drivers: can: socketCAN: Move socket code to own file

Move the code for socket instanciation from each driver
to a generic driver, that makes an instance of a socketCAN
net device for the chosen node.

Signed-off-by: Alexander Wachter <alexander@wachter.cloud>

drivers/can/CMakeLists.txt

@@ -16,5 +16,6 @@ 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

@@ -18,7 +18,7 @@ module-str = CAN
 source "subsys/logging/Kconfig.template.log_config"
 
 config CAN_INIT_PRIORITY
-	int "CAN init priority"
+	int "CAN driver init priority"
 	default KERNEL_INIT_PRIORITY_DEVICE
 	help
 	  CAN driver device initialization priority.
@@ -66,14 +66,17 @@ config CANFD_MAX_DLC
 	  optimize memory consumption.
 endif # CAN_FD_MODE
 
-config CAN_INIT_PRIORITY
+config CAN_SOCKETCAN_INIT_PRIORITY
-	int "CAN driver init priority"
+	int "socketCAN net device init priority"
-	default 80
+	default 81
+	depends on NET_SOCKETS_CAN
 	help
-	  CAN device driver initialization priority.
+	  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.
+	  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"

drivers/can/can_loopback.c

@@ -332,41 +332,3 @@ static int can_loopback_init(const struct device *dev)
 			      &can_loopback_driver_api);
 
 DT_INST_FOREACH_STATUS_OKAY(CAN_LOOPBACK_INIT)
-
-#if defined(CONFIG_NET_SOCKETS_CAN)
-#include "socket_can_generic.h"
-
-#define CAN_LOOPBACK_SOCKET_CAN(inst)						\
-	static struct socket_can_context socket_can_context_##inst;		\
-										\
-	static int socket_can_init_##inst(const struct device *dev)		\
-	{									\
-		const struct device *can_dev = DEVICE_DT_INST_GET(inst);	\
-		struct socket_can_context *socket_context = dev->data;		\
-										\
-		LOG_DBG("Init socket CAN device %p (%s) for dev %p (%s)",	\
-			dev, dev->name, can_dev, can_dev->name);		\
-										\
-		socket_context->can_dev = can_dev;				\
-		socket_context->msgq = &socket_can_msgq;			\
-										\
-		socket_context->rx_tid =					\
-			k_thread_create(&socket_context->rx_thread_data,	\
-					rx_thread_stack,			\
-					K_KERNEL_STACK_SIZEOF(rx_thread_stack),	\
-					rx_thread, socket_context, NULL, NULL,	\
-					RX_THREAD_PRIORITY, 0, K_NO_WAIT);	\
-										\
-		return 0;							\
-	}									\
-										\
-	NET_DEVICE_INIT(socket_can_loopback_##inst, SOCKET_CAN_NAME_##inst,	\
-			socket_can_init_##inst, NULL,				\
-			&socket_can_context_##inst, NULL,			\
-			CONFIG_CAN_INIT_PRIORITY, &socket_can_api,		\
-			CANBUS_RAW_L2, NET_L2_GET_CTX_TYPE(CANBUS_RAW_L2),	\
-			CAN_MTU);
-
-DT_INST_FOREACH_STATUS_OKAY(CAN_LOOPBACK_SOCKET_CAN)
-
-#endif /* CONFIG_NET_SOCKETS_CAN */

drivers/can/can_mcp2515.c

@@ -993,39 +993,4 @@ DEVICE_DT_INST_DEFINE(0, &mcp2515_init, NULL,
 		    &mcp2515_data_1, &mcp2515_config_1, POST_KERNEL,
 		    CONFIG_CAN_INIT_PRIORITY, &can_api_funcs);
 
-#if defined(CONFIG_NET_SOCKETS_CAN)
-
-#include "socket_can_generic.h"
-
-static struct socket_can_context socket_can_context_1;
-
-static int socket_can_init(const struct device *dev)
-{
-	const struct device *can_dev = DEVICE_DT_INST_GET(1);
-	struct socket_can_context *socket_context = dev->data;
-
-	LOG_DBG("Init socket CAN device %p (%s) for dev %p (%s)",
-		dev, dev->name, can_dev, can_dev->name);
-
-	socket_context->can_dev = can_dev;
-	socket_context->msgq = &socket_can_msgq;
-
-	socket_context->rx_tid =
-		k_thread_create(&socket_context->rx_thread_data,
-				rx_thread_stack,
-				K_KERNEL_STACK_SIZEOF(rx_thread_stack),
-				rx_thread, socket_context, NULL, NULL,
-				RX_THREAD_PRIORITY, 0, K_NO_WAIT);
-
-	return 0;
-}
-
-NET_DEVICE_INIT(socket_can_mcp2515_1, SOCKET_CAN_NAME_1, socket_can_init,
-		NULL, &socket_can_context_1, NULL,
-		CONFIG_CAN_INIT_PRIORITY,
-		&socket_can_api,
-		CANBUS_RAW_L2, NET_L2_GET_CTX_TYPE(CANBUS_RAW_L2), CAN_MTU);
-
-#endif
-
 #endif /* DT_NODE_HAS_STATUS(DT_DRV_INST(0), okay) */

drivers/can/can_mcux_flexcan.c

@@ -869,34 +869,3 @@ static const struct can_driver_api mcux_flexcan_driver_api = {
 	}
 
 DT_INST_FOREACH_STATUS_OKAY(FLEXCAN_DEVICE_INIT_MCUX)
-
-#if defined(CONFIG_NET_SOCKETS_CAN)
-#include "socket_can_generic.h"
-#define FLEXCAN_DEVICE_SOCKET_CAN(id)					\
-	static struct socket_can_context socket_can_context_##id;	\
-	static int socket_can_init_##id(const struct device *dev)	\
-	{								\
-		const struct device *can_dev = DEVICE_DT_INST_GET(id);	\
-		struct socket_can_context *socket_context = dev->data;	\
-		LOG_DBG("Init socket CAN device %p (%s) for dev %p (%s)", \
-			dev, dev->name, can_dev, can_dev->name);	\
-		socket_context->can_dev = can_dev;			\
-		socket_context->msgq = &socket_can_msgq;		\
-		socket_context->rx_tid =				\
-		k_thread_create(&socket_context->rx_thread_data,	\
-				rx_thread_stack,			\
-				K_KERNEL_STACK_SIZEOF(rx_thread_stack),	\
-				rx_thread, socket_context, NULL, NULL,	\
-				RX_THREAD_PRIORITY, 0, K_NO_WAIT);	\
-		return 0;						\
-	}								\
-									\
-	NET_DEVICE_INIT(socket_can_flexcan_##id, SOCKET_CAN_NAME_##id,	\
-		socket_can_init_##id, NULL,				\
-		&socket_can_context_##id, NULL,				\
-		CONFIG_CAN_INIT_PRIORITY, &socket_can_api,		\
-		CANBUS_RAW_L2, NET_L2_GET_CTX_TYPE(CANBUS_RAW_L2),	\
-		CAN_MTU);						\
-
-DT_INST_FOREACH_STATUS_OKAY(FLEXCAN_DEVICE_SOCKET_CAN)
-#endif

drivers/can/can_socketcan.c

@@ -0,0 +1,161 @@
+/*
+ * Copyright (c) 2019 Intel Corporation.
+ * Copyright (c) 2022 Alexander Wachter
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ */
+
+#include <net/net_pkt.h>
+#include <net/socket_can.h>
+#include <drivers/can.h>
+#include <devicetree.h>
+#include <device.h>
+
+#include <logging/log.h>
+LOG_MODULE_REGISTER(can_socketcan, CONFIG_CAN_LOG_LEVEL);
+
+#define SEND_TIMEOUT K_MSEC(100)
+
+struct socketcan_context {
+	struct net_if *iface;
+};
+
+struct socketcan_config {
+	const struct device *can_dev;
+};
+
+static void socketcan_recv(const struct device *dev, struct zcan_frame *frame, void *arg)
+{
+	struct socketcan_context *ctx = (struct socketcan_context *)arg;
+	struct net_pkt *pkt;
+	int ret;
+
+	ARG_UNUSED(dev);
+
+	LOG_DBG("pkt on interface %p", ctx->iface);
+	pkt = net_pkt_rx_alloc_with_buffer(ctx->iface, sizeof(struct zcan_frame),
+					   AF_CAN, 0, K_NO_WAIT);
+	if (pkt == NULL) {
+		LOG_ERR("Failed to obtain net_pkt");
+		return;
+	}
+
+	if (net_pkt_write(pkt, frame, sizeof(struct zcan_frame))) {
+		LOG_ERR("Failed to append RX data");
+		net_pkt_unref(pkt);
+		return;
+	}
+
+	ret = net_recv_data(ctx->iface, pkt);
+	if (ret < 0) {
+		LOG_DBG("net_recv_data failed [%d]", ret);
+		net_pkt_unref(pkt);
+	}
+}
+
+static int socketcan_setsockopt(const struct device *dev, void *obj, int level,
+				 int optname, const void *optval, socklen_t optlen)
+{
+	const struct socketcan_config *cfg = dev->config;
+	struct socketcan_context *socket_context = dev->data;
+	struct net_context *ctx = obj;
+	int ret;
+
+	if (level != SOL_CAN_RAW && optname != CAN_RAW_FILTER) {
+		errno = EINVAL;
+		return -1;
+	}
+
+	__ASSERT_NO_MSG(optlen == sizeof(struct zcan_filter));
+
+	ret = can_add_rx_filter(cfg->can_dev, socketcan_recv, socket_context, optval);
+	if (ret == -ENOSPC) {
+		errno = ENOSPC;
+		return -1;
+	}
+
+	net_context_set_filter_id(ctx, ret);
+
+	return 0;
+}
+
+static void socketcan_close(const struct device *dev, int filter_id)
+{
+	const struct socketcan_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)
+{
+	ARG_UNUSED(dev);
+	ARG_UNUSED(arg);
+
+	if (error != 0) {
+		LOG_DBG("socket CAN TX error [%d]", error);
+	}
+}
+
+static int socketcan_send(const struct device *dev, struct net_pkt *pkt)
+{
+	const struct socketcan_config *cfg = dev->config;
+	int ret;
+
+	if (net_pkt_family(pkt) != AF_CAN) {
+		return -EPFNOSUPPORT;
+	}
+
+	ret = can_send(cfg->can_dev, (struct zcan_frame *)pkt->frags->data,
+		       SEND_TIMEOUT, socketcan_send_tx_callback, NULL);
+
+	if (ret == 0) {
+		net_pkt_unref(pkt);
+	} else {
+		LOG_DBG("Cannot send socket CAN msg (%d)", ret);
+	}
+
+	/* If something went wrong, then we need to return negative value to
+	 * net_if.c:net_if_tx() so that the net_pkt will get released.
+	 */
+	return ret;
+}
+
+static void socketcan_iface_init(struct net_if *iface)
+{
+	const struct device *dev = net_if_get_device(iface);
+	struct socketcan_context *socket_context = dev->data;
+
+	socket_context->iface = iface;
+
+	LOG_DBG("Init CAN interface %p dev %p", iface, dev);
+}
+
+static int socketcan_init(const struct device *dev)
+{
+	const struct socketcan_config *cfg = dev->config;
+
+	if (!device_is_ready(cfg->can_dev)) {
+		LOG_ERR("CAN device not ready");
+		return -ENODEV;
+	}
+
+	return 0;
+}
+
+static struct canbus_api socketcan_api = {
+	.iface_api.init = socketcan_iface_init,
+	.send = socketcan_send,
+	.close = socketcan_close,
+	.setsockopt = socketcan_setsockopt,
+};
+
+static struct socketcan_context socketcan_ctx;
+
+static const struct socketcan_config socketcan_cfg = {
+	.can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus))
+};
+
+NET_DEVICE_INIT(socket_can, "SOCKET_CAN", socketcan_init, NULL, &socketcan_ctx, &socketcan_cfg,
+		CONFIG_CAN_SOCKETCAN_INIT_PRIORITY, &socketcan_api, CANBUS_RAW_L2,
+		NET_L2_GET_CTX_TYPE(CANBUS_RAW_L2), CAN_MTU);

drivers/can/can_stm32.c

@@ -1239,41 +1239,6 @@ static void config_can_1_irq(CAN_TypeDef *can)
 #endif /* CONFIG_CAN_STATS */
 }
 
-#if defined(CONFIG_NET_SOCKETS_CAN)
-
-#include "socket_can_generic.h"
-
-static struct socket_can_context socket_can_context_1;
-
-static int socket_can_init_1(const struct device *dev)
-{
-	const struct device *can_dev = DEVICE_DT_GET(DT_NODELABEL(can1));
-	struct socket_can_context *socket_context = dev->data;
-
-	LOG_DBG("Init socket CAN device %p (%s) for dev %p (%s)",
-		dev, dev->name, can_dev, can_dev->name);
-
-	socket_context->can_dev = can_dev;
-	socket_context->msgq = &socket_can_msgq;
-
-	socket_context->rx_tid =
-		k_thread_create(&socket_context->rx_thread_data,
-				rx_thread_stack,
-				K_KERNEL_STACK_SIZEOF(rx_thread_stack),
-				rx_thread, socket_context, NULL, NULL,
-				RX_THREAD_PRIORITY, 0, K_NO_WAIT);
-
-	return 0;
-}
-
-NET_DEVICE_INIT(socket_can_stm32_1, SOCKET_CAN_NAME_1, socket_can_init_1,
-		NULL, &socket_can_context_1, NULL,
-		CONFIG_CAN_INIT_PRIORITY,
-		&socket_can_api,
-		CANBUS_RAW_L2, NET_L2_GET_CTX_TYPE(CANBUS_RAW_L2), CAN_MTU);
-
-#endif /* CONFIG_NET_SOCKETS_CAN */
-
 #endif /* DT_NODE_HAS_STATUS(DT_NODELABEL(can1), okay) */
 
 #if DT_NODE_HAS_COMPAT_STATUS(DT_NODELABEL(can2), st_stm32_can, okay)
@@ -1335,39 +1300,4 @@ static void config_can_2_irq(CAN_TypeDef *can)
 #endif /* CONFIG_CAN_STATS */
 }
 
-#if defined(CONFIG_NET_SOCKETS_CAN)
-
-#include "socket_can_generic.h"
-
-static struct socket_can_context socket_can_context_2;
-
-static int socket_can_init_2(const struct device *dev)
-{
-	const struct device *can_dev = DEVICE_DT_GET(DT_NODELABEL(can2));
-	struct socket_can_context *socket_context = dev->data;
-
-	LOG_DBG("Init socket CAN device %p (%s) for dev %p (%s)",
-		dev, dev->name, can_dev, can_dev->name);
-
-	socket_context->can_dev = can_dev;
-	socket_context->msgq = &socket_can_msgq;
-
-	socket_context->rx_tid =
-		k_thread_create(&socket_context->rx_thread_data,
-				rx_thread_stack,
-				K_KERNEL_STACK_SIZEOF(rx_thread_stack),
-				rx_thread, socket_context, NULL, NULL,
-				RX_THREAD_PRIORITY, 0, K_NO_WAIT);
-
-	return 0;
-}
-
-NET_DEVICE_INIT(socket_can_stm32_2, SOCKET_CAN_NAME_2, socket_can_init_2,
-		NULL, &socket_can_context_2, NULL,
-		CONFIG_CAN_INIT_PRIORITY,
-		&socket_can_api,
-		CANBUS_RAW_L2, NET_L2_GET_CTX_TYPE(CANBUS_RAW_L2), CAN_MTU);
-
-#endif /* CONFIG_NET_SOCKETS_CAN */
-
 #endif /* DT_NODE_HAS_STATUS(DT_NODELABEL(can2), okay) */

drivers/can/socket_can_generic.h

@@ -1,161 +0,0 @@
-/*
- * Copyright (c) 2019 Intel Corporation.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- */
-
-/* CANBUS related functions that are generic in all the drivers. */
-
-#include <net/net_pkt.h>
-#include <net/socket_can.h>
-
-#ifndef ZEPHYR_DRIVERS_CAN_SOCKET_CAN_GENERIC_H_
-#define ZEPHYR_DRIVERS_CAN_SOCKET_CAN_GENERIC_H_
-
-#define SOCKET_CAN_NAME_0 "SOCKET_CAN_0"
-#define SOCKET_CAN_NAME_1 "SOCKET_CAN_1"
-#define SOCKET_CAN_NAME_2 "SOCKET_CAN_2"
-#define SEND_TIMEOUT K_MSEC(100)
-#define RX_THREAD_STACK_SIZE 512
-#define RX_THREAD_PRIORITY 2
-#define BUF_ALLOC_TIMEOUT K_MSEC(50)
-
-/* TODO: make msgq size configurable */
-CAN_MSGQ_DEFINE(socket_can_msgq, 5);
-K_KERNEL_STACK_DEFINE(rx_thread_stack, RX_THREAD_STACK_SIZE);
-
-struct socket_can_context {
-	const struct device *can_dev;
-	struct net_if *iface;
-	struct k_msgq *msgq;
-
-	/* TODO: remove the thread and push data to net directly from rx isr */
-	k_tid_t rx_tid;
-	struct k_thread rx_thread_data;
-};
-
-static inline void socket_can_iface_init(struct net_if *iface)
-{
-	const struct device *dev = net_if_get_device(iface);
-	struct socket_can_context *socket_context = dev->data;
-
-	socket_context->iface = iface;
-
-	LOG_DBG("Init CAN interface %p dev %p", iface, dev);
-}
-
-static inline void tx_irq_callback(const struct device *dev, int error, void *arg)
-{
-	char *caller_str = (char *)arg;
-
-	ARG_UNUSED(dev);
-
-	if (error != 0) {
-		LOG_DBG("TX error from %s! error-code: %d",
-			caller_str, error);
-	}
-}
-
-/* This is called by net_if.c when packet is about to be sent */
-static inline int socket_can_send(const struct device *dev,
-				  struct net_pkt *pkt)
-{
-	struct socket_can_context *socket_context = dev->data;
-	int ret;
-
-	if (net_pkt_family(pkt) != AF_CAN) {
-		return -EPFNOSUPPORT;
-	}
-
-	ret = can_send(socket_context->can_dev,
-		       (struct zcan_frame *)pkt->frags->data,
-		       SEND_TIMEOUT, tx_irq_callback, "socket_can_send");
-	if (ret) {
-		LOG_DBG("Cannot send socket CAN msg (%d)", ret);
-	}
-
-	/* If something went wrong, then we need to return negative value to
-	 * net_if.c:net_if_tx() so that the net_pkt will get released.
-	 */
-	return -ret;
-}
-
-static inline int socket_can_setsockopt(const struct device *dev, void *obj,
-					int level, int optname,
-					const void *optval, socklen_t optlen)
-{
-	struct socket_can_context *socket_context = dev->data;
-	struct net_context *ctx = obj;
-	int ret;
-
-	if (level != SOL_CAN_RAW && optname != CAN_RAW_FILTER) {
-		errno = EINVAL;
-		return -1;
-	}
-
-	__ASSERT_NO_MSG(optlen == sizeof(struct zcan_filter));
-
-	ret = can_add_rx_filter_msgq(socket_context->can_dev, socket_context->msgq,
-				     optval);
-	if (ret == -ENOSPC) {
-		errno = ENOSPC;
-		return -1;
-	}
-
-	net_context_set_filter_id(ctx, ret);
-
-	return 0;
-}
-
-static inline void socket_can_close(const struct device *dev, int filter_id)
-{
-	struct socket_can_context *socket_context = dev->data;
-
-	can_remove_rx_filter(socket_context->can_dev, filter_id);
-}
-
-static struct canbus_api socket_can_api = {
-	.iface_api.init = socket_can_iface_init,
-	.send = socket_can_send,
-	.close = socket_can_close,
-	.setsockopt = socket_can_setsockopt,
-};
-
-static inline void rx_thread(void *ctx, void *unused1, void *unused2)
-{
-	struct socket_can_context *socket_context = ctx;
-	struct net_pkt *pkt;
-	struct zcan_frame frame;
-	int ret;
-
-	ARG_UNUSED(unused1);
-	ARG_UNUSED(unused2);
-
-	while (1) {
-		k_msgq_get((struct k_msgq *)socket_context->msgq, &frame,
-			   K_FOREVER);
-
-		pkt = net_pkt_rx_alloc_with_buffer(socket_context->iface,
-						   sizeof(frame),
-						   AF_CAN, 0,
-						   BUF_ALLOC_TIMEOUT);
-		if (!pkt) {
-			LOG_ERR("Failed to obtain RX buffer");
-			continue;
-		}
-
-		if (net_pkt_write(pkt, (void *)&frame, sizeof(frame))) {
-			LOG_ERR("Failed to append RX data");
-			net_pkt_unref(pkt);
-			continue;
-		}
-
-		ret = net_recv_data(socket_context->iface, pkt);
-		if (ret < 0) {
-			net_pkt_unref(pkt);
-		}
-	}
-}
-
-#endif /* ZEPHYR_DRIVERS_CAN_SOCKET_CAN_GENERIC_H_ */