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drivers: can: shell: convert from can_attach_workq() to triggered work

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Convert the CAN shell from using can_attach_workq() to using
can_attach_msgq() and triggered work via k_work_poll_submit().

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit is contained in:
Henrik Brix Andersen 2021-12-16 12:13:33 +01:00 • committed by Carles Cufí
commit a1cff6f4a9
2 changed files with 42 additions and 12 deletions
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1
drivers/can/Kconfig
View file

@ -27,6 +27,7 @@ config CAN_SHELL
bool "Enable CAN Shell"
default y
depends on SHELL
select POLL
help
Enable CAN Shell for testing.

53
drivers/can/can_shell.c
View file

@ -10,7 +10,14 @@
#include <zephyr/types.h>
#include <stdlib.h>
static struct zcan_work work;
CAN_DEFINE_MSGQ(msgq, 4);
const struct shell *msgq_shell;
static struct k_work_poll msgq_work;
static struct k_poll_event msgq_events[1] = {
K_POLL_EVENT_STATIC_INITIALIZER(K_POLL_TYPE_MSGQ_DATA_AVAILABLE,
K_POLL_MODE_NOTIFY_ONLY,
&msgq, 0)
};
static inline int read_config_options(const struct shell *shell, int pos,
char **argv, bool *silent, bool *loopback)
@ -185,25 +192,39 @@ static inline int read_data(const struct shell *shell, int pos, char **argv,
return i;
}
static void print_frame(struct zcan_frame *frame, void *arg)
static void print_frame(struct zcan_frame *frame, const struct shell *sh)
{
const struct shell *shell = (const struct shell *)arg;
shell_fprintf(shell, SHELL_NORMAL, "|0x%-8x|%s|%s|%d|",
shell_fprintf(sh, SHELL_NORMAL, "|0x%-8x|%s|%s|%d|",
frame->id,
frame->id_type == CAN_STANDARD_IDENTIFIER ? "std" : "ext",
frame->rtr ? "RTR" : " ", frame->dlc);
for (int i = 0; i < CAN_MAX_DLEN; i++) {
if (i < frame->dlc) {
shell_fprintf(shell, SHELL_NORMAL, " 0x%02x",
shell_fprintf(sh, SHELL_NORMAL, " 0x%02x",
frame->data[i]);
} else {
shell_fprintf(shell, SHELL_NORMAL, " ");
shell_fprintf(sh, SHELL_NORMAL, " ");
}
}
shell_fprintf(shell, SHELL_NORMAL, "|\n");
shell_fprintf(sh, SHELL_NORMAL, "|\n");
}
static void msgq_triggered_work_handler(struct k_work *work)
{
struct zcan_frame frame;
int ret;
while (k_msgq_get(&msgq, &frame, K_NO_WAIT) == 0) {
print_frame(&frame, msgq_shell);
}
ret = k_work_poll_submit(&msgq_work, msgq_events,
ARRAY_SIZE(msgq_events), K_FOREVER);
if (ret != 0) {
shell_error(msgq_shell, "Failed to resubmit msgq polling [%d]", ret);
}
}
static int cmd_config(const struct shell *shell, size_t argc, char **argv)
@ -368,8 +389,7 @@ static int cmd_attach(const struct shell *shell, size_t argc, char **argv)
filter.id, ext ? "extended" : "standard", filter.id_mask,
filter.rtr_mask);
ret = can_attach_workq(can_dev, &k_sys_work_q, &work, print_frame,
(void *)shell, &filter);
ret = can_attach_msgq(can_dev, &msgq, &filter);
if (ret < 0) {
if (ret == -ENOSPC) {
shell_error(shell, "Can't attach, no free filter left");
@ -382,6 +402,17 @@ static int cmd_attach(const struct shell *shell, size_t argc, char **argv)
shell_print(shell, "Filter ID: %d", ret);
if (msgq_shell == NULL) {
msgq_shell = shell;
k_work_poll_init(&msgq_work, msgq_triggered_work_handler);
}
ret = k_work_poll_submit(&msgq_work, msgq_events,
ARRAY_SIZE(msgq_events), K_FOREVER);
if (ret != 0) {
shell_error(shell, "Failed to submit msgq polling [%d]", ret);
}
return 0;
}
@ -398,8 +429,6 @@ static int cmd_detach(const struct shell *shell, size_t argc, char **argv)
return -EINVAL;
}
id = strtol(argv[2], &end_ptr, 0);
if (*end_ptr != '\0') {
shell_error(shell, "filter_id is not a number");