From c1cad595af965e36de90ed19b5118fb23faedef6 Mon Sep 17 00:00:00 2001 From: Gedare Bloom Date: Thu, 27 Jul 2023 12:24:34 -0600 Subject: Revert "cpukit/dev/can: Added CAN support" This reverts commit cd91b37dce728b372f164355719a4e601e12e7b3. Closes #4803. --- cpukit/dev/can/can.c | 505 --------------------------------------------------- 1 file changed, 505 deletions(-) delete mode 100644 cpukit/dev/can/can.c (limited to 'cpukit/dev') diff --git a/cpukit/dev/can/can.c b/cpukit/dev/can/can.c deleted file mode 100644 index 2e6d5df65b..0000000000 --- a/cpukit/dev/can/can.c +++ /dev/null @@ -1,505 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ - -/** - * @file - * - * @ingroup CANBus - * - * @brief Controller Area Network (CAN) Bus Implementation - * - */ - -/* - * Copyright (C) 2022 Prashanth S (fishesprashanth@gmail.com) - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include -#include - -#include - -#include -#include - -#include -#include - -#define can_interrupt_lock_acquire(bus) \ - do { \ - CAN_DEBUG_LOCK("acquiring lock\n"); \ - real_can_interrupt_lock_acquire(bus); \ - } while (0); - -#define can_interrupt_lock_release(bus) \ - do { \ - CAN_DEBUG_LOCK("releasing lock\n"); \ - real_can_interrupt_lock_release(bus); \ - } while (0); - -static ssize_t -can_bus_open(rtems_libio_t *iop, const char *path, int oflag, mode_t mode); -static ssize_t -can_bus_read(rtems_libio_t *iop, void *buffer, size_t count); -static ssize_t -can_bus_write(rtems_libio_t *iop, const void *buffer, size_t count); -static ssize_t -can_bus_ioctl(rtems_libio_t *iop, ioctl_command_t request, void *buffer); - -static int can_xmit(struct can_bus *bus); - -static int can_bus_create_sem(struct can_bus *); -static int try_sem(struct can_bus *); -static int take_sem(struct can_bus *); -static int give_sem(struct can_bus *); - - -static void can_bus_obtain(can_bus *bus) -{ - CAN_DEBUG("can_bus_obtain Entry\n"); - rtems_mutex_lock(&bus->mutex); - CAN_DEBUG("can_bus_obtain Exit\n"); -} - -static void can_bus_release(can_bus *bus) -{ - CAN_DEBUG("can_bus_release Entry\n"); - rtems_mutex_unlock(&bus->mutex); - CAN_DEBUG("can_bus_release Exit\n"); -} - -static void can_bus_destroy_mutex(struct can_bus *bus) -{ - rtems_mutex_destroy(&bus->mutex); -} - -static int can_bus_create_sem(struct can_bus *bus) -{ - int ret = 0; - - ret = rtems_semaphore_create(rtems_build_name('c', 'a', 'n', bus->index), - CAN_TX_BUF_COUNT, RTEMS_FIFO | RTEMS_COUNTING_SEMAPHORE | RTEMS_LOCAL, - 0, &bus->tx_fifo_sem_id); - - if (ret != 0) { - CAN_ERR("can_create_sem: rtems_semaphore_create failed %d\n", ret); - } - - return ret; -} - -static void can_bus_free_tx_semaphore(struct can_bus *bus) -{ - rtems_semaphore_delete(bus->tx_fifo_sem_id); -} - -static void real_can_interrupt_lock_acquire(struct can_bus *bus) -{ - bus->can_dev_ops->dev_int(bus->priv, false); - can_bus_obtain(bus); -} - -static void real_can_interrupt_lock_release(struct can_bus *bus) -{ - can_bus_release(bus); - bus->can_dev_ops->dev_int(bus->priv, true); -} - -static int take_sem(struct can_bus *bus) -{ - int ret = rtems_semaphore_obtain(bus->tx_fifo_sem_id, RTEMS_WAIT, - RTEMS_NO_TIMEOUT); -#ifdef CAN_DEBUG_LOCK - if (ret == RTEMS_SUCCESSFUL) { - bus->sem_count++; - CAN_DEBUG_LOCK("take_sem: Semaphore count = %d\n", bus->sem_count); - if (bus->sem_count > CAN_TX_BUF_COUNT) { - CAN_ERR("take_sem error: sem_count is misleading\n"); - return RTEMS_INTERNAL_ERROR; - } - } -#endif /* CAN_DEBUG_LOCK */ - - return ret; -} - -static int give_sem(struct can_bus *bus) -{ - int ret = rtems_semaphore_release(bus->tx_fifo_sem_id); - -#ifdef CAN_DEBUG_LOCK - if (ret == RTEMS_SUCCESSFUL) { - bus->sem_count--; - CAN_DEBUG_LOCK("give_sem: Semaphore count = %d\n", bus->sem_count); - if (bus->sem_count < 0) { - CAN_ERR("give_sem error: sem_count is misleading\n"); - return RTEMS_INTERNAL_ERROR; - } - } -#endif /* CAN_DEBUG_LOCK */ - - return ret; -} - -static int try_sem(struct can_bus *bus) -{ - int ret = rtems_semaphore_obtain(bus->tx_fifo_sem_id, RTEMS_NO_WAIT, - RTEMS_NO_TIMEOUT); -#ifdef CAN_DEBUG_LOCK - if (ret == RTEMS_SUCCESSFUL) { - bus->sem_count++; - CAN_DEBUG_LOCK("try_sem: Semaphore count = %d\n", bus->sem_count); - if (bus->sem_count > CAN_TX_BUF_COUNT) { - CAN_ERR("take_sem error: sem_count is misleading\n"); - return RTEMS_INTERNAL_ERROR; - } - } -#endif /* CAN_DEBUG_LOCK */ - - return ret; -} - -static ssize_t -can_bus_open(rtems_libio_t *iop, const char *path, int oflag, mode_t mode) -{ - CAN_DEBUG("can_bus_open\n"); - - return 0; -} - -/* Should be called only with CAN interrupts disabled */ -int can_receive(struct can_bus *bus, struct can_msg *msg) -{ - memcpy(&bus->can_rx_msg, msg, CAN_MSG_LEN(msg)); - - return CAN_MSG_LEN(msg); -} - -/* FIXME: Should be modified to read count number of bytes, Now sending one can_msg */ -static ssize_t can_bus_read(rtems_libio_t *iop, void *buffer, size_t count) -{ - int len; - - can_bus *bus = IMFS_generic_get_context_by_iop(iop); - if (bus == NULL) { - return -RTEMS_NOT_DEFINED; - } - - struct can_msg *msg = (struct can_msg *)buffer; - - len = CAN_MSG_LEN(&bus->can_rx_msg); - - if (count < len) { - CAN_DEBUG("can_bus_read: buffer size is small min sizeof(struct can_msg) = %u\n", - sizeof(struct can_msg)); - return -RTEMS_INVALID_SIZE; - } - - can_interrupt_lock_acquire(bus); - memcpy(msg, &bus->can_rx_msg, len); - can_interrupt_lock_release(bus); - - return len; -} - -/* This function is a critical section and should be called - * with CAN interrupts disabled and mutually exclusive - */ -static int can_xmit(struct can_bus *bus) -{ - int ret = RTEMS_SUCCESSFUL; - - struct can_msg *msg = NULL; - - CAN_DEBUG(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> can_xmit Entry\n"); - - while (1) { - CAN_DEBUG("can_dev_ops->dev_tx_ready\n"); - if (bus->can_dev_ops->dev_tx_ready(bus->priv) != true) { - break; - } - - CAN_DEBUG("can_tx_get_data_buf\n"); - msg = can_bus_tx_get_data_buf(bus); - if (msg == NULL) { - break; - } - - CAN_DEBUG("can_dev_ops->dev_tx\n"); - ret = bus->can_dev_ops->dev_tx(bus->priv, msg); - if (ret != RTEMS_SUCCESSFUL) { - CAN_ERR("can_xmit: dev_send failed\n"); - break; - } - - ret = give_sem(bus); - if (ret != RTEMS_SUCCESSFUL) { - CAN_ERR("can_xmit: rtems_semaphore_release failed = %d\n", ret); - break; - } - } - - CAN_DEBUG(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> can_xmit Exit\n"); - - return ret; -} - -void can_print_msg(struct can_msg const *msg) -{ -#ifdef CAN_DEBUG - CAN_DEBUG("\n----------------------------------------------------------------\n"); - CAN_DEBUG("id = %d len = %d flags = 0x%08X\n", msg->id, msg->len, msg->flags); - - CAN_DEBUG("msg->data[0] = 0x%08x\n", ((uint32_t *)msg->data)[0]); - CAN_DEBUG("msg->data[1] = 0x%08x\n", ((uint32_t *)msg->data)[1]); - - for (int i = 0; i < msg->len; i++) { - CAN_DEBUG("%02x\n", ((char *)msg->data)[i]); - } - - CAN_DEBUG("\n-----------------------------------------------------------------\n"); -#endif /* CAN_DEBUG */ -} - -/* can_tx_done should be called only with CAN interrupts disabled */ -int can_tx_done(struct can_bus *bus) -{ - CAN_DEBUG("------------ can_tx_done Entry\n"); - int ret = RTEMS_SUCCESSFUL; - - if (bus->can_dev_ops->dev_tx_ready(bus->priv) == true) { - ret = can_xmit(bus); - } - CAN_DEBUG("------------ can_tx_done Exit\n"); - - return ret; -} - -/* FIXME: Add support to send multiple CAN msgs for can_bus_write */ -static ssize_t -can_bus_write(rtems_libio_t *iop, const void *buffer, size_t count) -{ - can_bus *bus = IMFS_generic_get_context_by_iop(iop); - - if (bus == NULL || bus->can_dev_ops->dev_tx == NULL) { - return -RTEMS_NOT_DEFINED; - } - - int ret = RTEMS_SUCCESSFUL; - - struct can_msg const *msg = buffer; - struct can_msg *fifo_buf = NULL; - - uint32_t msg_size = CAN_MSG_LEN(msg); - - CAN_DEBUG_TX("can_bus_write: can_msg_size = %u\n", msg_size); - if (msg_size > sizeof(struct can_msg)) { - CAN_ERR("can_bus_write:" - "can message len error msg_size = %u struct can_msg = %u\n", - msg_size, sizeof(struct can_msg)); - return -RTEMS_INVALID_SIZE; - } - - if ((iop->flags & O_NONBLOCK) != 0) { - ret = try_sem(bus); - if (ret != RTEMS_SUCCESSFUL) { - return -ret; - } - } else { - ret = take_sem(bus); - if (ret != RTEMS_SUCCESSFUL) { - CAN_ERR("can_bus_write: cannot take semaphore\n"); - return -ret; - } - } - - can_interrupt_lock_acquire(bus); - - fifo_buf = can_bus_tx_get_empty_buf(bus); - if (fifo_buf == NULL) { - /* This error will not happen until buffer counts are not synchronized */ - CAN_ERR("can_bus_write: Buffer counts are not synchronized with semaphore count\n"); - ret = -RTEMS_INTERNAL_ERROR; - goto release_lock_and_return; - } - - CAN_DEBUG_TX("can_bus_write: empty_count = %u\n", bus->tx_fifo.empty_count); - - CAN_DEBUG_TX("can_bus_write: copying msg from application to driver buffer\n"); - memcpy(fifo_buf, msg, msg_size); - - if (bus->can_dev_ops->dev_tx_ready(bus->priv) == true) { - ret = can_xmit(bus); - if (ret != RTEMS_SUCCESSFUL) { - ret = -ret; - goto release_lock_and_return; - } - } - - ret = msg_size; - -release_lock_and_return: - can_interrupt_lock_release(bus); - return ret; -} - -static ssize_t -can_bus_ioctl(rtems_libio_t *iop, ioctl_command_t request, void *buffer) -{ - can_bus *bus = IMFS_generic_get_context_by_iop(iop); - - if (bus == NULL || bus->can_dev_ops->dev_ioctl == NULL) { - return -RTEMS_NOT_DEFINED; - } - - can_bus_obtain(bus); - - bus->can_dev_ops->dev_ioctl(bus->priv, NULL, 0); - - can_bus_release(bus); - - return RTEMS_SUCCESSFUL; -} - -static const rtems_filesystem_file_handlers_r can_bus_handler = { - .open_h = can_bus_open, - .close_h = rtems_filesystem_default_close, - .read_h = can_bus_read, - .write_h = can_bus_write, - .ioctl_h = can_bus_ioctl, - .lseek_h = rtems_filesystem_default_lseek, - .fstat_h = IMFS_stat, - .ftruncate_h = rtems_filesystem_default_ftruncate, - .fsync_h = rtems_filesystem_default_fsync_or_fdatasync, - .fdatasync_h = rtems_filesystem_default_fsync_or_fdatasync, - .fcntl_h = rtems_filesystem_default_fcntl, - .kqfilter_h = rtems_filesystem_default_kqfilter, - .mmap_h = rtems_filesystem_default_mmap, - .poll_h = rtems_filesystem_default_poll, - .readv_h = rtems_filesystem_default_readv, - .writev_h = rtems_filesystem_default_writev -}; - -static void can_bus_node_destroy(IMFS_jnode_t *node) -{ - can_bus *bus; - - bus = IMFS_generic_get_context_by_node(node); - (*bus->destroy)(bus); - - IMFS_node_destroy_default(node); -} - -static const -IMFS_node_control can_bus_node_control = IMFS_GENERIC_INITIALIZER(&can_bus_handler, - IMFS_node_initialize_generic, can_bus_node_destroy); - -rtems_status_code can_bus_register(can_bus *bus, const char *bus_path) -{ - int ret = RTEMS_SUCCESSFUL; - - static uint8_t index = 0; - - if (index == CAN_BUS_REG_MAX) { - CAN_ERR("can_bus_register: can bus registration limit reached\n"); - return RTEMS_TOO_MANY; - } - - bus->index = index++; - CAN_DEBUG("Registering CAN bus index = %u\n", bus->index); - - ret = IMFS_make_generic_node(bus_path, S_IFCHR | S_IRWXU | S_IRWXG | S_IRWXO, - &can_bus_node_control, bus); - if (ret != RTEMS_SUCCESSFUL) { - CAN_ERR("can_bus_register: Creating node failed = %d\n", ret); - goto fail; - } - - if ((ret = can_bus_create_sem(bus)) != RTEMS_SUCCESSFUL) { - CAN_ERR("can_bus_register: can_create_sem failed = %d\n", ret); - goto fail; - } - - if ((ret = can_bus_create_tx_buffers(bus)) != RTEMS_SUCCESSFUL) { - CAN_ERR("can_bus_register: can_create_tx_buffers failed = %d\n", ret); - goto free_tx_semaphore; - } - - return ret; - -free_tx_semaphore: - rtems_semaphore_delete(bus->tx_fifo_sem_id); - -fail: - can_bus_destroy_mutex(bus); - return ret; - -} - -static void can_bus_destroy(can_bus *bus) -{ - can_bus_free_tx_buffers(bus); - can_bus_free_tx_semaphore(bus); - can_bus_destroy_mutex(bus); -} - -static int can_bus_do_init(can_bus *bus, void (*destroy)(can_bus *bus)) -{ - rtems_mutex_init(&bus->mutex, "CAN Bus"); - bus->destroy = can_bus_destroy; - - return RTEMS_SUCCESSFUL; -} - -static void can_bus_destroy_and_free(can_bus *bus) -{ - can_bus_destroy(bus); - free(bus); -} - -int can_bus_init(can_bus *bus) -{ - memset(bus, 0, sizeof(*bus)); - - return can_bus_do_init(bus, can_bus_destroy); -} - -can_bus *can_bus_alloc_and_init(size_t size) -{ - can_bus *bus = NULL; - - if (size >= sizeof(*bus)) { - bus = calloc(1, size); - if (bus == NULL) { - CAN_ERR("can_bus_alloc_and_init: calloc failed\b"); - return NULL; - } - - int rv = can_bus_do_init(bus, can_bus_destroy_and_free); - if (rv != 0) { - CAN_ERR("can_bus_alloc_and_init: can_bus_do_init failed\n"); - return NULL; - } - } - return bus; -} -- cgit v1.2.3