net: l2: 6LoCAN implementation
This commit is an implementation of 6LoCAN, a 6Lo adaption layer for Controller Area Networks. 6LoCAN is not yet standardised. Signed-off-by: Alexander Wachter <alexander.wachter@student.tugraz.at>
This commit is contained in:
Alexander Wachter
Jukka Rissanen
parent
c8c5f3bbf3
commit
35f01673ac
28 changed files with 2096 additions and 65 deletions
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@ -8,3 +8,4 @@ zephyr_sources_ifdef(CONFIG_CAN_MCUX_FLEXCAN can_mcux_flexcan.c)
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zephyr_sources_ifdef(CONFIG_USERSPACE can_handlers.c)
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zephyr_sources_ifdef(CONFIG_CAN_SHELL can_shell.c)
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zephyr_sources_ifdef(CONFIG_CAN_NET can_net.c)
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@ -64,5 +64,6 @@ source "drivers/can/Kconfig.stm32"
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source "drivers/can/Kconfig.mcux"
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source "drivers/can/Kconfig.mcp2515"
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source "drivers/can/Kconfig.loopback"
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source "drivers/can/Kconfig.net"
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endif # CAN
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37
drivers/can/Kconfig.net
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37
drivers/can/Kconfig.net
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@ -0,0 +1,37 @@
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# Kconfig.net - Configuration options for IPv6 over CAN
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#
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# Copyright (c) 2019 Alexander Wachter
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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config CAN_NET
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bool "Enable 6loCAN network interface [EXPERIMENTAL]"
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help
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Enable IPv6 Networking over can (6loCAN)
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if CAN_NET
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module = CAN_NET
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module-dep = NET_LOG
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module-str = Log level for Network CAN
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module-help = Enables logging for CAN L2 networking
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source "subsys/net/Kconfig.template.log_config.net"
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config CAN_NET_NAME
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string "Network device name"
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default "NET_CAN"
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help
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Name of the network device driver for IPv6 over CAN.
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config CAN_NET_INIT_PRIORITY
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int "CAN NET driver init priority"
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default 80
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help
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CAN NET device driver initialization priority.
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Do not mess with it unless you know what you are doing.
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Note that the priority needs to be lower than the net stack
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so that it can start before the networking sub-system.
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endif #CAN_NET
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258
drivers/can/can_net.c
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258
drivers/can/can_net.c
Normal file
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@ -0,0 +1,258 @@
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/*
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* Copyright (c) 2019 Alexander Wachter
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <net/can.h>
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#include <net/net_pkt.h>
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#include <logging/log.h>
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LOG_MODULE_REGISTER(net_can, CONFIG_CAN_NET_LOG_LEVEL);
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struct net_can_context {
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struct device *can_dev;
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struct net_if *iface;
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int recv_filter_id;
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int mcast_filter_id;
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};
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static inline u8_t can_get_frame_datalength(struct zcan_frame *frame)
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{
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/* TODO: Needs update when CAN FD support is added */
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return frame->dlc;
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}
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static inline u16_t can_get_lladdr_src(struct zcan_frame *frame)
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{
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return (frame->ext_id >> CAN_NET_IF_ADDR_SRC_POS) &
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CAN_NET_IF_ADDR_MASK;
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}
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static inline u16_t can_get_lladdr_dest(struct zcan_frame *frame)
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{
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return (frame->ext_id >> CAN_NET_IF_ADDR_DEST_POS) &
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CAN_NET_IF_ADDR_MASK;
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}
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static inline void can_set_lladdr(struct net_pkt *pkt, struct zcan_frame *frame)
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{
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struct net_buf *buf = pkt->buffer;
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/* Put the destination at the beginning of the pkt.
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* The net_canbus_lladdr has a size if 14 bits. To convert it to
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* network byte order, we treat it as 16 bits here.
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*/
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net_pkt_lladdr_dst(pkt)->addr = buf->data;
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net_pkt_lladdr_dst(pkt)->len = sizeof(struct net_canbus_lladdr);
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net_pkt_lladdr_dst(pkt)->type = NET_LINK_CANBUS;
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net_buf_add_be16(buf, can_get_lladdr_dest(frame));
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net_buf_pull(buf, sizeof(u16_t));
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/* Do the same as above for the source address */
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net_pkt_lladdr_src(pkt)->addr = buf->data;
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net_pkt_lladdr_src(pkt)->len = sizeof(struct net_canbus_lladdr);
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net_pkt_lladdr_src(pkt)->type = NET_LINK_CANBUS;
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net_buf_add_be16(buf, can_get_lladdr_src(frame));
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net_buf_pull(buf, sizeof(u16_t));
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}
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static void net_can_iface_init(struct net_if *iface)
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{
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struct device *dev = net_if_get_device(iface);
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struct net_can_context *ctx = dev->driver_data;
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ctx->iface = iface;
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NET_DBG("Init CAN network interface %p dev %p", iface, dev);
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net_6locan_init(iface);
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}
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static int net_can_send(struct device *dev, const struct zcan_frame *frame,
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can_tx_callback_t cb, void *cb_arg, s32_t timeout)
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{
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struct net_can_context *ctx = dev->driver_data;
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NET_ASSERT(frame->id_type == CAN_EXTENDED_IDENTIFIER);
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return can_send(ctx->can_dev, frame, timeout, cb, cb_arg);
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}
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static void net_can_recv(struct zcan_frame *frame, void *arg)
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{
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struct net_can_context *ctx = (struct net_can_context *)arg;
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size_t pkt_size = 2 * sizeof(struct net_canbus_lladdr) +
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can_get_frame_datalength(frame);
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struct net_pkt *pkt;
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int ret;
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NET_DBG("Frame with ID 0x%x received", frame->ext_id);
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pkt = net_pkt_rx_alloc_with_buffer(ctx->iface, pkt_size, AF_UNSPEC, 0,
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K_NO_WAIT);
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if (!pkt) {
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LOG_ERR("Failed to obtain net_pkt with size of %d", pkt_size);
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goto drop;
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}
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pkt->canbus_rx_ctx = NULL;
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can_set_lladdr(pkt, frame);
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net_pkt_cursor_init(pkt);
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ret = net_pkt_write(pkt, frame->data, can_get_frame_datalength(frame));
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if (ret) {
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LOG_ERR("Failed to append frame data to net_pkt");
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goto drop;
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}
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ret = net_recv_data(ctx->iface, pkt);
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if (ret < 0) {
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LOG_ERR("Packet dropped by NET stack");
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goto drop;
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}
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return;
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drop:
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NET_INFO("pkt dropped");
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if (pkt) {
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net_pkt_unref(pkt);
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}
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}
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static int can_attach_filter(struct device *dev, can_rx_callback_t cb, void *cb_arg,
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const struct zcan_filter *filter)
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{
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struct net_can_context *ctx = dev->driver_data;
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return can_attach_isr(ctx->can_dev, cb, cb_arg, filter);
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}
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static void can_detach_filter(struct device *dev, int filter_id)
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{
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struct net_can_context *ctx = dev->driver_data;
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if (filter_id >= 0) {
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can_detach(ctx->can_dev, filter_id);
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}
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}
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static inline int can_attach_unicast_filter(struct net_can_context *ctx)
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{
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struct zcan_filter filter = {
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.id_type = CAN_EXTENDED_IDENTIFIER,
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.rtr = CAN_DATAFRAME,
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.rtr_mask = 1,
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.ext_id_mask = CAN_NET_IF_ADDR_DEST_MASK
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};
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const u8_t *link_addr = net_if_get_link_addr(ctx->iface)->addr;
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const u16_t dest = sys_be16_to_cpu(UNALIGNED_GET((u16_t *) link_addr));
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int filter_id;
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filter.ext_id = (dest << CAN_NET_IF_ADDR_DEST_POS);
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filter_id = can_attach_isr(ctx->can_dev, net_can_recv,
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ctx, &filter);
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if (filter_id == CAN_NET_FILTER_NOT_SET) {
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NET_ERR("Can't attach FF filter");
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return CAN_NET_FILTER_NOT_SET;
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}
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NET_DBG("Attached FF filter %d", filter_id);
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return filter_id;
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}
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static inline int can_attach_mcast_filter(struct net_can_context *ctx)
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{
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struct zcan_filter filter = {
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.id_type = CAN_EXTENDED_IDENTIFIER,
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.rtr = CAN_DATAFRAME,
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.rtr_mask = 1,
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.ext_id_mask = CAN_NET_IF_ADDR_DEST_MASK
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};
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int filter_id;
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filter.ext_id = (NET_CAN_MULTICAST_ADDR << CAN_NET_IF_ADDR_DEST_POS);
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filter_id = can_attach_isr(ctx->can_dev, net_can_recv,
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ctx, &filter);
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if (filter_id == CAN_NET_FILTER_NOT_SET) {
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NET_ERR("Can't attach multicast filter");
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return CAN_NET_FILTER_NOT_SET;
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}
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NET_DBG("Attached multicast filter %d", filter_id);
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return filter_id;
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}
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static int can_enable(struct device *dev, bool enable)
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{
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struct net_can_context *ctx = dev->driver_data;
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if (enable) {
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if (ctx->recv_filter_id == CAN_NET_FILTER_NOT_SET) {
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ctx->recv_filter_id = can_attach_unicast_filter(ctx);
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if (ctx->recv_filter_id < 0) {
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return -EIO;
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}
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}
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if (ctx->mcast_filter_id == CAN_NET_FILTER_NOT_SET) {
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ctx->mcast_filter_id = can_attach_mcast_filter(ctx);
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if (ctx->mcast_filter_id < 0) {
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can_detach(ctx->can_dev, ctx->recv_filter_id);
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return -EIO;
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}
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}
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} else {
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if (ctx->recv_filter_id != CAN_NET_FILTER_NOT_SET) {
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can_detach(ctx->can_dev, ctx->recv_filter_id);
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}
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if (ctx->mcast_filter_id != CAN_NET_FILTER_NOT_SET) {
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can_detach(ctx->can_dev, ctx->mcast_filter_id);
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}
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}
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return 0;
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}
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static struct net_can_api net_can_api_inst = {
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.iface_api.init = net_can_iface_init,
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.send = net_can_send,
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.attach_filter = can_attach_filter,
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.detach_filter = can_detach_filter,
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.enable = can_enable,
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};
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static int net_can_init(struct device *dev)
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{
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struct device *can_dev = device_get_binding(DT_CAN_1_NAME);
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struct net_can_context *ctx = dev->driver_data;
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ctx->recv_filter_id = CAN_NET_FILTER_NOT_SET;
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ctx->mcast_filter_id = CAN_NET_FILTER_NOT_SET;
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if (!can_dev) {
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NET_ERR("Can't get binding to CAN device %s", DT_CAN_1_NAME);
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return -EIO;
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}
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NET_DBG("Init net CAN device %p (%s) for dev %p (%s)",
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dev, dev->config->name, can_dev, can_dev->config->name);
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ctx->can_dev = can_dev;
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return 0;
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}
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static struct net_can_context net_can_context_1;
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NET_DEVICE_INIT(net_can_1, CONFIG_CAN_NET_NAME, net_can_init,
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&net_can_context_1, NULL,
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CONFIG_CAN_NET_INIT_PRIORITY,
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&net_can_api_inst,
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CANBUS_L2, NET_L2_GET_CTX_TYPE(CANBUS_L2), NET_CAN_MTU);
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