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move stack/neuberger-socketCAN/ socketCAN

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Compare with initial commit of neuberger-socketCAN.
Try to use original code.
This commit is contained in:
Janez 2020-01-24 08:40:58 +01:00
parent efe87c8b7c
commit fdda4c8340
9 changed files with 59 additions and 53 deletions
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0
stack/neuberger-socketCAN/CO_Linux_threads.c → socketCAN/CO_Linux_threads.c
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0
stack/neuberger-socketCAN/CO_Linux_threads.h → socketCAN/CO_Linux_threads.h
View file

80
stack/neuberger-socketCAN/CO_driver.c → socketCAN/CO_driver.c
View file

@ -3,6 +3,7 @@
*
* This file is a template for other microcontrollers.
*
* @file CO_driver.c
* @ingroup CO_driver
* @author Janez Paternoster, Martin Wagner
* @copyright 2004 - 2015 Janez Paternoster, 2017 - 2020 Neuberger Gebaeudeautomation GmbH
@ -53,7 +54,7 @@ pthread_mutex_t CO_EMCY_mutex = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t CO_OD_mutex = PTHREAD_MUTEX_INITIALIZER;
#ifndef CO_DRIVER_MULTI_INTERFACE
static CO_ReturnError_t CO_CANmodule_addInterface(CO_CANmodule_t *CANmodule, void *CANdriverState);
static CO_ReturnError_t CO_CANmodule_addInterface(CO_CANmodule_t *CANmodule, int32_t CANbaseAddress);
#endif
#ifdef CO_DRIVER_MULTI_INTERFACE
@ -174,7 +175,7 @@ static CO_ReturnError_t setRxFilters(CO_CANmodule_t *CANmodule)
/******************************************************************************/
void CO_CANsetConfigurationMode(void *CANdriverState)
void CO_CANsetConfigurationMode(void *CANptr)
{
/* Can't do anything because no object is provided */
}
@ -200,7 +201,7 @@ void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule)
/******************************************************************************/
CO_ReturnError_t CO_CANmodule_init(
CO_CANmodule_t *CANmodule,
void *CANdriverState,
void *CANptr,
CO_CANrx_t rxArray[],
uint16_t rxSize,
CO_CANtx_t txArray[],
@ -273,7 +274,7 @@ CO_ReturnError_t CO_CANmodule_init(
rxArray[i].object = NULL;
rxArray[i].pFunct = NULL;
#ifdef CO_DRIVER_MULTI_INTERFACE
rxArray[i].CANdriverState = NULL;
rxArray[i].CANbaseAddress = -1;
rxArray[i].timestamp.tv_sec = 0;
rxArray[i].timestamp.tv_nsec = 0;
#endif
@ -281,7 +282,7 @@ CO_ReturnError_t CO_CANmodule_init(
#ifndef CO_DRIVER_MULTI_INTERFACE
/* add one interface */
ret = CO_CANmodule_addInterface(CANmodule, CANdriverState);
ret = CO_CANmodule_addInterface(CANmodule, (int32_t)CANptr);
if (ret != CO_ERROR_NO) {
CO_CANmodule_disable(CANmodule);
}
@ -298,7 +299,7 @@ static
#endif
CO_ReturnError_t CO_CANmodule_addInterface(
CO_CANmodule_t *CANmodule,
void *CANdriverState)
int32_t CANbaseAddress)
{
int32_t ret;
int32_t tmp;
@ -312,7 +313,7 @@ CO_ReturnError_t CO_CANmodule_addInterface(
can_err_mask_t err_mask;
#endif
if (!CANmodule->CANnormal) {
if (CANmodule->CANnormal) {
/* can't change config now! */
return CO_ERROR_INVALID_STATE;
}
@ -327,8 +328,8 @@ CO_ReturnError_t CO_CANmodule_addInterface(
}
interface = &CANmodule->CANinterfaces[CANmodule->CANinterfaceCount - 1];
interface->CANdriverState = CANdriverState;
ifName = if_indextoname((uintptr_t)interface->CANdriverState, interface->ifName);
interface->CANbaseAddress = CANbaseAddress;
ifName = if_indextoname(CANbaseAddress, interface->ifName);
if (ifName == NULL) {
log_printf(LOG_DEBUG, DBG_ERRNO, "if_indextoname()");
return CO_ERROR_ILLEGAL_ARGUMENT;
@ -376,7 +377,7 @@ CO_ReturnError_t CO_CANmodule_addInterface(
/* bind socket */
memset(&sockAddr, 0, sizeof(sockAddr));
sockAddr.can_family = AF_CAN;
sockAddr.can_ifindex = (uintptr_t)interface->CANdriverState;
sockAddr.can_ifindex = CANbaseAddress;
ret = bind(interface->fd, (struct sockaddr*)&sockAddr, sizeof(sockAddr));
if(ret < 0){
log_printf(LOG_ERR, CAN_BINDING_FAILED, interface->ifName);
@ -514,7 +515,7 @@ CO_ReturnError_t CO_CANrxBufferInit(
buffer->object = object;
buffer->pFunct = pFunct;
#ifdef CO_DRIVER_MULTI_INTERFACE
buffer->CANdriverState = NULL;
buffer->CANbaseAddress = -1;
buffer->timestamp.tv_nsec = 0;
buffer->timestamp.tv_sec = 0;
#endif
@ -547,30 +548,35 @@ CO_ReturnError_t CO_CANrxBufferInit(
bool_t CO_CANrxBuffer_getInterface(
CO_CANmodule_t *CANmodule,
uint32_t ident,
void **CANdriverStateRx,
int32_t *CANbaseAddressRx,
struct timespec *timestamp)
{
CO_CANrx_t *buffer;
if (CANmodule != NULL){
uint32_t index;
CO_CANrx_t *buffer;
if (CANmodule == NULL){
return false;
}
index = CO_CANgetIndexFromIdent(CANmodule->rxIdentToIndex, ident);
if ((index == CO_INVALID_COB_ID) || (index > CANmodule->rxSize)) {
return false;
}
buffer = &CANmodule->rxArray[index];
const uint32_t index = CO_CANgetIndexFromIdent(CANmodule->rxIdentToIndex, ident);
if ((index == CO_INVALID_COB_ID) || (index > CANmodule->rxSize)) {
return false;
}
buffer = &CANmodule->rxArray[index];
/* return values */
if (CANbaseAddressRx != NULL) {
*CANbaseAddressRx = buffer->CANbaseAddress;
}
if (timestamp != NULL) {
*timestamp = buffer->timestamp;
}
/* return values */
if (CANbaseAddressRx != NULL) {
*CANbaseAddressRx = buffer->CANbaseAddress;
if (buffer->CANbaseAddress >= 0) {
return true;
}
else {
return false;
}
}
if (timestamp != NULL) {
*timestamp = buffer->timestamp;
}
return buffer->CANbaseAddress >= 0;
return false;
}
#endif
@ -595,7 +601,7 @@ CO_CANtx_t *CO_CANtxBufferInit(
CO_CANsetIdentToIndex(CANmodule->txIdentToIndex, index, ident, buffer->ident);
#endif
buffer->CANdriverState = NULL;
buffer->CANbaseAddress = -1;
/* CAN identifier and rtr */
buffer->ident = ident & CAN_SFF_MASK;
@ -616,7 +622,7 @@ CO_CANtx_t *CO_CANtxBufferInit(
CO_ReturnError_t CO_CANtxBuffer_setInterface(
CO_CANmodule_t *CANmodule,
uint32_t ident,
void *CANdriverStateTx)
int32_t CANbaseAddressTx)
{
if (CANmodule != NULL) {
uint32_t index;
@ -625,7 +631,7 @@ CO_ReturnError_t CO_CANtxBuffer_setInterface(
if ((index == CO_INVALID_COB_ID) || (index > CANmodule->txSize)) {
return CO_ERROR_PARAMETERS;
}
CANmodule->txArray[index].CANdriverState = CANdriverStateTx;
CANmodule->txArray[index].CANbaseAddress = CANbaseAddressTx;
return CO_ERROR_NO;
}
@ -726,8 +732,8 @@ CO_ReturnError_t CO_CANCheckSend(CO_CANmodule_t *CANmodule, CO_CANtx_t *buffer)
for (i = 0; i < CANmodule->CANinterfaceCount; i++) {
CO_CANinterface_t *interface = &CANmodule->CANinterfaces[i];
if ((buffer->CANdriverState == NULL) ||
buffer->CANdriverState == interface->CANdriverState) {
if (buffer->CANbaseAddress < 0 ||
buffer->CANbaseAddress == interface->CANbaseAddress) {
CO_ReturnError_t tmp;
@ -873,7 +879,7 @@ int32_t CO_CANrxWait(CO_CANmodule_t *CANmodule, int fdTimer, CO_CANrxMsg_t *buff
{
int32_t retval;
int32_t ret;
void *CANdriverState __attribute__((unused));
int32_t CANbaseAddress __attribute__((unused));
CO_ReturnError_t err;
CO_CANinterface_t *interface = NULL;
struct epoll_event ev[1];
@ -933,7 +939,7 @@ int32_t CO_CANrxWait(CO_CANmodule_t *CANmodule, int fdTimer, CO_CANrxMsg_t *buff
if (ev[0].data.fd == interface->fd) {
/* get interface handle */
CANdriverState = interface->CANdriverState;
CANbaseAddress = interface->CANbaseAddress;
/* get message */
err = CO_CANread(CANmodule, interface, &msg, &timestamp);
if (err != CO_ERROR_NO) {
@ -972,7 +978,7 @@ int32_t CO_CANrxWait(CO_CANmodule_t *CANmodule, int fdTimer, CO_CANrxMsg_t *buff
#ifdef CO_DRIVER_MULTI_INTERFACE
/* Store message info */
CANmodule->rxArray[msgIndex].timestamp = timestamp;
CANmodule->rxArray[msgIndex].CANdriverState = CANdriverState;
CANmodule->rxArray[msgIndex].CANbaseAddress = CANbaseAddress;
#endif
}
retval = msgIndex;

26
stack/neuberger-socketCAN/CO_driver.h → socketCAN/CO_driver.h
View file

@ -73,7 +73,7 @@ extern "C" {
* socketCAN interface object
*/
typedef struct {
void *CANdriverState; /**< CAN Interface identifier */
int32_t CANbaseAddress; /**< CAN Interface identifier */
char ifName[IFNAMSIZ]; /**< CAN Interface name */
int fd; /**< socketCAN file descriptor */
#ifdef CO_DRIVER_ERROR_REPORTING
@ -111,9 +111,9 @@ typedef struct{
/**
* Request CAN configuration (stopped) mode and *wait* until it is set.
*
* @param CANdriverState CAN module base address.
* @param CANptr CAN module base address.
*/
void CO_CANsetConfigurationMode(void *CANdriverState);
void CO_CANsetConfigurationMode(void *CANptr);
/**
@ -132,7 +132,7 @@ void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule);
* be in Configuration Mode before.
*
* @param CANmodule This object will be initialized.
* @param CANdriverState unused
* @param CANptr unused
* @param rxArray Array for handling received CAN messages
* @param rxSize Size of the above array. Must be equal to number of receiving CAN objects.
* @param txArray Array for handling transmitting CAN messages
@ -149,7 +149,7 @@ void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule);
* be in Configuration Mode before.
*
* @param CANmodule This object will be initialized.
* @param CANdriverState CAN module base address.
* @param CANptr CAN module base address.
* @param rxArray Array for handling received CAN messages
* @param rxSize Size of the above array. Must be equal to number of receiving CAN objects.
* @param txArray Array for handling transmitting CAN messages
@ -162,7 +162,7 @@ void CO_CANsetNormalMode(CO_CANmodule_t *CANmodule);
#endif
CO_ReturnError_t CO_CANmodule_init(
CO_CANmodule_t *CANmodule,
void *CANdriverState,
void *CANptr,
CO_CANrx_t rxArray[],
uint16_t rxSize,
CO_CANtx_t txArray[],
@ -177,13 +177,13 @@ CO_ReturnError_t CO_CANmodule_init(
* Function must be called after CO_CANmodule_init.
*
* @param CANmodule This object will be initialized.
* @param CANdriverState CAN module base address.
* @param CANbaseAddress CAN module base address.
* @return #CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT,
* CO_ERROR_SYSCALL or CO_ERROR_INVALID_STATE.
*/
CO_ReturnError_t CO_CANmodule_addInterface(
CO_CANmodule_t *CANmodule,
void *CANdriverState);
int32_t CANbaseAddress);
#endif
@ -246,7 +246,7 @@ CO_ReturnError_t CO_CANrxBufferInit(
*
* @param CANmodule This object.
* @param ident 11-bit standard CAN Identifier.
* @param [out] CANdriverStateRx message was received on this interface
* @param [out] CANbaseAddressRx message was received on this interface
* @param [out] timestamp message was received at this time (system clock)
*
* @retval false message has never been received, therefore no base address
@ -256,7 +256,7 @@ CO_ReturnError_t CO_CANrxBufferInit(
bool_t CO_CANrxBuffer_getInterface(
CO_CANmodule_t *CANmodule,
uint32_t ident,
void **CANdriverStateRx,
int32_t *CANbaseAddressRx,
struct timespec *timestamp);
#endif
@ -294,19 +294,19 @@ CO_CANtx_t *CO_CANtxBufferInit(
* It is in the responsibility of the user to ensure that the correct interface
* is used. Some messages need to be transmitted on all interfaces.
*
* If given interface is unknown or NULL is used, a message is transmitted on
* If given interface is unknown or "-1" is used, a message is transmitted on
* all available interfaces.
*
* @param CANmodule This object.
* @param ident 11-bit standard CAN Identifier.
* @param CANdriverStateTx use this interface. NULL = not specified
* @param CANbaseAddressTx use this interface. -1 = not specified
*
* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
*/
CO_ReturnError_t CO_CANtxBuffer_setInterface(
CO_CANmodule_t *CANmodule,
uint32_t ident,
void *CANdriverStateTx);
int32_t CANbaseAddressTx);
#endif

6
stack/neuberger-socketCAN/CO_driver_base.h → socketCAN/CO_driver_base.h
View file

@ -184,7 +184,7 @@ static inline void CO_UNLOCK_OD() { (void)pthread_mutex_unlock(&CO_OD_mutex);
/** Memory barrier */
#define CANrxMemoryBarrier() {__sync_synchronize();}
/** Check if new message has arrived */
#define IS_CANrxNew(rxNew) ((uintptr_t)rxNew)
#define IS_CANrxNew(rxNew) ((int)rxNew)
/** Set new message flag */
#define SET_CANrxNew(rxNew) {CANrxMemoryBarrier(); rxNew = (void*)1L;}
/** Clear new message flag */
@ -261,7 +261,7 @@ typedef struct{
#ifdef CO_DRIVER_MULTI_INTERFACE
/** info about last received message */
void *CANdriverState; /**< CAN Interface identifier */
int32_t CANbaseAddress; /**< CAN Interface identifier */
struct timespec timestamp; /**< time of reception */
#endif
}CO_CANrx_t;
@ -281,7 +281,7 @@ typedef struct{
volatile bool_t syncFlag;
/** info about transmit message */
void *CANdriverState; /**< CAN Interface identifier to use */
int32_t CANbaseAddress; /**< CAN Interface identifier to use */
} CO_CANtx_t;
/**

0
stack/neuberger-socketCAN/CO_error.c → socketCAN/CO_error.c
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0
stack/neuberger-socketCAN/CO_error.h → socketCAN/CO_error.h
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0
stack/neuberger-socketCAN/CO_notify_pipe.c → socketCAN/CO_notify_pipe.c
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0
stack/neuberger-socketCAN/CO_notify_pipe.h → socketCAN/CO_notify_pipe.h
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