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@@ -11,11 +11,18 @@
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/*------------------------------- 头文件 --------------------------------------
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*/
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#include "bspconfig.h"
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+#include "rt_printf.h"
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#include "ustimer.h"
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#include "rt.h"
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#include "flexcan.h"
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#include <string.h>
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#include <sys/mman.h>
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+#include <sys/socket.h>
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+#include <sys/ioctl.h>
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+#include <linux/can.h>
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+#include <linux/can/raw.h>
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+#include <sys/prctl.h>
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+#include <unistd.h>
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#ifdef BSP_CAN_ENABLE
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@@ -93,6 +100,13 @@
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/*------------------------------ 类型结构 -------------------------------------
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*/
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+typedef enum
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+{
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+ CAN_1,
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+ CAN_2,
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+ CAN_RES
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+}can_type;
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+
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//CANFD 基地址
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static unsigned int g_rt_canfd_baseaddr[RT_CAN_NUM][RT_CAN_DEV_TYPE]=
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{
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@@ -164,6 +178,7 @@ struct can_timestamp
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//flexcan 设备数据结构
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struct can_dev
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{
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+ int can_sock;
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uint32_t no;
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uint32_t base_addr;
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@@ -229,6 +244,10 @@ struct can_platform_data
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*/
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//flexcan设备
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int g_can_fd = -1;
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+static int bexit = 0;
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+static u8 g_can_tx_call[CAN_BUS_NUM] = {0};
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+pthread_t can_tid[CAN_BUS_NUM];
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+pthread_t can_tid_s[CAN_BUS_NUM];
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unsigned g_can_mapped_size;
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void *g_can_map_base[CAN_BUS_NUM], *g_can_virt_addr[CAN_BUS_NUM];
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@@ -243,6 +262,7 @@ extern int g_print_can_monitor;
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/*------------------------------ 函数声明 -------------------------------------
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*/
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+static void can_soft_recv_data(int sock);
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static int _can_set_reset_mode(struct can_dev *dev);
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static int _can_set_normal_mode(struct can_dev *dev);
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static int _can_set_bittiming(struct can_dev *dev);
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@@ -256,6 +276,244 @@ int _can_irq_force(int no);
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int _can_irq_clear(int no);
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int _can_irq_is_force(int no);
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+/*------------------------------ 内部函数 -------------------------------------
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+*/
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+static int can_soft_send(int sock, struct can_frame frame)
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+{
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+ int nbytes;
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+ int wlen = sizeof(struct can_frame);
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+ int times = 2;
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+
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+ while(times --)
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+ {
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+ nbytes = write(sock, &frame, wlen);
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+ if (nbytes != wlen)
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+ {
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+ rt_printf("Send Error frame(nbytes:%d, wlen:%d)\n", nbytes, wlen);
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+ usleep(200);
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+ continue;
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+ }
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+ else
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+ {
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+ //printf("Send frame(nbytes:%d, wlen:%d)\n", nbytes, wlen);
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+ return (0);
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+ }
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+ }
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+
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+ return -1;
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+}
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+
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+static int can_send_data(can_type type, unsigned char *buf, int len)
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+{
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+ int i, j;
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+ int cnt;
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+ int sock;
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+ int ret = 0;
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+ struct can_frame frame;
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+
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+ if(type == CAN_1)
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+ {
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+ // DEMO
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+ sock = g_can_dev[0].can_sock;
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+ frame.can_id = 0x100;
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+ }
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+ else {
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+ // DEMO
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+ sock = g_can_dev[1].can_sock;
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+ frame.can_id = 0x101;
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+ }
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+
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+ for(i = 0; i < len; i += 8)
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+ {
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+ cnt = len - i;
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+
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+ if(cnt > 8)
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+ frame.can_dlc = 8;
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+ else
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+ frame.can_dlc = cnt;
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+
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+ for(j=0; j<frame.can_dlc; j++)
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+ {
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+ frame.data[j] = buf[i+j];
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+ }
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+
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+ if(can_soft_send(sock, frame) < 0)
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+ {
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+ ret = -1;
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+ break;
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+ }
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+ }
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+
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+ return ret;
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+}
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+
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+static void *can_proc_send(void *arg)
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+{
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+ int sock = *(int *)arg;
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+
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+ int index = g_can_dev[0].can_sock == sock ? 0 : 1;
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+ if (index == 0) {
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+ prctl(PR_SET_NAME, "can_send_func0");
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+ } else {
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+ prctl(PR_SET_NAME, "can_send_func1");
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+ }
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+
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+ while(!bexit)
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+ {
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+ static int cycle = 0;
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+ if(main_mod_is_exit())
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+ {
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+ break;
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+ }
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+
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+ cycle ++;
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+ if (cycle >= 5000) {
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+ cycle = 0;
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+ switch (index) {
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+ case 0:
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+ can_send_data(CAN_1, (unsigned char *)"hello stm32", strlen("hello stm32") - 1);
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+ break;
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+
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+ case 1:
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+ can_send_data(CAN_2, (unsigned char *)"hello stm32", strlen("hello stm32") - 1);
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+ break;
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+
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+ default:
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+ break;
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+ }
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+ }
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+
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+ usleep(1000);
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+ }
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+
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+}
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+
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+static void *can_proc_recv(void *arg)
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+{
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+ int nready;
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+ int maxfd;
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+ fd_set readfds;
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+ int sock = *(int *)arg;
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+
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+ FD_ZERO(&readfds);
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+ FD_SET(sock, &readfds);
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+ maxfd = sock;
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+
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+ int index = g_can_dev[0].can_sock == sock ? 0 : 1;
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+ if (index == 0) {
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+ prctl(PR_SET_NAME, "can_rev_func0");
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+ } else {
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+ prctl(PR_SET_NAME, "can_rev_func1");
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+ }
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+
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+ while(!bexit)
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+ {
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+ if(main_mod_is_exit())
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+ {
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+ break;
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+ }
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+
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+ nready = select(maxfd+1, &readfds, NULL, NULL, NULL);
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+ if(nready < 0)
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+ {
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+ perror("can select");
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+ break;
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+ }
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+ else if(nready == 0)
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+ {
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+ continue;
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+ }
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+
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+ /* data is ready */
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+ if(FD_ISSET(sock, &readfds))
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+ {
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+ can_soft_recv_data(sock);
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+ }
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+ else { ; }
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+ }
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+}
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+
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+static int can_open(char *can_name)
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+{
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+ struct ifreq ifr;
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+ struct sockaddr_can addr;
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+ int sock;
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+ int ret = -1;
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+ int loopback = 0;
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+// struct can_filter rfilter[1];
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+
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+ /* open socket */
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+ sock = socket(PF_CAN, SOCK_RAW, CAN_RAW);
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+ if(sock < 0)
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+ {
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+ return ret;
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+ }
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+
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+ strcpy(ifr.ifr_name, can_name);
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+ if (ioctl(sock, SIOCGIFINDEX, &ifr) < 0)
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+ {
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+ goto err_can_open;
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+ }
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+ addr.can_family = AF_CAN;
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+ addr.can_ifindex = ifr.ifr_ifindex;
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+ // fcntl(sock, F_SETFL, O_NONBLOCK);
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+ if (bind(sock, (struct sockaddr *)&addr, sizeof(addr)) < 0)
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+ {
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+ goto err_can_open;
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+ }
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+
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+ //close loopback
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+ setsockopt(sock, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
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+/*
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+ rfilter[0].can_id = 0x12;
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+ rfilter[0].can_mask = CAN_SFF_MASK;
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+ setsockopt(sock, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
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+*/
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+ return sock;
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+
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+err_can_open:
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+ close(sock);
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+ return ret;
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+}
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+
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+static int can_soft_recv(int sock, struct can_frame *frame)
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+{
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+ int nbytes;
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+
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+ nbytes = read(sock, frame, sizeof(struct can_frame));
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+ if(nbytes)
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+ {
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+ ;//printf("[can_recv]dlc = %d, nbytes = %d\n", frame->can_dlc, nbytes);
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+ }
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+
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+ return nbytes;
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+}
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+
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+static void can_soft_recv_data(int sock)
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+{
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+ static unsigned char tail = 0;
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+ int i;
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+ int can_id;
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+ unsigned char can_dlc;
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+ unsigned char *data;
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+ struct can_frame frame;
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+ int index = g_can_dev[0].can_sock == sock ? 0 : 1;
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+
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+ if(can_soft_recv(sock, &frame) < 0)
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+ return ;
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+
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+
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+ can_id = frame.can_id;
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+ can_dlc = frame.can_dlc;
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+ data = frame.data;
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+
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+ printf("CAN%d dlc = %d, can_id = %x\ndata:", index,frame.can_dlc, frame.can_id);
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+ for(i=0; i<frame.can_dlc; i++)
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+ printf("0x%02x ", frame.data[i]);
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+ printf("\n");
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+
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+
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+}
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/*------------------------------ 外部函数 -------------------------------------
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外部函数供其它实体文件引用，必须仔细检查传入参数的合法性.
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@@ -346,6 +604,25 @@ int can_init(void)
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rt_request_irq(CFG_CAN_VECTOR_BEGIN + 7,CFG_INT_LEVEL_CAN,_can_isr_err_1,"can_isr_err_11");
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}
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+ // 获取CAN设备句柄
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+ if (i == 0) {
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+ g_can_dev[i].can_sock = can_open("can0");
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+ } else {
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+ g_can_dev[i].can_sock = can_open("can1");
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+ }
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+
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+ // 创建CAN设备接收线程
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+ if (0 != pthread_create(&can_tid[i], NULL, can_proc_recv, (void *)&g_can_dev[i].can_sock))
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+ {
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+ return -2;
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+ }
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+
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+ // 创建CAN设备发送线程
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+ if (0 != pthread_create(&can_tid_s[i], NULL, can_proc_send, (void *)&g_can_dev[i].can_sock))
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+ {
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+ return -3;
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+ }
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+
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/* init and start flexcan */
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_can_chipset_init(dev, 0);
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_can_set_normal_mode(dev);
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@@ -358,20 +635,30 @@ int can_init(void)
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int can_exit(void)
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{
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int i = 0;
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- if (g_can_fd >= 0)
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- {
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- close(g_can_fd);
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- g_can_fd = -1;
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- }
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+ // exit can recv thread
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+ bexit = 1;
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for (i = 0; i < CAN_BUS_NUM; i++) {
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+ pthread_join(can_tid[i], NULL);
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+ pthread_join(can_tid_s[i], NULL);
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+
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if (g_can_map_base[i]) {
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if (munmap(g_can_map_base, g_can_mapped_size) == -1) {
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printf("can[%d] dev munmap failed!", i);
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return -1;
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}
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}
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+
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+ if (g_can_dev[i].can_sock >= 0) {
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+ close(g_can_dev[i].can_sock);
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+ }
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}
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+ if (g_can_fd >= 0)
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+ {
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+ close(g_can_fd);
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+ g_can_fd = -1;
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+ }
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+
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rt_free_irq(CFG_CAN_VECTOR_BEGIN + 0);
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rt_free_irq(CFG_CAN_VECTOR_BEGIN + 1);
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rt_free_irq(CFG_CAN_VECTOR_BEGIN + 3);
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@@ -629,10 +916,9 @@ int can_stat_reset(void)
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*/
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static int _can_set_reset_mode(struct can_dev *dev)
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{
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-
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+ // TODO: ocean
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return 1;
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-
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}
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/******************************************************************************
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@@ -649,10 +935,9 @@ static int _can_set_reset_mode(struct can_dev *dev)
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*/
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static int _can_set_normal_mode(struct can_dev *dev)
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{
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-
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+ // TODO: ocean
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return 1;
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-
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}
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@@ -1137,13 +1422,16 @@ _can_isr_err(1);
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int _can_irq_force(int no)
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{
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+#ifdef __KERNEL__
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uint32_t flags;
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no *= 4;
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rt_irq_save(flags);
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REG_MCF_INTFRCL1 |= 1 << no;
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rt_irq_restore(flags);
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-
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+#else
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+ g_can_tx_call[no] = 1;
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+#endif
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return 0;
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}
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