a752c7ab
 elopes
add first test an...
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/*
* Copyright (C) 2016 OTA keys S.A.
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup sys_can_conn
* @{
* @file
* @brief Implementation of raw CAN connection
*
* @author Vincent Dupont <vincent@otakeys.com>
* @}
*/
#include <errno.h>
#include <string.h>
#include "can/conn/raw.h"
#include "can/can.h"
#include "can/raw.h"
#include "timex.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
#include "xtimer.h"
#define _TIMEOUT_TX_MSG_TYPE (0x8000)
#define _TIMEOUT_RX_MSG_TYPE (0x8001)
#define _CLOSE_CONN_MSG_TYPE (0x8002)
#define _TIMEOUT_MSG_VALUE (0xABCDEFAB)
#ifndef CONN_CAN_RAW_TIMEOUT_TX_CONF
#define CONN_CAN_RAW_TIMEOUT_TX_CONF (1 * US_PER_SEC)
#endif
int conn_can_raw_create(conn_can_raw_t *conn, struct can_filter *filter, size_t count,
int ifnum, int flags)
{
assert(conn != NULL);
assert(ifnum < CAN_DLL_NUMOF);
DEBUG("conn_can_raw_create: create conn=%p, ifnum=%d flags=%d\n", (void *)conn, ifnum, flags);
mbox_init(&conn->mbox, conn->mbox_queue, CONN_CAN_RAW_MBOX_SIZE);
conn->flags = flags;
conn->count = 0;
conn->ifnum = ifnum;
if (flags & CONN_CAN_RECVONLY) {
can_opt_t opt;
opt.opt = CANOPT_STATE;
canopt_state_t state = CANOPT_STATE_LISTEN_ONLY;
opt.data = &state;
opt.data_len = sizeof(state);
int ret = raw_can_set_can_opt(ifnum, &opt);
if (ret < 0) {
return ret;
}
}
return conn_can_raw_set_filter(conn, filter, count);
}
int conn_can_raw_set_filter(conn_can_raw_t *conn, struct can_filter *filter, size_t count)
{
assert(conn != NULL);
assert(filter != NULL || count == 0);
DEBUG("conn_can_raw_set_filter: conn=%p, filter=%p, count=%d\n",
(void *)conn, (void *)filter, count);
DEBUG("conn_can_raw_set_filter: conn->filter=%p, conn->count=%d\n",
(void *)conn->filter, conn->count);
/* unset previous filters */
if (conn->count) {
for (size_t i = 0; i < conn->count; i++) {
DEBUG("conn_can_raw_set_filter: unsetting filter=0x%" PRIx32 ", mask=0x%" PRIx32 "\n",
conn->filter[i].can_id, conn->filter[i].can_mask);
raw_can_unsubscribe_rx_mbox(conn->ifnum, &conn->filter[i], &conn->mbox, conn);
}
}
for (size_t i = 0; i < count; i++) {
DEBUG("conn_can_raw_set_filter: setting filter=0x%" PRIx32 ", mask=0x%" PRIx32 "\n",
filter[i].can_id, filter[i].can_mask);
int ret = raw_can_subscribe_rx_mbox(conn->ifnum, &filter[i], &conn->mbox, conn);
if (ret < 0) {
DEBUG("conn_can_raw_set_filter: error setting filters %d\n", ret);
for (size_t j = 0; j < i; j++) {
DEBUG("conn_can_raw_set_filter: unsetting filter=0x%" PRIx32 ", mask=0x%" PRIx32 "\n",
filter[j].can_id, filter[j].can_mask);
raw_can_unsubscribe_rx_mbox(conn->ifnum, &filter[j], &conn->mbox, conn);
}
return ret;
}
}
conn->filter = filter;
conn->count = count;
return 0;
}
static void _tx_conf_timeout(void *arg)
{
conn_can_raw_t *conn = arg;
msg_t msg;
msg.type = _TIMEOUT_TX_MSG_TYPE;
msg.content.value = _TIMEOUT_MSG_VALUE;
mbox_put(&conn->mbox, &msg);
}
int conn_can_raw_send(conn_can_raw_t *conn, const struct can_frame *frame, int flags)
{
assert(conn != NULL);
assert(conn->ifnum < CAN_DLL_NUMOF);
assert((conn->flags & CONN_CAN_RECVONLY) == 0);
assert(frame != NULL);
int ret = 0;
int handle;
DEBUG("conn_can_raw_send: conn=%p, frame=%p, flags=%d\n",
(void *)conn, (void *)frame, flags);
if (flags & CONN_CAN_DONTWAIT) {
handle = ret = raw_can_send(conn->ifnum, frame, 0);
if (ret >= 0) {
ret = 0;
}
}
else {
xtimer_t timer;
timer.callback = _tx_conf_timeout;
timer.arg = conn;
xtimer_set(&timer, CONN_CAN_RAW_TIMEOUT_TX_CONF);
handle = raw_can_send_mbox(conn->ifnum, frame, &conn->mbox);
if (handle < 0) {
xtimer_remove(&timer);
return handle;
}
msg_t msg;
int timeout = 5;
while (1) {
mbox_get(&conn->mbox, &msg);
xtimer_remove(&timer);
switch (msg.type) {
case CAN_MSG_TX_ERROR:
return -EIO;
case CAN_MSG_TX_CONFIRMATION:
if ((int)msg.content.value == handle) {
DEBUG("conn_can_raw_send: frame sent correctly\n");
return 0;
}
else {
raw_can_abort(conn->ifnum, handle);
return -EINTR;
}
break;
case _TIMEOUT_TX_MSG_TYPE:
DEBUG("conn_can_raw_send: timeout\n");
raw_can_abort(conn->ifnum, handle);
return -ETIMEDOUT;
break;
default:
DEBUG("conn_can_raw_send: unexpected msg=%x, requeing\n", msg.type);
mbox_put(&conn->mbox, &msg);
if (!timeout--) {
return -EINTR;
}
xtimer_set(&timer, CONN_CAN_RAW_TIMEOUT_TX_CONF);
break;
}
}
}
return ret;
}
static void _rx_timeout(void *arg)
{
conn_can_raw_t *conn = arg;
msg_t msg;
msg.type = _TIMEOUT_RX_MSG_TYPE;
msg.content.value = _TIMEOUT_MSG_VALUE;
mbox_put(&conn->mbox, &msg);
}
int conn_can_raw_recv(conn_can_raw_t *conn, struct can_frame *frame, uint32_t timeout)
{
assert(conn != NULL);
assert(conn->ifnum < CAN_DLL_NUMOF);
assert(frame != NULL);
xtimer_t timer;
if (timeout != 0) {
timer.callback = _rx_timeout;
timer.arg = conn;
xtimer_set(&timer, timeout);
}
int ret;
msg_t msg;
can_rx_data_t *rx;
mbox_get(&conn->mbox, &msg);
if (timeout != 0) {
xtimer_remove(&timer);
}
switch (msg.type) {
case CAN_MSG_RX_INDICATION:
DEBUG("conn_can_raw_recv: CAN_MSG_RX_INDICATION\n");
rx = msg.content.ptr;
memcpy(frame, rx->data.iov_base, rx->data.iov_len);
ret = rx->data.iov_len;
raw_can_free_frame(rx);
break;
case _TIMEOUT_RX_MSG_TYPE:
if (msg.content.value == _TIMEOUT_MSG_VALUE) {
ret = -ETIMEDOUT;
}
else {
ret = -EINTR;
}
break;
case _CLOSE_CONN_MSG_TYPE:
if (msg.content.ptr == conn) {
ret = -ECONNABORTED;
}
else {
ret = -EINTR;
}
break;
default:
mbox_put(&conn->mbox, &msg);
ret = -EINTR;
break;
}
return ret;
}
int conn_can_raw_close(conn_can_raw_t *conn)
{
assert(conn != NULL);
assert(conn->ifnum < CAN_DLL_NUMOF);
DEBUG("conn_can_raw_close: conn=%p\n", (void *)conn);
if (conn->count) {
for (size_t i = 0; i < conn->count; i++) {
DEBUG("conn_can_raw_close: unsetting filter=0x%" PRIx32 ", mask=0x%" PRIx32 "\n",
conn->filter[i].can_id, conn->filter[i].can_mask);
raw_can_unsubscribe_rx_mbox(conn->ifnum, &conn->filter[i], &conn->mbox, conn);
}
conn->count = 0;
msg_t msg;
while (mbox_try_get(&conn->mbox, &msg)) {
if (msg.type == CAN_MSG_RX_INDICATION) {
DEBUG("conn_can_raw_close: incoming msg pending, freeing\n");
raw_can_free_frame(msg.content.ptr);
}
}
msg.type = _CLOSE_CONN_MSG_TYPE;
msg.content.ptr = conn;
mbox_try_put(&conn->mbox, &msg);
}
return 0;
}
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