/*
|
* Copyright (C) 2005,2006 Sebastian Smolorz
|
* <Sebastian.Smolorz@stud.uni-hannover.de>
|
*
|
* Copyright (C) 2006 Wolfgang Grandegger <wg@grandegger.com>
|
*
|
*
|
* Derived from RTnet project file include/stack/socket.h:
|
*
|
* Copyright (C) 1999 Lineo, Inc
|
* 1999, 2002 David A. Schleef <ds@schleef.org>
|
* 2002 Ulrich Marx <marx@kammer.uni-hannover.de>
|
* 2003-2005 Jan Kiszka <jan.kiszka@web.de>
|
*
|
*
|
* This program is free software; you can redistribute it and/or modify it
|
* under the terms of the GNU General Public License as published by
|
* the Free Software Foundation; either version 2 of the License, or
|
* (at your option) any later version.
|
*
|
* This program is distributed in the hope that it will be useful, but
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
* General Public License for more details.
|
*
|
* You should have received a copy of the GNU General Public License
|
* along with this program; if not, write to the Free Software Foundation,
|
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
*/
|
|
#ifndef __RTCAN_SOCKET_H_
|
#define __RTCAN_SOCKET_H_
|
|
#include <rtdm/driver.h>
|
|
#include <rtdm/can.h>
|
|
|
|
/* This MUST BE 2^N */
|
#define RTCAN_RXBUF_SIZE CONFIG_XENO_DRIVERS_CAN_RXBUF_SIZE
|
|
/* Size of timestamp */
|
#define RTCAN_TIMESTAMP_SIZE sizeof(nanosecs_abs_t)
|
|
/* Bit in the can_dlc member of struct ring_buffer_frame used to indicate
|
* whether a frame has got a timestamp or not */
|
#define RTCAN_HAS_TIMESTAMP 0x80
|
|
/* Mask for clearing bit RTCAN_HAS_TIMESTAMP */
|
#define RTCAN_HAS_NO_TIMESTAMP 0x7F
|
|
#define RTCAN_SOCK_UNBOUND -1
|
#define RTCAN_FLIST_NO_FILTER (struct rtcan_filter_list *)-1
|
#define rtcan_flist_no_filter(f) ((f) == RTCAN_FLIST_NO_FILTER)
|
#define rtcan_sock_has_filter(s) ((s)->flistlen > 0)
|
#define rtcan_sock_is_bound(s) ((s)->flistlen >= 0)
|
|
/*
|
* Internal frame representation within the ring buffer of a
|
* struct rtcan_socket.
|
*
|
* The data array is of arbitrary size when the frame is actually
|
* stored in a socket's ring buffer. The timestamp member exists if the
|
* socket was set to take timestamps (then it follows direcly after the
|
* arbitrary-sized data array), otherwise it does not exist.
|
*/
|
struct rtcan_rb_frame {
|
|
/* CAN ID representation equal to struct can_frame */
|
uint32_t can_id;
|
|
/* Interface index from which the frame originates */
|
unsigned char can_ifindex;
|
|
/* DLC (between 0 and 15) and mark if frame has got a timestamp. The
|
* existence of a timestamp is indicated by the RTCAN_HAS_TIMESTAMP
|
* bit. */
|
unsigned char can_dlc;
|
|
/* Data bytes */
|
uint8_t data[8];
|
|
/* High precision timestamp indicating when the frame was received.
|
* Exists when RTCAN_HAS_TIMESTAMP bit in can_dlc is set. */
|
nanosecs_abs_t timestamp;
|
|
} __attribute__ ((packed));
|
|
|
/* Size of struct rtcan_rb_frame without any data bytes and timestamp */
|
#define EMPTY_RB_FRAME_SIZE \
|
sizeof(struct rtcan_rb_frame) - 8 - RTCAN_TIMESTAMP_SIZE
|
|
|
/*
|
* Wrapper structure around a struct rtcan_rb_frame with actual size
|
* of the frame.
|
*
|
* This isn't really a socket buffer but only a sort of. It is constructed
|
* within the interrupt routine when a CAN frame is read from
|
* the controller. Then it's passed to the reception handler where only
|
* rb_frame finds its way to the sockets' ring buffers.
|
*/
|
struct rtcan_skb {
|
/* Actual size of following rb_frame (without timestamp) */
|
size_t rb_frame_size;
|
/* Frame to be stored in the sockets' ring buffers (as is) */
|
struct rtcan_rb_frame rb_frame;
|
};
|
|
struct rtcan_filter_list {
|
int flistlen;
|
struct can_filter flist[1];
|
};
|
|
/*
|
* Internal CAN socket structure.
|
*
|
* Every socket has an internal ring buffer for incoming messages. A message
|
* is not stored as a struct can_frame (in order to save buffer space)
|
* but as struct rtcan_rb_frame of arbitrary length depending on the
|
* actual payload.
|
*/
|
struct rtcan_socket {
|
|
struct list_head socket_list;
|
|
unsigned long flags;
|
|
/* Transmission timeout in ns. Protected by rtcan_socket_lock
|
* in all socket structures. */
|
nanosecs_rel_t tx_timeout;
|
|
/* Reception timeout in ns. Protected by rtcan_socket_lock
|
* in all socket structures. */
|
nanosecs_rel_t rx_timeout;
|
|
|
/* Begin of first frame data in the ring buffer. Protected by
|
* rtcan_socket_lock in all socket structures. */
|
int recv_head;
|
|
/* End of last frame data in the ring buffer. I.e. position of first
|
* free byte in the ring buffer. Protected by
|
* rtcan_socket_lock in all socket structures. */
|
int recv_tail;
|
|
/* Ring buffer for incoming CAN frames. Protected by
|
* rtcan_socket_lock in all socket structures. */
|
unsigned char recv_buf[RTCAN_RXBUF_SIZE];
|
|
/* Semaphore for receivers and incoming messages */
|
rtdm_sem_t recv_sem;
|
|
|
/* All senders waiting to be able to send
|
* via this socket are queued here */
|
struct list_head tx_wait_head;
|
|
|
/* Interface index the socket is bound to. Protected by
|
* rtcan_recv_list_lock in all socket structures. */
|
atomic_t ifindex;
|
|
/* Length of filter list. I.e. how many entries does this socket occupy in
|
* the reception list. 0 if unbound. Protected by
|
* rtcan_recv_list_lock in all socket structures. */
|
int flistlen;
|
|
uint32_t err_mask;
|
|
uint32_t rx_buf_full;
|
|
struct rtcan_filter_list *flist;
|
|
#ifdef CONFIG_XENO_DRIVERS_CAN_LOOPBACK
|
int loopback;
|
#endif
|
};
|
|
|
|
/*
|
* Get the RTDM context from a struct rtcan_socket
|
*
|
* @param[in] sock Pointer to socket structure
|
*
|
* @return Pointer to a file descriptor of type struct rtdm_fd this socket
|
* belongs to
|
*/
|
/* FIXME: to be replaced with container_of */
|
static inline struct rtdm_fd *rtcan_socket_to_fd(struct rtcan_socket *sock)
|
{
|
return rtdm_private_to_fd(sock);
|
}
|
|
/* Spinlock protecting the ring buffers and the timeouts of all
|
* rtcan_sockets */
|
extern rtdm_lock_t rtcan_socket_lock;
|
extern struct list_head rtcan_socket_list;
|
|
extern void rtcan_socket_init(struct rtdm_fd *fd);
|
extern void rtcan_socket_cleanup(struct rtdm_fd *fd);
|
|
|
#endif /* __RTCAN_SOCKET_H_ */
|
