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can: fix RTR ioctl and support timeout

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This commit is contained in:
Matthew Trescott
2021-01-02 23:26:40 -05:00
committed by Xiang Xiao
parent fe96250c40
commit 301ba3a5cd
2 changed files with 135 additions and 33 deletions
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include/nuttx/can/can.h
+41 -7
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@@ -47,6 +47,7 @@
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <time.h>
#include <nuttx/list.h>
#include <nuttx/fs/fs.h>
@@ -113,8 +114,23 @@
/* Ioctl commands supported by the upper half CAN driver.
*
* CANIOC_RTR:
* Description: Send the remote transmission request and wait for the response.
* Argument: A reference to struct canioc_rtr_s
* Description: Send the given message as a remote request. On sucessful
* return, the passed message structure is updated with
* the contents of the received message; i.e. the message
* ID and the standard/extended ID indication bit stay the
* same, but the DLC and data bits are updated with the
* contents of the received message. If no response is
* received after the specified timeout, ioctl will return.
*
* Note: Lower-half drivers that do not implement
* CONFIG_CAN_USE_RTR and implement co_remoterequest
* will result in EINVAL if this ioctl is called
* with an extended-ID message.
*
* Argument: A pointer to struct canioc_rtr_s
* Returned Value: Zero (OK) is returned on success. Otherwise, -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error (for example, ETIMEDOUT)
*
* Ioctl commands that may or may not be supported by the lower half CAN driver.
*
@@ -502,8 +518,7 @@ struct can_txfifo_s
struct can_rtrwait_s
{
sem_t cr_sem; /* Wait for RTR response */
uint16_t cr_id; /* The ID that is waited for */
sem_t cr_sem; /* Wait for response/is the cd_rtr entry available */
FAR struct can_msg_s *cr_msg; /* This is where the RTR response goes */
};
@@ -547,7 +562,13 @@ struct can_ops_s
CODE int (*co_ioctl)(FAR struct can_dev_s *dev, int cmd, unsigned long arg);
/* Send a remote request */
/* Send a remote request. Lower-half drivers should NOT implement this if
* they support sending RTR messages with the regular send function
* (i.e. CONFIG_CAN_USE_RTR). Instead, they should mention CAN_USE_RTR
* in their Kconfig help and set this to NULL to indicate that the normal
* send function should be used instead. Lower-half drivers must implement
* either this or CONFIG_CAN_USE_RTR to support CANIOC_RTR.
*/
CODE int (*co_remoterequest)(FAR struct can_dev_s *dev, uint16_t id);
@@ -611,8 +632,21 @@ struct can_dev_s
struct canioc_rtr_s
{
uint16_t ci_id; /* The 11-bit ID to use in the RTR message */
FAR struct can_msg_s *ci_msg; /* The location to return the RTR response */
/* How long to wait for the response */
struct timespec ci_timeout;
/* The location to return the RTR response. The arbitration fields
* (i.e. message ID and extended ID indication, if applicable) should be
* set to the values the driver will watch for. On return from the ioctl,
* the DLC and data fields will be updated by the received message.
*
* The block of memory must be large enough to hold an message of size
* CAN_MSGLEN(CAN_MAXDATALEN) even if a smaller DLC is requested, since
* the response DLC may not match the requested one.
*/
FAR struct can_msg_s *ci_msg;
};
/* CANIOC_GET_BITTIMING/CANIOC_SET_BITTIMING: