int can_init(uint32_t id, uint32_t mask, can_tx_callback_t atxcb, can_rx_callback_t arxcb, struct csp_can_config *conf) {
struct ifreq ifr;
struct sockaddr_can addr;
pthread_t rx_thread;
csp_assert(conf && conf->ifc);
txcb = atxcb;
rxcb = arxcb;
/* Create socket */
if ((can_socket = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
csp_log_error("socket: %s\r\n", strerror(errno));
return -1;
}
/* Locate interface */
strncpy(ifr.ifr_name, conf->ifc, IFNAMSIZ - 1);
if (ioctl(can_socket, SIOCGIFINDEX, &ifr) < 0) {
csp_log_error("ioctl: %s\r\n", strerror(errno));
return -1;
}
/* Bind the socket to CAN interface */
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(can_socket, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
csp_log_error("bind: %s\r\n", strerror(errno));
return -1;
}
/* Set promiscuous mode */
if (mask) {
struct can_filter filter;
filter.can_id = id;
filter.can_mask = mask;
if (setsockopt(can_socket, SOL_CAN_RAW, CAN_RAW_FILTER, &filter, sizeof(filter)) < 0) {
csp_log_error("setsockopt: %s\r\n", strerror(errno));
return -1;
}
}
/* Create receive thread */
if (pthread_create(&rx_thread, NULL, mbox_rx_thread, NULL) != 0) {
csp_log_error("setsockopt: %s\r\n", strerror(errno));
return -1;
}
/* Create mailbox pool */
if (can_mbox_init() != 0) {
csp_log_error("Failed to create tx thread pool\n");
return -1;
}
return 0;
}
int can_init(uint32_t id, uint32_t mask, can_tx_callback_t atxcb, can_rx_callback_t arxcb, struct csp_can_config *conf) {
csp_assert(conf && conf->bitrate && conf->clock_speed);
/* Set id and mask */
can_id = id;
can_mask = mask;
/* Set callbacks */
txcb = atxcb;
rxcb = arxcb;
/* Set fcpu and bps */
clock_speed = conf->clock_speed;
bitrate = conf->bitrate;
return can_reset(clock_speed, bitrate);
}
int can_init(csp_iface_t *csp_if_can, uint32_t id, uint32_t mask, can_tx_callback_t atxcb, can_rx_callback_t arxcb, struct csp_can_config *conf) {
struct ifreq ifr;
struct sockaddr_can addr;
csp_thread_handle_t rx_thread;
int *can_socket;
can_iface_ctx_t *iface_ctx;
iface_ctx = get_available_interface_ctx();
if (iface_ctx == NULL) {
return -1;
}
csp_if_can->driver = (void *)iface_ctx;
iface_ctx->csp_can_socket.csp_if_can = csp_if_can;
can_socket = &iface_ctx->csp_can_socket.can_socket;
csp_assert(conf && conf->ifc);
txcb = atxcb;
rxcb = arxcb;
/* Create socket */
if ((*can_socket = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
csp_log_error("socket: %s", strerror(errno));
return -1;
}
/* Locate interface */
strncpy(ifr.ifr_name, conf->ifc, IFNAMSIZ - 1);
if (ioctl(*can_socket, SIOCGIFINDEX, &ifr) < 0) {
csp_log_error("ioctl: %s", strerror(errno));
return -1;
}
/* Bind the socket to CAN interface */
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(*can_socket, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
csp_log_error("bind: %s", strerror(errno));
return -1;
}
/* Set promiscuous mode */
if (mask) {
struct can_filter filter;
filter.can_id = id;
filter.can_mask = mask;
if (setsockopt(*can_socket, SOL_CAN_RAW, CAN_RAW_FILTER, &filter, sizeof(filter)) < 0) {
csp_log_error("setsockopt: %s", strerror(errno));
return -1;
}
}
/* Set read timeout */
{
struct timeval tv = {
.tv_sec = 0,
.tv_usec = 1000,
};
if (setsockopt(*can_socket, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv)) < 0) {
csp_log_error("setsockopt: %s", strerror(errno));
return -1;
}
}
/* Create receive thread */
if(csp_thread_create(mbox_rx_thread, (signed char *)"mbox_rx", 1024, (void *)&iface_ctx->csp_can_socket, 3, &rx_thread) != CSP_ERR_NONE) { //TODO: Adjust priority
csp_log_error("thread creation");
return -1;
}
/* Create mailbox pool */
if (can_mbox_init(iface_ctx) != 0) {
csp_log_error("Failed to create tx thread pool");
return -1;
}
return 0;
}
