drivers: net: canbus: move CAN bus network driver to drivers/net

Move the CAN bus network driver from drivers/can to drivers/net as it
implements a network driver, not a CAN controller driver.

Use a separate Kconfig for enabling the CAN bus network driver instead of
piggybacking on the SocketCAN Kconfig. This allows for other
(e.g. out-of-tree) SocketCAN transports.

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>

drivers/can/CMakeLists.txt

@@ -16,6 +16,5 @@ zephyr_library_sources_ifdef(CONFIG_CAN_RCAR         can_rcar.c)
 
 zephyr_library_sources_ifdef(CONFIG_USERSPACE        can_handlers.c)
 zephyr_library_sources_ifdef(CONFIG_CAN_SHELL        can_shell.c)
-zephyr_library_sources_ifdef(CONFIG_NET_SOCKETS_CAN  can_socketcan.c)
 
 add_subdirectory(transceiver)

drivers/can/Kconfig

@@ -66,18 +66,6 @@ config CANFD_MAX_DLC
 	  optimize memory consumption.
 endif # CAN_FD_MODE
 
-config CAN_SOCKETCAN_INIT_PRIORITY
-	int "socketCAN net device init priority"
-	default 81
-	depends on NET_SOCKETS_CAN
-	help
-	  socketCAN net device initialization priority.
-	  Do not mess with it unless you know what you are doing.
-	  Note that the priority needs to be lower than the net stack
-	  so that it can start before the networking sub-system,
-	  and higher than the CAN driver so that it can use the underlaying
-	  driver when starting.
-
 config CAN_RX_TIMESTAMP
 	bool "Receiving timestamps"
 	depends on CAN_HAS_RX_TIMESTAMP

drivers/net/CMakeLists.txt

@@ -3,6 +3,7 @@
 zephyr_library()
 
 zephyr_library_sources_ifdef(CONFIG_NET_LOOPBACK loopback.c)
+zephyr_library_sources_ifdef(CONFIG_NET_CANBUS canbus.c)
 
 if(CONFIG_NET_NATIVE)
 zephyr_library_sources_ifdef(CONFIG_SLIP slip.c)

drivers/net/Kconfig

@@ -193,4 +193,32 @@ source "subsys/net/Kconfig.template.log_config.net"
 
 endif
 
+#
+# CAN bus network driver options
+#
+menuconfig NET_CANBUS
+	bool "Controller Area Network (CAN) bus network driver"
+	help
+	  Enable the CAN bus network driver. This driver provides a network interface on top of the
+	  CAN controller driver API.
+
+if NET_CANBUS
+
+module = NET_CANBUS
+module-dep = LOG
+module-str = Log level for CAN bus network driver
+module-help = Sets log level CAN bus network driver.
+source "subsys/net/Kconfig.template.log_config.net"
+
+config NET_CANBUS_INIT_PRIORITY
+	int "CAN bus network device init priority"
+	default 81
+	help
+	  CAN bus network device initialization priority.
+
+	  The priority needs to be lower than the network stack and higher than the CAN controller
+	  driver.
+
+endif # NET_CAN
+
 endif # NET_DRIVERS

drivers/net/canbus.c

@@ -1,33 +1,35 @@
 /*
- * Copyright (c) 2019 Intel Corporation.
+ * Copyright (c) 2022 Vestas Wind Systems A/S
  * Copyright (c) 2022 Alexander Wachter
+ * Copyright (c) 2019 Intel Corporation.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  */
 
 #include <zephyr/net/net_pkt.h>
+#include <zephyr/net/canbus.h>
 #include <zephyr/net/socket_can.h>
 #include <zephyr/drivers/can.h>
 #include <zephyr/devicetree.h>
 #include <zephyr/device.h>
 
 #include <zephyr/logging/log.h>
-LOG_MODULE_REGISTER(can_socketcan, CONFIG_CAN_LOG_LEVEL);
+LOG_MODULE_REGISTER(net_canbus, CONFIG_NET_CANBUS_LOG_LEVEL);
 
 #define SEND_TIMEOUT K_MSEC(100)
 
-struct socketcan_context {
+struct net_canbus_context {
 	struct net_if *iface;
 };
 
-struct socketcan_config {
+struct net_canbus_config {
 	const struct device *can_dev;
 };
 
-static void socketcan_recv(const struct device *dev, struct zcan_frame *frame, void *arg)
+static void net_canbus_recv(const struct device *dev, struct zcan_frame *frame, void *user_data)
 {
-	struct socketcan_context *ctx = (struct socketcan_context *)arg;
+	struct net_canbus_context *ctx = user_data;
 	struct net_pkt *pkt;
 	int ret;
 
@@ -54,11 +56,11 @@ static void socketcan_recv(const struct device *dev, struct zcan_frame *frame, v
 	}
 }
 
-static int socketcan_setsockopt(const struct device *dev, void *obj, int level,
+static int net_canbus_setsockopt(const struct device *dev, void *obj, int level,
 				 int optname, const void *optval, socklen_t optlen)
 {
-	const struct socketcan_config *cfg = dev->config;
+	const struct net_canbus_config *cfg = dev->config;
-	struct socketcan_context *socket_context = dev->data;
+	struct net_canbus_context *context = dev->data;
 	struct net_context *ctx = obj;
 	int ret;
 
@@ -69,7 +71,7 @@ static int socketcan_setsockopt(const struct device *dev, void *obj, int level,
 
 	__ASSERT_NO_MSG(optlen == sizeof(struct zcan_filter));
 
-	ret = can_add_rx_filter(cfg->can_dev, socketcan_recv, socket_context, optval);
+	ret = can_add_rx_filter(cfg->can_dev, net_canbus_recv, context, optval);
 	if (ret == -ENOSPC) {
 		errno = ENOSPC;
 		return -1;
@@ -80,26 +82,26 @@ static int socketcan_setsockopt(const struct device *dev, void *obj, int level,
 	return 0;
 }
 
-static void socketcan_close(const struct device *dev, int filter_id)
+static void net_canbus_close(const struct device *dev, int filter_id)
 {
-	const struct socketcan_config *cfg = dev->config;
+	const struct net_canbus_config *cfg = dev->config;
 
 	can_remove_rx_filter(cfg->can_dev, filter_id);
 }
 
-static void socketcan_send_tx_callback(const struct device *dev, int error, void *arg)
+static void net_canbus_send_tx_callback(const struct device *dev, int error, void *user_data)
 {
 	ARG_UNUSED(dev);
-	ARG_UNUSED(arg);
+	ARG_UNUSED(user_data);
 
 	if (error != 0) {
-		LOG_DBG("socket CAN TX error [%d]", error);
+		LOG_DBG("CAN bus TX error [%d]", error);
 	}
 }
 
-static int socketcan_send(const struct device *dev, struct net_pkt *pkt)
+static int net_canbus_send(const struct device *dev, struct net_pkt *pkt)
 {
-	const struct socketcan_config *cfg = dev->config;
+	const struct net_canbus_config *cfg = dev->config;
 	int ret;
 
 	if (net_pkt_family(pkt) != AF_CAN) {
@@ -107,12 +109,12 @@ static int socketcan_send(const struct device *dev, struct net_pkt *pkt)
 	}
 
 	ret = can_send(cfg->can_dev, (struct zcan_frame *)pkt->frags->data,
-		       SEND_TIMEOUT, socketcan_send_tx_callback, NULL);
+		       SEND_TIMEOUT, net_canbus_send_tx_callback, NULL);
 
 	if (ret == 0) {
 		net_pkt_unref(pkt);
 	} else {
-		LOG_DBG("Cannot send socket CAN msg (%d)", ret);
+		LOG_DBG("Cannot send CAN msg (%d)", ret);
 	}
 
 	/* If something went wrong, then we need to return negative value to
@@ -121,19 +123,19 @@ static int socketcan_send(const struct device *dev, struct net_pkt *pkt)
 	return ret;
 }
 
-static void socketcan_iface_init(struct net_if *iface)
+static void net_canbus_iface_init(struct net_if *iface)
 {
 	const struct device *dev = net_if_get_device(iface);
-	struct socketcan_context *socket_context = dev->data;
+	struct net_canbus_context *context = dev->data;
 
-	socket_context->iface = iface;
+	context->iface = iface;
 
 	LOG_DBG("Init CAN interface %p dev %p", iface, dev);
 }
 
-static int socketcan_init(const struct device *dev)
+static int net_canbus_init(const struct device *dev)
 {
-	const struct socketcan_config *cfg = dev->config;
+	const struct net_canbus_config *cfg = dev->config;
 
 	if (!device_is_ready(cfg->can_dev)) {
 		LOG_ERR("CAN device not ready");
@@ -143,19 +145,19 @@ static int socketcan_init(const struct device *dev)
 	return 0;
 }
 
-static struct canbus_api socketcan_api = {
+static struct canbus_api net_canbus_api = {
-	.iface_api.init = socketcan_iface_init,
+	.iface_api.init = net_canbus_iface_init,
-	.send = socketcan_send,
+	.send = net_canbus_send,
-	.close = socketcan_close,
+	.close = net_canbus_close,
-	.setsockopt = socketcan_setsockopt,
+	.setsockopt = net_canbus_setsockopt,
 };
 
-static struct socketcan_context socketcan_ctx;
+static struct net_canbus_context net_canbus_ctx;
 
-static const struct socketcan_config socketcan_cfg = {
+static const struct net_canbus_config net_canbus_cfg = {
 	.can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus))
 };
 
-NET_DEVICE_INIT(socket_can, "SOCKET_CAN", socketcan_init, NULL, &socketcan_ctx, &socketcan_cfg,
+NET_DEVICE_INIT(net_canbus, "NET_CANBUS", net_canbus_init, NULL, &net_canbus_ctx, &net_canbus_cfg,
-		CONFIG_CAN_SOCKETCAN_INIT_PRIORITY, &socketcan_api, CANBUS_RAW_L2,
+		CONFIG_NET_CANBUS_INIT_PRIORITY, &net_canbus_api, CANBUS_RAW_L2,
 		NET_L2_GET_CTX_TYPE(CANBUS_RAW_L2), CAN_MTU);

include/zephyr/net/canbus.h

@@ -0,0 +1,55 @@
+/*
+ * Copyright (c) 2019 Intel Corporation
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_INCLUDE_NET_CAN_H_
+#define ZEPHYR_INCLUDE_NET_CAN_H_
+
+#include <zephyr/types.h>
+#include <zephyr/net/net_ip.h>
+#include <zephyr/net/net_if.h>
+#include <zephyr/drivers/can.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * CAN L2 network driver API.
+ */
+struct canbus_api {
+	/**
+	 * The net_if_api must be placed in first position in this
+	 * struct so that we are compatible with network interface API.
+	 */
+	struct net_if_api iface_api;
+
+	/** Send a CAN packet by socket */
+	int (*send)(const struct device *dev, struct net_pkt *pkt);
+
+	/** Close the related CAN socket */
+	void (*close)(const struct device *dev, int filter_id);
+
+	/** Set socket CAN option */
+	int (*setsockopt)(const struct device *dev, void *obj, int level,
+			  int optname,
+			  const void *optval, socklen_t optlen);
+
+	/** Get socket CAN option */
+	int (*getsockopt)(const struct device *dev, void *obj, int level,
+			  int optname,
+			  const void *optval, socklen_t *optlen);
+};
+
+/* Make sure that the network interface API is properly setup inside
+ * CANBUS API struct (it is the first one).
+ */
+BUILD_ASSERT(offsetof(struct canbus_api, iface_api) == 0);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ZEPHYR_INCLUDE_NET_CAN_H_ */

include/zephyr/net/socket_can.h

@@ -16,7 +16,6 @@
 #include <zephyr/types.h>
 #include <zephyr/net/net_ip.h>
 #include <zephyr/net/net_if.h>
-#include <zephyr/drivers/can.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -52,38 +51,6 @@ struct sockaddr_can {
 	int         can_ifindex;
 };
 
-/**
- * CAN L2 driver API. Used by socket CAN.
- */
-struct canbus_api {
-	/**
-	 * The net_if_api must be placed in first position in this
-	 * struct so that we are compatible with network interface API.
-	 */
-	struct net_if_api iface_api;
-
-	/** Send a CAN packet by socket */
-	int (*send)(const struct device *dev, struct net_pkt *pkt);
-
-	/** Close the related CAN socket */
-	void (*close)(const struct device *dev, int filter_id);
-
-	/** Set socket CAN option */
-	int (*setsockopt)(const struct device *dev, void *obj, int level,
-			  int optname,
-			  const void *optval, socklen_t optlen);
-
-	/** Get socket CAN option */
-	int (*getsockopt)(const struct device *dev, void *obj, int level,
-			  int optname,
-			  const void *optval, socklen_t *optlen);
-};
-
-/* Make sure that the network interface API is properly setup inside
- * CANBUS API struct (it is the first one).
- */
-BUILD_ASSERT(offsetof(struct canbus_api, iface_api) == 0);
-
 /**
  * @}
  */

samples/net/sockets/can/prj.conf

@@ -3,6 +3,8 @@ CONFIG_NET_L2_ETHERNET=n
 CONFIG_CAN_MAX_FILTER=5
 
 CONFIG_NETWORKING=y
+CONFIG_NET_DRIVERS=y
+CONFIG_NET_CANBUS=y
 CONFIG_NET_SOCKETS=y
 CONFIG_NET_SOCKETS_CAN=y
 CONFIG_NET_SOCKETS_POSIX_NAMES=y

subsys/net/l2/canbus/canbus_raw.c

@@ -11,7 +11,7 @@ LOG_MODULE_REGISTER(net_l2_canbus, LOG_LEVEL_NONE);
 #include <zephyr/net/net_l2.h>
 #include <zephyr/net/net_if.h>
 #include <zephyr/net/net_pkt.h>
-#include <zephyr/net/socket_can.h>
+#include <zephyr/net/canbus.h>
 
 static inline enum net_verdict canbus_recv(struct net_if *iface,
 					   struct net_pkt *pkt)

subsys/net/lib/sockets/sockets_can.c

@@ -19,7 +19,9 @@ LOG_MODULE_REGISTER(net_sock_can, CONFIG_NET_SOCKETS_LOG_LEVEL);
 #include <zephyr/net/socket.h>
 #include <zephyr/syscall_handler.h>
 #include <zephyr/sys/fdtable.h>
+#include <zephyr/net/canbus.h>
 #include <zephyr/net/socket_can.h>
+#include <zephyr/drivers/can.h>
 
 #include "sockets_internal.h"