drivers/can/can.c: Support multiple readers of the same port
This commit is contained in:
Valmantas Paliksa
Gregory Nutt
parent
2bb15a49a6
commit
7d112f5639
2 changed files with 190 additions and 101 deletions
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@ -1,8 +1,8 @@
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/****************************************************************************
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* drivers/can/can.c
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*
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* Copyright (C) 2008-2009, 2011-2012, 2014-2015, 2017 Gregory Nutt. All
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* rights reserved.
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* Copyright (C) 2008-2009, 2011-2012, 2014-2015, 2017, 2019 Gregory Nutt.
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* All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Copyright (C) 2016 Omni Hoverboards Inc. All rights reserved.
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@ -60,6 +60,7 @@
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#include <nuttx/semaphore.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/can/can.h>
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#include <nuttx/kmalloc.h>
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#ifdef CONFIG_CAN_TXREADY
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# include <nuttx/wqueue.h>
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@ -72,6 +73,7 @@
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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#ifdef CONFIG_CAN_TXREADY
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@ -256,16 +258,22 @@ static uint8_t can_dlc2bytes(uint8_t dlc)
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{
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case 9:
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return 12;
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case 10:
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return 16;
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case 11:
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return 20;
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case 12:
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return 24;
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case 13:
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return 32;
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case 14:
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return 48;
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default:
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case 15:
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return 64;
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@ -394,6 +402,20 @@ static void can_txready_work(FAR void *arg)
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}
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#endif
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static FAR struct can_reader_s *init_can_reader(FAR struct file *filep)
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{
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FAR struct can_reader_s *reader = kmm_zalloc(sizeof(struct can_reader_s));
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DEBUGASSERT(reader != NULL);
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reader->fifo.rx_head = 0;
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reader->fifo.rx_tail = 0;
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nxsem_init(&reader->fifo.rx_sem, 0, 1);
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reader->filep = filep;
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return reader;
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}
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/****************************************************************************
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* Name: can_open
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*
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@ -448,8 +470,6 @@ static int can_open(FAR struct file *filep)
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dev->cd_xmit.tx_head = 0;
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dev->cd_xmit.tx_queue = 0;
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dev->cd_xmit.tx_tail = 0;
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dev->cd_recv.rx_head = 0;
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dev->cd_recv.rx_tail = 0;
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/* Finally, Enable the CAN RX interrupt */
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@ -458,6 +478,8 @@ static int can_open(FAR struct file *filep)
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/* Save the new open count only on success */
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dev->cd_ocount = 1;
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list_initialize(&dev->cd_readers);
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}
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leave_critical_section(flags);
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@ -468,6 +490,12 @@ static int can_open(FAR struct file *filep)
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dev->cd_ocount = tmp;
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}
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irqstate_t flags = enter_critical_section();
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list_add_head(&dev->cd_readers,
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(FAR struct list_node *)init_can_reader(filep));
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leave_critical_section(flags);
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}
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can_givesem(&dev->cd_closesem);
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@ -488,6 +516,8 @@ static int can_close(FAR struct file *filep)
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FAR struct inode *inode = filep->f_inode;
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FAR struct can_dev_s *dev = inode->i_private;
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irqstate_t flags;
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FAR struct list_node *node;
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FAR struct list_node *tmp;
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int ret;
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caninfo("ocount: %d\n", dev->cd_ocount);
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@ -498,6 +528,16 @@ static int can_close(FAR struct file *filep)
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return ret;
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}
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list_for_every_safe(&dev->cd_readers, node, tmp)
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{
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if (((FAR struct can_reader_s *)node)->filep == filep)
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{
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list_delete(node);
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kmm_free(node);
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break;
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}
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}
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/* Decrement the references to the driver. If the reference count will
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* decrement to 0, then uninitialize the driver.
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*/
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@ -560,11 +600,14 @@ errout:
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static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
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size_t buflen)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct can_dev_s *dev = inode->i_private;
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size_t nread;
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irqstate_t flags;
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int ret = 0;
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FAR struct inode *inode = filep->f_inode;
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FAR struct can_dev_s *dev = inode->i_private;
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FAR sstruct can_reader_s *reader = NULL;
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FAR sstruct list_node *node;
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FAR sstruct can_rxfifo_s *fifo;
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size_t nread;
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irqstate_t flags;
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int ret = 0;
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caninfo("buflen: %d\n", buflen);
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@ -616,7 +659,20 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
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}
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#endif /* CONFIG_CAN_ERRORS */
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while (dev->cd_recv.rx_head == dev->cd_recv.rx_tail)
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list_for_every(&dev->cd_readers, node)
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{
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if (((FAR struct can_reader_s *) node)->filep == filep)
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{
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reader = (FAR struct can_reader_s *)node;
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break;
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}
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}
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DEBUGASSERT(reader != NULL);
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fifo = &reader->fifo;
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while (fifo->rx_head == fifo->rx_tail)
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{
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/* The receive FIFO is empty -- was non-blocking mode selected? */
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@ -630,8 +686,9 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
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DEBUGASSERT(dev->cd_nrxwaiters < 255);
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dev->cd_nrxwaiters++;
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ret = can_takesem(&dev->cd_recv.rx_sem);
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ret = can_takesem(&fifo->rx_sem);
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dev->cd_nrxwaiters--;
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if (ret < 0)
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{
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goto return_with_irqdisabled;
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@ -642,33 +699,33 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer,
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* in the user buffer.
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*/
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nread = 0;
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do
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{
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/* Will the next message in the FIFO fit into the user buffer? */
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nread = 0;
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do
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{
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/* Will the next message in the FIFO fit into the user buffer? */
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FAR struct can_msg_s *msg = &dev->cd_recv.rx_buffer[dev->cd_recv.rx_head];
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int nbytes = can_dlc2bytes(msg->cm_hdr.ch_dlc);
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int msglen = CAN_MSGLEN(nbytes);
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FAR struct can_msg_s *msg = &fifo->rx_buffer[fifo->rx_head];
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int nbytes = can_dlc2bytes(msg->cm_hdr.ch_dlc);
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int msglen = CAN_MSGLEN(nbytes);
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if (nread + msglen > buflen)
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{
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break;
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}
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if (nread + msglen > buflen)
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{
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break;
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}
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/* Copy the message to the user buffer */
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/* Copy the message to the user buffer */
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memcpy(&buffer[nread], msg, msglen);
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nread += msglen;
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memcpy(&buffer[nread], msg, msglen);
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nread += msglen;
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/* Increment the head of the circular message buffer */
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/* Increment the head of the circular message buffer */
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if (++dev->cd_recv.rx_head >= CONFIG_CAN_FIFOSIZE)
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{
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dev->cd_recv.rx_head = 0;
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}
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if (++fifo->rx_head >= CONFIG_CAN_FIFOSIZE)
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{
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fifo->rx_head = 0;
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}
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}
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while (dev->cd_recv.rx_head != dev->cd_recv.rx_tail);
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while (fifo->rx_head != fifo->rx_tail);
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/* All on the messages have bee transferred. Return the number of bytes
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* that were read.
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@ -721,7 +778,8 @@ static int can_xmit(FAR struct can_dev_s *dev)
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/* Check if we have already queued all of the data in the TX fifo.
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*
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* tx_tail: Incremented in can_write each time a message is queued in the FIFO
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* tx_tail: Incremented in can_write each time a message is queued in the
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* FIFO
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* tx_head: Incremented in can_txdone each time a message completes
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* tx_queue: Incremented each time that a message is sent to the hardware.
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*
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@ -832,9 +890,9 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer,
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goto return_with_irqdisabled;
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}
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/* If the TX hardware was inactive when we started, then we will have
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* start the XMIT sequence generate the TX done interrupts needed
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* to clear the FIFO.
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/* If the TX hardware was inactive when we started, then we will
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* have start the XMIT sequence generate the TX done interrupts
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* needed to clear the FIFO.
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*/
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if (inactive)
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@ -996,8 +1054,10 @@ static int can_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
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static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
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bool setup)
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{
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FAR struct inode *inode = (FAR struct inode *)filep->f_inode;
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FAR struct can_dev_s *dev = (FAR struct can_dev_s *)inode->i_private;
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FAR struct inode *inode = (FAR struct inode *)filep->f_inode;
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FAR struct can_dev_s *dev = (FAR struct can_dev_s *)inode->i_private;
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FAR struct can_reader_s *reader = NULL;
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FAR struct list_node *node;
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pollevent_t eventset;
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int ndx;
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int ret;
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@ -1012,6 +1072,17 @@ static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
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}
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#endif
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list_for_every(&dev->cd_readers, node)
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{
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if (((FAR struct can_reader_s *)node)->filep == filep)
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{
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reader = (FAR struct can_reader_s *)node;
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break;
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}
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}
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DEBUGASSERT(reader != NULL);
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/* Get exclusive access to the poll structures */
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ret = can_takesem(&dev->cd_pollsem);
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@ -1096,17 +1167,17 @@ static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
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dev->cd_nrxwaiters++;
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do
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{
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ret = can_takesem(&dev->cd_recv.rx_sem);
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ret = can_takesem(&reader->fifo.rx_sem);
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}
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while (ret < 0);
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dev->cd_nrxwaiters--;
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if (dev->cd_recv.rx_head != dev->cd_recv.rx_tail)
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if (reader->fifo.rx_head != reader->fifo.rx_tail)
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{
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eventset |= fds->events & POLLIN;
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}
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can_givesem(&dev->cd_recv.rx_sem);
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can_givesem(&reader->fifo.rx_sem);
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if (eventset != 0)
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{
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@ -1117,7 +1188,7 @@ static int can_poll(FAR struct file *filep, FAR struct pollfd *fds,
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{
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/* This is a request to tear down the poll */
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struct pollfd **slot = (struct pollfd **)fds->priv;
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FAR struct pollfd **slot = (FAR struct pollfd **)fds->priv;
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#ifdef CONFIG_DEBUG_FEATURES
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if (slot == NULL)
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@ -1168,7 +1239,6 @@ int can_register(FAR const char *path, FAR struct can_dev_s *dev)
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/* Initialize semaphores */
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nxsem_init(&dev->cd_xmit.tx_sem, 0, 1);
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nxsem_init(&dev->cd_recv.rx_sem, 0, 1);
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nxsem_init(&dev->cd_closesem, 0, 1);
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#ifndef CONFIG_DISABLE_POLL
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nxsem_init(&dev->cd_pollsem, 0, 1);
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@ -1217,8 +1287,10 @@ int can_register(FAR const char *path, FAR struct can_dev_s *dev)
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int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
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FAR uint8_t *data)
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{
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FAR struct can_rxfifo_s *fifo = &dev->cd_recv;
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FAR struct can_rxfifo_s *fifo;
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FAR uint8_t *dest;
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FAR struct list_node *node;
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FAR struct list_node *node;
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int nexttail;
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int errcode = -ENOMEM;
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int i;
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@ -1229,12 +1301,6 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
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* enqueue read data.
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*/
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nexttail = fifo->rx_tail + 1;
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if (nexttail >= CONFIG_CAN_FIFOSIZE)
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{
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nexttail = 0;
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}
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/* First, check if this response matches any RTR response that we may be
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* waiting for.
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*/
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@ -1280,60 +1346,72 @@ int can_receive(FAR struct can_dev_s *dev, FAR struct can_hdr_s *hdr,
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}
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}
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/* Refuse the new data if the FIFO is full */
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if (nexttail != fifo->rx_head)
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list_for_every_safe(&dev->cd_readers, node, tmp)
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{
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int nbytes;
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FAR struct can_reader_s *reader = (FAR struct can_reader_s *)node;
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fifo = &reader->fifo;
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/* Add the new, decoded CAN message at the tail of the FIFO.
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*
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* REVISIT: In the CAN FD format, the coding of the DLC differs from
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* the standard CAN format. The DLC codes 0 to 8 have the same coding
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* as in standard CAN, the codes 9 to 15, which in standard CAN all
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* code a data field of 8 bytes, are encoded:
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*
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* 9->12, 10->16, 11->20, 12->24, 13->32, 14->48, 15->64
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*/
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memcpy(&fifo->rx_buffer[fifo->rx_tail].cm_hdr, hdr, sizeof(struct can_hdr_s));
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nbytes = can_dlc2bytes(hdr->ch_dlc);
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for (i = 0, dest = fifo->rx_buffer[fifo->rx_tail].cm_data; i < nbytes; i++)
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nexttail = fifo->rx_tail + 1;
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if (nexttail >= CONFIG_CAN_FIFOSIZE)
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{
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*dest++ = *data++;
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nexttail = 0;
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}
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/* Increment the tail of the circular buffer */
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/* Refuse the new data if the FIFO is full */
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fifo->rx_tail = nexttail;
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/* The increment the counting semaphore. The maximum value should be
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* CONFIG_CAN_FIFOSIZE -- one possible count for each allocated
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* message buffer.
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*/
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if (dev->cd_nrxwaiters > 0)
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if (nexttail != fifo->rx_head)
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{
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can_givesem(&fifo->rx_sem);
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int nbytes;
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int sval;
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/* Add the new, decoded CAN message at the tail of the FIFO.
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*
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* REVISIT: In the CAN FD format, the coding of the DLC differs
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* from the standard CAN format. The DLC codes 0 to 8 have the
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* same coding as in standard CAN, the codes 9 to 15, which in
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* standard CAN all code a data field of 8 bytes, are encoded:
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*
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* 9->12, 10->16, 11->20, 12->24, 13->32, 14->48, 15->64
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*/
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memcpy(&fifo->rx_buffer[fifo->rx_tail].cm_hdr, hdr,
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sizeof(struct can_hdr_s));
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nbytes = can_dlc2bytes(hdr->ch_dlc);
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memcpy(fifo->rx_buffer[fifo->rx_tail].cm_data, data, nbytes);
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/* Increment the tail of the circular buffer */
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fifo->rx_tail = nexttail;
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/* The increment the counting semaphore. The maximum value should be
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* CONFIG_CAN_FIFOSIZE -- one possible count for each allocated
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* message buffer.
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*/
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sval = 0;
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if (nxsem_getvalue(&fifo->rx_sem, &sval) <= 0)
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{
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can_givesem(&fifo->rx_sem);
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}
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errcode = OK;
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/* Notify all poll/select waiters that they can read from the
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* cd_recv buffer
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*/
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can_pollnotify(dev, POLLIN);
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}
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errcode = OK;
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/* Notify all poll/select waiters that they can read from the
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* cd_recv buffer
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*/
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can_pollnotify(dev, POLLIN);
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}
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#ifdef CONFIG_CAN_ERRORS
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else
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{
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/* Report rx overflow error */
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else
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{
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/* Report rx overflow error */
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dev->cd_error |= CAN_ERROR5_RXOVERFLOW;
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}
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dev->cd_error |= CAN_ERROR5_RXOVERFLOW;
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}
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#endif
|
||||
}
|
||||
|
||||
return errcode;
|
||||
}
|
||||
|
|
@ -1556,15 +1634,11 @@ int can_txready(FAR struct can_dev_s *dev)
|
|||
else
|
||||
{
|
||||
/* There should not be any threads waiting for space in the S/W TX
|
||||
* FIFO is it is empty.
|
||||
*
|
||||
* REVISIT: Assertion can fire in certain race conditions, i.e, when
|
||||
* all waiters have been awakened but have not yet had a chance to
|
||||
* decrement cd_ntxwaiters.
|
||||
* FIFO is it is empty. However, an assertion would fire in certain
|
||||
* race conditions, i.e, when all waiters have been awakened but
|
||||
* have not yet had a chance to decrement cd_ntxwaiters.
|
||||
*/
|
||||
|
||||
//DEBUGASSERT(dev->cd_ntxwaiters == 0);
|
||||
|
||||
#if 0 /* REVISIT */
|
||||
/* When the H/W FIFO has been emptied, we can disable further TX
|
||||
* interrupts.
|
||||
|
|
|
|||
|
|
@ -1,7 +1,8 @@
|
|||
/************************************************************************************
|
||||
* include/nuttx/can/can.h
|
||||
*
|
||||
* Copyright (C) 2008, 2009, 2011-2012, 2015-2017 Gregory Nutt. All rights reserved.
|
||||
* Copyright (C) 2008, 2009, 2011-2012, 2015-2017, 2019 Gregory Nutt. All rights
|
||||
* reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
|
|
@ -48,6 +49,7 @@
|
|||
#include <stdbool.h>
|
||||
#include <semaphore.h>
|
||||
|
||||
#include <nuttx/list.h>
|
||||
#include <nuttx/fs/fs.h>
|
||||
#include <nuttx/fs/ioctl.h>
|
||||
|
||||
|
|
@ -62,6 +64,7 @@
|
|||
************************************************************************************/
|
||||
|
||||
/* Configuration ********************************************************************/
|
||||
|
||||
/* CONFIG_CAN - Enables CAN support (MCU-specific selections are also required. For
|
||||
* STM32, as an example, one or both of CONFIG_STM32_CAN1 or CONFIG_STM32_CAN2
|
||||
* must also be defined)
|
||||
|
|
@ -106,6 +109,7 @@
|
|||
#endif
|
||||
|
||||
/* Ioctl Commands *******************************************************************/
|
||||
|
||||
/* Ioctl commands supported by the upper half CAN driver.
|
||||
*
|
||||
* CANIOC_RTR:
|
||||
|
|
@ -360,6 +364,7 @@
|
|||
#endif /* CONFIG_CAN_ERRORS */
|
||||
|
||||
/* CAN filter support ***************************************************************/
|
||||
|
||||
/* Some CAN hardware supports a notion of prioritizing messages that match filters.
|
||||
* Only two priority levels are currently supported and are encoded as defined
|
||||
* below:
|
||||
|
|
@ -377,6 +382,7 @@
|
|||
/************************************************************************************
|
||||
* Public Types
|
||||
************************************************************************************/
|
||||
|
||||
/* CAN-message Format (without Extended ID support)
|
||||
*
|
||||
* One based CAN-message is represented with a maximum of 10 bytes. A message is
|
||||
|
|
@ -431,6 +437,7 @@ begin_packed_struct struct can_hdr_s
|
|||
uint8_t ch_extid : 1; /* Extended ID indication */
|
||||
uint8_t ch_unused : 1; /* Unused */
|
||||
} end_packed_struct;
|
||||
|
||||
#else
|
||||
begin_packed_struct struct can_hdr_s
|
||||
{
|
||||
|
|
@ -550,12 +557,21 @@ struct can_ops_s
|
|||
* The common logic will initialize all semaphores.
|
||||
*/
|
||||
|
||||
struct can_reader_s
|
||||
{
|
||||
struct list_node list;
|
||||
sem_t read_sem;
|
||||
FAR struct file *filep;
|
||||
struct can_rxfifo_s fifo; /* Describes receive FIFO */
|
||||
};
|
||||
|
||||
struct can_dev_s
|
||||
{
|
||||
uint8_t cd_ocount; /* The number of times the device has been opened */
|
||||
uint8_t cd_npendrtr; /* Number of pending RTR messages */
|
||||
volatile uint8_t cd_ntxwaiters; /* Number of threads waiting to enqueue a message */
|
||||
volatile uint8_t cd_nrxwaiters; /* Number of threads waiting to receive a message */
|
||||
struct list_node cd_readers;
|
||||
#ifdef CONFIG_CAN_ERRORS
|
||||
uint8_t cd_error; /* Flags to indicate internal device errors */
|
||||
#endif
|
||||
|
|
@ -564,7 +580,6 @@ struct can_dev_s
|
|||
sem_t cd_pollsem; /* Manages exclusive access to cd_fds[] */
|
||||
#endif
|
||||
struct can_txfifo_s cd_xmit; /* Describes transmit FIFO */
|
||||
struct can_rxfifo_s cd_recv; /* Describes receive FIFO */
|
||||
#ifdef CONFIG_CAN_TXREADY
|
||||
struct work_s cd_work; /* Use to manage can_txready() work */
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue