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union ctucanfd_frame_id_u id;
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uint32_t regval;
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uint32_t offset;
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int txidx;
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int i;
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FAR struct ctucanfd_can_s *priv = (FAR struct ctucanfd_can_s *)dev;
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union ctucanfd_frame_fmt_u fmt;
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union ctucanfd_frame_id_u id;
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uint32_t regval;
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uint32_t offset;
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int txidx;
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int i;
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/* Get TX empty buffer */
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@ -1250,10 +1097,10 @@ static int ctucanfd_sock_send(FAR struct ctucanfd_can_s *priv)
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/* CAN 2.0 or CAN FD */
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if (priv->dev.d_len == sizeof(struct can_frame))
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if (netpkt_getdatalen(dev, pkt) == sizeof(struct can_frame))
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{
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FAR struct can_frame *frame = frame =
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(FAR struct can_frame *)priv->dev.d_buf;
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(FAR struct can_frame *)netpkt_getdata(dev, pkt);
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/* Set up the DLC */
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@ -1293,7 +1140,7 @@ static int ctucanfd_sock_send(FAR struct ctucanfd_can_s *priv)
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else /* CAN FD frame */
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{
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FAR struct canfd_frame *frame =
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(FAR struct canfd_frame *)priv->dev.d_buf;
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(FAR struct canfd_frame *)netpkt_getdata(dev, pkt);
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/* CAN FD frame */
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@ -1342,203 +1189,188 @@ static int ctucanfd_sock_send(FAR struct ctucanfd_can_s *priv)
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regval = CTUCANFD_TXCMD_TXCR + (1 << (CTUCANFD_TXCMD_TXB_SHIFT + txidx));
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ctucanfd_putreg(priv, CTUCANFD_TXINFOCMD, regval);
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/* All is done - free packet */
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netpkt_free(dev, pkt, NETPKT_TX);
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return OK;
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}
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/*****************************************************************************
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* Name: ctucanfd_sock_receive
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* Name: ctucanfd_sock_recv
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*****************************************************************************/
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static void ctucanfd_sock_receive(FAR struct ctucanfd_can_s *priv)
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static FAR netpkt_t *ctucanfd_sock_recv(FAR struct netdev_lowerhalf_s *dev)
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{
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FAR struct ctucanfd_can_s *priv = (FAR struct ctucanfd_can_s *)dev;
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FAR netpkt_t *pkt = NULL;
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FAR struct ctucanfd_frame_s *rxframe;
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uint32_t buff[sizeof(struct ctucanfd_frame_s) / 4];
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int i = 0;
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uint16_t frc = 0;
|
||||
uint32_t regval = 0;
|
||||
uint8_t bytes;
|
||||
|
||||
/* Get frame count */
|
||||
/* Read frame if RX buffer not empty */
|
||||
|
||||
regval = ctucanfd_getreg(priv, CTUCANFD_RXSETSTAT);
|
||||
frc = (regval & CTUCANFD_RXSTAT_RXFRC_MASK) >> CTUCANFD_RXSTAT_RXFRC_SHIFT;
|
||||
|
||||
/* Read frames */
|
||||
|
||||
while (frc-- > 0)
|
||||
if ((regval & CTUCANFD_RXSTAT_RXE) != 0)
|
||||
{
|
||||
/* We use a pointer to buffer to avoid an unaligned pointer
|
||||
* compiler errors
|
||||
*/
|
||||
/* Re-enable RX interrupts if no more messages to read */
|
||||
|
||||
rxframe = (struct ctucanfd_frame_s *)&buff;
|
||||
ctucanfd_rxint(priv, true);
|
||||
|
||||
/* RX buffer in automatic mode */
|
||||
#ifdef CONFIG_NET_CAN_ERRORS
|
||||
/* Check for errors */
|
||||
|
||||
buff[0] = ctucanfd_getreg(priv, CTUCANFD_RXDATA);
|
||||
return ctucanfd_sock_error(dev);
|
||||
#else
|
||||
return NULL;
|
||||
#endif
|
||||
}
|
||||
|
||||
/* Read the rest of data */
|
||||
/* Allocate packet */
|
||||
|
||||
for (i = 0; i < rxframe->fmt.rwcnt; i++)
|
||||
{
|
||||
buff[i + 1] = ctucanfd_getreg(priv, CTUCANFD_RXDATA);
|
||||
}
|
||||
pkt = netpkt_alloc(dev, NETPKT_RX);
|
||||
if (!pkt)
|
||||
{
|
||||
canerr("alloc pkt_new failed\n");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
/* CAN 2.0 or CAN FD */
|
||||
/* We use a pointer to buffer to avoid an unaligned pointer
|
||||
* compiler errors
|
||||
*/
|
||||
|
||||
rxframe = (struct ctucanfd_frame_s *)&buff;
|
||||
|
||||
/* RX buffer in automatic mode */
|
||||
|
||||
buff[0] = ctucanfd_getreg(priv, CTUCANFD_RXDATA);
|
||||
|
||||
/* Read the rest of data */
|
||||
|
||||
for (i = 0; i < rxframe->fmt.rwcnt; i++)
|
||||
{
|
||||
buff[i + 1] = ctucanfd_getreg(priv, CTUCANFD_RXDATA);
|
||||
}
|
||||
|
||||
/* CAN 2.0 or CAN FD */
|
||||
|
||||
#ifdef CONFIG_NET_CAN_CANFD
|
||||
if (rxframe->fmt.fdf)
|
||||
{
|
||||
struct canfd_frame *frame = (struct canfd_frame *)priv->rx_pool;
|
||||
if (rxframe->fmt.fdf)
|
||||
{
|
||||
struct canfd_frame *frame;
|
||||
|
||||
/* Get the DLC */
|
||||
netpkt_setdatalen(dev, pkt, sizeof(struct canfd_frame));
|
||||
frame = (FAR struct canfd_frame *)netpkt_getdata(dev, pkt);
|
||||
|
||||
frame->len = can_dlc2bytes(rxframe->fmt.dlc);
|
||||
/* Get the DLC */
|
||||
|
||||
frame->len = can_dlc2bytes(rxframe->fmt.dlc);
|
||||
|
||||
#ifdef CONFIG_NET_CAN_EXTID
|
||||
/* Get the CAN identifier. */
|
||||
/* Get the CAN identifier. */
|
||||
|
||||
if (rxframe->fmt.ide)
|
||||
{
|
||||
frame->can_id = rxframe->id.id_ext;
|
||||
frame->can_id |= CAN_EFF_FLAG;
|
||||
}
|
||||
else
|
||||
{
|
||||
frame->can_id = rxframe->id.id;
|
||||
}
|
||||
#else
|
||||
if (rxframe->fmt.ide)
|
||||
{
|
||||
canerr("ERROR: Received message with extended"
|
||||
" identifier. Dropped\n");
|
||||
continue;
|
||||
}
|
||||
|
||||
frame->can_id = rxframe->id.id;
|
||||
#endif
|
||||
|
||||
/* Extract the RTR bit */
|
||||
|
||||
if (rxframe->fmt.rtr)
|
||||
{
|
||||
frame->can_id |= CAN_RTR_FLAG;
|
||||
}
|
||||
|
||||
/* Get CANFD flags */
|
||||
|
||||
frame->flags = 0;
|
||||
|
||||
if (rxframe->fmt.esi_rsv)
|
||||
{
|
||||
frame->flags |= CANFD_ESI;
|
||||
}
|
||||
|
||||
if (rxframe->fmt.brs)
|
||||
{
|
||||
frame->flags |= CANFD_BRS;
|
||||
}
|
||||
|
||||
/* Get data */
|
||||
|
||||
bytes = can_dlc2bytes(rxframe->fmt.dlc);
|
||||
for (i = 0; i < bytes; i++)
|
||||
{
|
||||
frame->data[i] = rxframe->data[i];
|
||||
}
|
||||
|
||||
/* Copy the buffer pointer to priv->dev.. Set amount of data
|
||||
* in priv->dev.d_len
|
||||
*/
|
||||
|
||||
priv->dev.d_len = sizeof(struct canfd_frame);
|
||||
priv->dev.d_buf = (FAR uint8_t *)frame;
|
||||
|
||||
/* Send to socket interface */
|
||||
|
||||
NETDEV_RXPACKETS(&priv->dev);
|
||||
|
||||
can_input(&priv->dev);
|
||||
|
||||
/* Point the packet buffer back to the next Tx buffer that will be
|
||||
* used during the next write. If the write queue is full, then
|
||||
* this will point at an active buffer, which must not be written
|
||||
* to. This is OK because devif_poll won't be called unless the
|
||||
* queue is not full.
|
||||
*/
|
||||
|
||||
priv->dev.d_buf = (FAR uint8_t *)priv->tx_pool;
|
||||
if (rxframe->fmt.ide)
|
||||
{
|
||||
frame->can_id = rxframe->id.id_ext;
|
||||
frame->can_id |= CAN_EFF_FLAG;
|
||||
}
|
||||
else
|
||||
#endif
|
||||
{
|
||||
FAR struct can_frame *frame =
|
||||
(FAR struct can_frame *)priv->rx_pool;
|
||||
|
||||
/* Get the DLC */
|
||||
|
||||
frame->can_dlc = rxframe->fmt.dlc;
|
||||
|
||||
#ifdef CONFIG_NET_CAN_EXTID
|
||||
/* Get the CAN identifier. */
|
||||
|
||||
if (rxframe->fmt.ide)
|
||||
{
|
||||
frame->can_id = rxframe->id.id_ext;
|
||||
frame->can_id |= CAN_EFF_FLAG;
|
||||
}
|
||||
else
|
||||
{
|
||||
frame->can_id = rxframe->id.id;
|
||||
}
|
||||
#else
|
||||
if (rxframe->fmt.ide)
|
||||
{
|
||||
canerr("ERROR: Received message with extended"
|
||||
" identifier. Dropped\n");
|
||||
continue;
|
||||
}
|
||||
|
||||
frame->can_id = rxframe->id.id;
|
||||
}
|
||||
#else
|
||||
if (rxframe->fmt.ide)
|
||||
{
|
||||
canerr("ERROR: Received message with extended"
|
||||
" identifier. Dropped\n");
|
||||
continue;
|
||||
}
|
||||
|
||||
frame->can_id = rxframe->id.id;
|
||||
#endif
|
||||
|
||||
/* Extract the RTR bit */
|
||||
/* Extract the RTR bit */
|
||||
|
||||
if (rxframe->fmt.rtr)
|
||||
{
|
||||
frame->can_id |= CAN_RTR_FLAG;
|
||||
}
|
||||
if (rxframe->fmt.rtr)
|
||||
{
|
||||
frame->can_id |= CAN_RTR_FLAG;
|
||||
}
|
||||
|
||||
/* Get data */
|
||||
/* Get CANFD flags */
|
||||
|
||||
for (i = 0; i < rxframe->fmt.dlc; i++)
|
||||
{
|
||||
frame->data[i] = rxframe->data[i];
|
||||
}
|
||||
frame->flags = 0;
|
||||
|
||||
/* Copy the buffer pointer to priv->dev.. Set amount of data
|
||||
* in priv->dev.d_len
|
||||
*/
|
||||
if (rxframe->fmt.esi_rsv)
|
||||
{
|
||||
frame->flags |= CANFD_ESI;
|
||||
}
|
||||
|
||||
priv->dev.d_len = sizeof(struct can_frame);
|
||||
priv->dev.d_buf = (FAR uint8_t *)frame;
|
||||
if (rxframe->fmt.brs)
|
||||
{
|
||||
frame->flags |= CANFD_BRS;
|
||||
}
|
||||
|
||||
/* Send to socket interface */
|
||||
/* Get data */
|
||||
|
||||
NETDEV_RXPACKETS(&priv->dev);
|
||||
|
||||
can_input(&priv->dev);
|
||||
|
||||
/* Point the packet buffer back to the next Tx buffer that will be
|
||||
* used during the next write. If the write queue is full, then
|
||||
* this will point at an active buffer, which must not be written
|
||||
* to. This is OK because devif_poll won't be called unless the
|
||||
* queue is not full.
|
||||
*/
|
||||
|
||||
priv->dev.d_buf = (FAR uint8_t *)priv->tx_pool;
|
||||
bytes = can_dlc2bytes(rxframe->fmt.dlc);
|
||||
for (i = 0; i < bytes; i++)
|
||||
{
|
||||
frame->data[i] = rxframe->data[i];
|
||||
}
|
||||
}
|
||||
else
|
||||
#endif
|
||||
{
|
||||
FAR struct can_frame *frame;
|
||||
|
||||
netpkt_setdatalen(dev, pkt, sizeof(struct can_frame));
|
||||
frame = (FAR struct can_frame *)netpkt_getdata(dev, pkt);
|
||||
|
||||
/* Get the DLC */
|
||||
|
||||
frame->can_dlc = rxframe->fmt.dlc;
|
||||
|
||||
#ifdef CONFIG_NET_CAN_EXTID
|
||||
/* Get the CAN identifier. */
|
||||
|
||||
if (rxframe->fmt.ide)
|
||||
{
|
||||
frame->can_id = rxframe->id.id_ext;
|
||||
frame->can_id |= CAN_EFF_FLAG;
|
||||
}
|
||||
else
|
||||
{
|
||||
frame->can_id = rxframe->id.id;
|
||||
}
|
||||
#else
|
||||
if (rxframe->fmt.ide)
|
||||
{
|
||||
canerr("ERROR: Received message with extended"
|
||||
" identifier. Dropped\n");
|
||||
continue;
|
||||
}
|
||||
|
||||
frame->can_id = rxframe->id.id;
|
||||
#endif
|
||||
|
||||
/* Extract the RTR bit */
|
||||
|
||||
if (rxframe->fmt.rtr)
|
||||
{
|
||||
frame->can_id |= CAN_RTR_FLAG;
|
||||
}
|
||||
|
||||
/* Get data */
|
||||
|
||||
for (i = 0; i < rxframe->fmt.dlc; i++)
|
||||
{
|
||||
frame->data[i] = rxframe->data[i];
|
||||
}
|
||||
}
|
||||
|
||||
return pkt;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_NET_CAN_ERRORS
|
||||
|
|
@ -1546,11 +1378,31 @@ static void ctucanfd_sock_receive(FAR struct ctucanfd_can_s *priv)
|
|||
* Name: ctucanfd_sock_error
|
||||
*****************************************************************************/
|
||||
|
||||
static void ctucanfd_sock_error(FAR struct ctucanfd_can_s *priv,
|
||||
uint32_t stat)
|
||||
static FAR netpkt_t *ctucanfd_sock_error(FAR struct netdev_lowerhalf_s *dev)
|
||||
{
|
||||
FAR struct can_frame *frame = NULL;
|
||||
uint16_t errbits = 0;
|
||||
FAR struct ctucanfd_can_s *priv = (FAR struct ctucanfd_can_s *) dev;
|
||||
FAR struct can_frame *frame = NULL;
|
||||
FAR netpkt_t *pkt = NULL;
|
||||
uint16_t errbits = 0;
|
||||
uint32_t stat = 0;
|
||||
|
||||
stat = ctucanfd_getreg(priv, CTUCANFD_INTSTAT);
|
||||
if ((stat & CTUCANFD_INT_ERR) == 0)
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
|
||||
/* Allocate packet */
|
||||
|
||||
pkt = netpkt_alloc(dev, NETPKT_RX);
|
||||
if (!pkt)
|
||||
{
|
||||
canerr("alloc pkt_new failed\n");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
netpkt_setdatalen(dev, pkt, sizeof(struct can_frame));
|
||||
frame = (FAR struct can_frame *)netpkt_getdata(dev, pkt);
|
||||
|
||||
/* Data overrun interrupt */
|
||||
|
||||
|
|
@ -1580,56 +1432,27 @@ static void ctucanfd_sock_error(FAR struct ctucanfd_can_s *priv,
|
|||
errbits |= CAN_ERR_BUSERROR;
|
||||
}
|
||||
|
||||
if (errbits != 0)
|
||||
{
|
||||
frame = (FAR struct can_frame *)priv->rx_pool;
|
||||
canerr("ERROR: errbits = %08" PRIx16 "\n", errbits);
|
||||
|
||||
canerr("ERROR: errbits = %08" PRIx16 "\n", errbits);
|
||||
/* Copy frame */
|
||||
|
||||
/* Copy frame */
|
||||
frame->can_id = errbits;
|
||||
frame->can_dlc = CAN_ERR_DLC;
|
||||
|
||||
frame->can_id = errbits;
|
||||
frame->can_dlc = CAN_ERR_DLC;
|
||||
|
||||
net_lock();
|
||||
|
||||
/* Copy the buffer pointer to priv->dev.. Set amount of data
|
||||
* in priv->dev.d_len
|
||||
*/
|
||||
|
||||
priv->dev.d_len = sizeof(struct can_frame);
|
||||
priv->dev.d_buf = (FAR uint8_t *)frame;
|
||||
|
||||
/* Send to socket interface */
|
||||
|
||||
NETDEV_ERRORS(&priv->dev);
|
||||
|
||||
can_input(&priv->dev);
|
||||
|
||||
/* Point the packet buffer back to the next Tx buffer that will be
|
||||
* used during the next write. If the write queue is full, then
|
||||
* this will point at an active buffer, which must not be written
|
||||
* to. This is OK because devif_poll won't be called unless the
|
||||
* queue is not full.
|
||||
*/
|
||||
|
||||
priv->dev.d_buf = (FAR uint8_t *)priv->tx_pool;
|
||||
net_unlock();
|
||||
}
|
||||
return pkt;
|
||||
}
|
||||
#endif
|
||||
|
||||
/*****************************************************************************
|
||||
* Name: ctucanfd_sock_interrupt_work
|
||||
* Name: ctucanfd_sock_interrupt
|
||||
*****************************************************************************/
|
||||
|
||||
static void ctucanfd_sock_interrupt_work(FAR void *arg)
|
||||
static void ctucanfd_sock_interrupt(FAR struct ctucanfd_driver_s *priv)
|
||||
{
|
||||
FAR struct ctucanfd_driver_s *priv = arg;
|
||||
uint32_t stat = 0;
|
||||
uint32_t regval = 0;
|
||||
int i = 0;
|
||||
int txidx = 0;
|
||||
uint32_t stat = 0;
|
||||
uint32_t regval = 0;
|
||||
int i = 0;
|
||||
int txidx = 0;
|
||||
|
||||
for (i = 0; i < priv->count; i++)
|
||||
{
|
||||
|
|
@ -1639,11 +1462,11 @@ static void ctucanfd_sock_interrupt_work(FAR void *arg)
|
|||
continue;
|
||||
}
|
||||
|
||||
/* RX buffer not empty interrupt */
|
||||
/* RX ready */
|
||||
|
||||
if (stat & CTUCANFD_INT_RBNEI)
|
||||
if (stat & CTUCANFD_SOCK_RXINT)
|
||||
{
|
||||
ctucanfd_sock_receive(&priv->devs[i]);
|
||||
netdev_lower_rxready(&priv->devs[i].dev);
|
||||
}
|
||||
|
||||
/* Transmit interrupt */
|
||||
|
|
@ -1657,15 +1480,7 @@ static void ctucanfd_sock_interrupt_work(FAR void *arg)
|
|||
if (CTUCANFD_TXSTAT_GET(regval, txidx) ==
|
||||
CTUCANFD_TXSTAT_TOK)
|
||||
{
|
||||
NETDEV_TXDONE(&priv->devs[i].dev);
|
||||
|
||||
/* There should be space for a new TX in any event.
|
||||
* Poll the network for new XMIT data.
|
||||
*/
|
||||
|
||||
net_lock();
|
||||
devif_poll(&priv->devs[i].dev, ctucanfd_sock_txpoll);
|
||||
net_unlock();
|
||||
netdev_lower_txdone(&priv->devs[i].dev);
|
||||
|
||||
/* Mark buffer as empty */
|
||||
|
||||
|
|
@ -1676,22 +1491,14 @@ static void ctucanfd_sock_interrupt_work(FAR void *arg)
|
|||
}
|
||||
}
|
||||
|
||||
#ifdef CONFIG_NET_CAN_ERRORS
|
||||
/* Handle errors */
|
||||
|
||||
if (stat & CTUCANFD_INT_ERR)
|
||||
{
|
||||
ctucanfd_sock_error(&priv->devs[i], stat);
|
||||
}
|
||||
#endif
|
||||
|
||||
/* Clear interrupts */
|
||||
|
||||
ctucanfd_putreg(&priv->devs[i], CTUCANFD_INTSTAT, stat);
|
||||
|
||||
/* Re-enable RX/TX interrupts */
|
||||
/* Re-enable TX interrupts.
|
||||
* NOTE: RX interrupts are re-enabled in ctucanfd_sock_recv.
|
||||
*/
|
||||
|
||||
ctucanfd_rxint(&priv->devs[i], true);
|
||||
ctucanfd_txint(&priv->devs[i], true);
|
||||
}
|
||||
}
|
||||
|
|
@ -1744,10 +1551,9 @@ static int ctucanfd_interrupt(int irq, FAR void *context, FAR void *arg)
|
|||
#endif
|
||||
|
||||
#ifdef CONFIG_CAN_CTUCANFD_SOCKET
|
||||
/* Derefer SocketCAN interrupt to work queue */
|
||||
/* Handle SocketCAN interrupt */
|
||||
|
||||
work_queue(CTUCANFD_CANWORK, &priv->irqwork,
|
||||
ctucanfd_sock_interrupt_work, priv, 0);
|
||||
ctucanfd_sock_interrupt(priv);
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
|
|
@ -1806,12 +1612,15 @@ static uint8_t ctucanfd_ctucanfd_probe(FAR struct ctucanfd_driver_s *priv)
|
|||
|
||||
static int ctucanfd_probe(FAR struct pci_device_s *dev)
|
||||
{
|
||||
FAR struct ctucanfd_driver_s *priv = NULL;
|
||||
uint8_t i = 0;
|
||||
int ret;
|
||||
#ifdef CONFIG_CAN_CTUCANFD_SOCKET
|
||||
FAR struct netdev_lowerhalf_s *netdev = NULL;
|
||||
#endif
|
||||
FAR struct ctucanfd_driver_s *priv = NULL;
|
||||
uint8_t i = 0;
|
||||
int ret;
|
||||
#ifdef CONFIG_CAN_CTUCANFD_CHARDEV
|
||||
uint8_t count;
|
||||
char devpath[PATH_MAX];
|
||||
uint8_t count;
|
||||
char devpath[PATH_MAX];
|
||||
#endif
|
||||
|
||||
/* Allocate the interface structure */
|
||||
|
|
@ -1918,15 +1727,13 @@ static int ctucanfd_probe(FAR struct pci_device_s *dev)
|
|||
#endif
|
||||
|
||||
#ifdef CONFIG_CAN_CTUCANFD_SOCKET
|
||||
/* Initialize the driver structure */
|
||||
netdev = &priv->devs[i].dev;
|
||||
|
||||
priv->devs[i].dev.d_ifup = ctucanfd_sock_ifup;
|
||||
priv->devs[i].dev.d_ifdown = ctucanfd_sock_ifdown;
|
||||
priv->devs[i].dev.d_txavail = ctucanfd_sock_txavail;
|
||||
# ifdef CONFIG_NETDEV_IOCTL
|
||||
priv->devs[i].dev.d_ioctl = ctucanfd_sock_ioctl;
|
||||
# endif
|
||||
priv->devs[i].dev.d_private = &priv->devs[i];
|
||||
/* Register the network device */
|
||||
|
||||
netdev->quota[NETPKT_TX] = CTUCANFD_TX_QUOTA;
|
||||
netdev->quota[NETPKT_RX] = CTUCANFD_RX_QUOTA;
|
||||
netdev->ops = &g_ctucanfd_net_ops;
|
||||
|
||||
/* Put the interface in the down state. This usually amounts to
|
||||
* resetting the device and/or calling ctucanfd_sock_ifdown().
|
||||
|
|
@ -1934,11 +1741,9 @@ static int ctucanfd_probe(FAR struct pci_device_s *dev)
|
|||
|
||||
ctucanfd_sock_ifdown(&priv->devs[i].dev);
|
||||
|
||||
/* Register the device with the OS so that socket IOCTLs can be
|
||||
* performed
|
||||
*/
|
||||
/* Register the network interface. */
|
||||
|
||||
ret = netdev_register(&priv->devs[i].dev, NET_LL_CAN);
|
||||
ret = netdev_lower_register(netdev, NET_LL_CAN);
|
||||
if (ret < 0)
|
||||
{
|
||||
pcierr("ERROR: failed to register count=%d, %d\n", i, ret);
|
||||
|
|
@ -1955,7 +1760,8 @@ errout:
|
|||
if (priv->devs[i].pcidev)
|
||||
{
|
||||
#ifdef CONFIG_CAN_CTUCANFD_SOCKET
|
||||
netdev_unregister(&priv->devs[i].dev);
|
||||
netdev = &priv->devs[i].dev;
|
||||
netdev_lower_unregister(netdev);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_CAN_CTUCANFD_CHARDEV
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue