eive/eive-obsw
eive/eive-obsw
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removed changes can rx task
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This commit is contained in:
Jakob Meier 2022-04-30 16:52:22 +02:00
parent 03b7b802c5
commit 3ff709a814
1 changed files with 144 additions and 153 deletions
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93
thirdparty/libcsp/src/drivers/can/can_socketcan.c vendored
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@ -19,42 +19,46 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*/ */
/* SocketCAN driver */ /* SocketCAN driver */
#include <csp/csp.h>
#include <csp/drivers/can_socketcan.h> #include <csp/drivers/can_socketcan.h>
#include <csp/interfaces/csp_if_can.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <time.h>
#include <string.h>
#include <errno.h> #include <errno.h>
#include <pthread.h>
#include <semaphore.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <sys/queue.h>
#include <sys/uio.h>
#include <sys/time.h>
#include <net/if.h>
#include <linux/can.h> #include <linux/can.h>
#include <linux/can/raw.h> #include <linux/can/raw.h>
#include <linux/socket.h> #include <linux/socket.h>
#include <net/if.h>
#include <pthread.h> #include <csp/csp.h>
#include <semaphore.h> #include <csp/interfaces/csp_if_can.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/queue.h>
#include <sys/socket.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/uio.h>
#include <time.h>
#include <unistd.h>
#ifdef CSP_HAVE_LIBSOCKETCAN #ifdef CSP_HAVE_LIBSOCKETCAN
#include <libsocketcan.h> #include <libsocketcan.h>
#endif #endif
#define CAN_RX_TASK_PRIO 80
static struct can_socketcan_s { static struct can_socketcan_s {
int socket; int socket;
csp_iface_t interface; csp_iface_t interface;
} socketcan[1] = { } socketcan[1] = {
{ {
.interface = .interface = {
{
.name = "CAN", .name = "CAN",
.nexthop = csp_can_tx, .nexthop = csp_can_tx,
.mtu = CSP_CAN_MTU, .mtu = CSP_CAN_MTU,
@ -63,7 +67,8 @@ static struct can_socketcan_s {
}, },
}; };
static void *socketcan_rx_thread(void *parameters) { static void * socketcan_rx_thread(void * parameters)
{
struct can_frame frame; struct can_frame frame;
int nbytes; int nbytes;
@ -98,41 +103,21 @@ static void *socketcan_rx_thread(void *parameters) {
pthread_exit(NULL); pthread_exit(NULL);
} }
static int create_receive_thread() {
pthread_t rx_thread;
pthread_attr_t attributes;
if (pthread_attr_init(&attributes) != 0) {
return 1;
}
if (pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED) != 0) {
return 1;
}
if (pthread_attr_setschedpolicy(&attributes, SCHED_FIFO) != 0) {
return 1;
}
struct sched_param schedule_params;
schedule_params.__sched_priority = CAN_RX_TASK_PRIO;
if (pthread_attr_setschedparam(&attributes, &schedule_params) != 0) {
return 1;
}
if (pthread_create(&rx_thread, NULL, socketcan_rx_thread, NULL) != 0) {
csp_log_error("pthread_create: %s", strerror(errno));
return 1;
}
return 0;
}
int csp_can_tx_frame(csp_iface_t *interface, uint32_t id, const uint8_t *data, uint8_t dlc) { int csp_can_tx_frame(csp_iface_t *interface, uint32_t id, const uint8_t * data, uint8_t dlc)
{
struct can_frame frame; struct can_frame frame;
int i, tries = 0; int i, tries = 0;
memset(&frame, 0, sizeof(frame)); memset(&frame, 0, sizeof(frame));
if (dlc > 8) return -1; if (dlc > 8)
return -1;
/* Copy identifier */ /* Copy identifier */
frame.can_id = id | CAN_EFF_FLAG; frame.can_id = id | CAN_EFF_FLAG;
/* Copy data to frame */ /* Copy data to frame */
for (i = 0; i < dlc; i++) frame.data[i] = data[i]; for (i = 0; i < dlc; i++)
frame.data[i] = data[i];
/* Set DLC */ /* Set DLC */
frame.can_dlc = dlc; frame.can_dlc = dlc;
@ -151,11 +136,13 @@ int csp_can_tx_frame(csp_iface_t *interface, uint32_t id, const uint8_t *data, u
return 0; return 0;
} }
csp_iface_t *csp_can_socketcan_init(const char *ifc, int bitrate, int promisc) { csp_iface_t * csp_can_socketcan_init(const char * ifc, int bitrate, int promisc)
{
struct ifreq ifr; struct ifreq ifr;
struct sockaddr_can addr; struct sockaddr_can addr;
pthread_t rx_thread;
// printf("-I-: Initiating CAN interface %s\n", ifc); //printf("-I-: Initiating CAN interface %s\n", ifc);
#ifdef CSP_HAVE_LIBSOCKETCAN #ifdef CSP_HAVE_LIBSOCKETCAN
/* Set interface up */ /* Set interface up */
@ -190,6 +177,7 @@ csp_iface_t *csp_can_socketcan_init(const char *ifc, int bitrate, int promisc) {
/* Set filter mode */ /* Set filter mode */
if (promisc == 0) { if (promisc == 0) {
struct can_filter filter; struct can_filter filter;
filter.can_id = CFP_MAKE_DST(csp_get_address()); filter.can_id = CFP_MAKE_DST(csp_get_address());
filter.can_mask = CFP_MAKE_DST((1 << CFP_HOST_SIZE) - 1); filter.can_mask = CFP_MAKE_DST((1 << CFP_HOST_SIZE) - 1);
@ -198,9 +186,12 @@ csp_iface_t *csp_can_socketcan_init(const char *ifc, int bitrate, int promisc) {
csp_log_error("setsockopt: %s", strerror(errno)); csp_log_error("setsockopt: %s", strerror(errno));
return NULL; return NULL;
} }
} }
if (create_receive_thread() != 0) { /* Create receive thread */
if (pthread_create(&rx_thread, NULL, socketcan_rx_thread, NULL) != 0) {
csp_log_error("pthread_create: %s", strerror(errno));
return NULL; return NULL;
} }