Added SocketCAN driver implementation to the tiva chip, modified the EK-TC1294XL launchpad board to use the new SocketCAN API

arch/arm/src/tiva/Kconfig

@@ -436,7 +436,6 @@ config TIVA_CAN
 	bool
 	default n
 	select CAN
-	select ARCH_HAVE_CAN_ERRORS
 	select CAN_TXREADY
 	select CAN_USE_RTR
 
@@ -612,33 +611,12 @@ config TIVA_CAN0
 	default n
 	depends on TIVA_HAVE_CAN0
 	select TIVA_CAN
-
-config TIVA_CAN0_PRIO
-	int "CAN0 kthread priority"
-	default 300
-	depends on TIVA_CAN0
-	---help---
-		The Tiva CAN driver retrieves messages using a kthread rather
-		than in the ISR or using a work queue. The ISR signals the
-		kthread, but the kthread can be preempted if needed. This
-		option sets the thread priority for CAN module 0.
-
 config TIVA_CAN1
 	bool "CAN1"
 	default n
 	depends on TIVA_HAVE_CAN1
 	select TIVA_CAN
 
-config TIVA_CAN1_PRIO
-	int "CAN1 kthread priority"
-	default 300
-	depends on TIVA_CAN1
-	---help---
-		The Tiva CAN driver retrieves messages using a kthread rather
-		than in the ISR or using a work queue. The ISR signals the
-		kthread, but the kthread can be preempted if needed. This
-		option sets the thread priority for CAN module 1.
-
 config TIVA_QEI0
 	bool "QEI0"
 	default n
@@ -1520,10 +1498,55 @@ endif # TIVA_ADC
 
 menu "CAN Driver Configuration"
 	depends on TIVA_CAN
+choice
+	prompt "CAN bus driver selection"
+	default TIVA_SOCKET_CAN
+	
+config TIVA_SOCKET_CAN
+	bool "Use SocketCAN driver"
+	depends on (TIVA_CAN0 || TIVA_CAN1) && NET_CAN
+	select NET_CAN_HAVE_ERRORS
+	
+config TIVA_CHAR_DEV_CAN
+	bool "Character device driver"
+	depends on (TIVA_CAN0 || TIVA_CAN1) && !NET_CAN
+	select ARCH_HAVE_CAN_ERRORS
+	
+endchoice # CAN driver selection
+
+config TIVA_CAN0_PRIO
+	int "CAN0 kthread priority"
+	default 300
+	depends on TIVA_CAN0 && TIVA_CHAR_DEV_CAN
+	---help---
+		The Tiva CAN driver retrieves messages using a kthread rather
+		than in the ISR or using a work queue. The ISR signals the
+		kthread, but the kthread can be preempted if needed. This
+		option sets the thread priority for CAN module 0.
+		
+config TIVA_CAN0_BAUD
+	int "CAN0 baud rate kb/s"
+	default 125
+	depends on TIVA_CAN0 && TIVA_SOCKET_CAN
+	
+config TIVA_CAN1_BAUD
+	int "CAN1 baud rate kb/s"
+	default 125
+	depends on TIVA_CAN1 && TIVA_SOCKET_CAN
+
+config TIVA_CAN1_PRIO
+	int "CAN1 kthread priority"
+	default 300
+	depends on TIVA_CAN1 && TIVA_CHAR_DEV_CAN
+	---help---
+		The Tiva CAN driver retrieves messages using a kthread rather
+		than in the ISR or using a work queue. The ISR signals the
+		kthread, but the kthread can be preempted if needed. This
+		option sets the thread priority for CAN module 1.
 
 config TIVA_CAN_REGDEBUG
 	bool "CAN register level debug"
-	depends on  DEBUG_CAN_INFO
+	depends on  DEBUG_CAN_INFO && TIVA_CHAR_DEV_CAN
 	default n
 	---help---
 		Output detailed register-level CAN device debug information.
@@ -1589,7 +1612,7 @@ config TIVA_CAN_ERR_HANDLER_PER
 	int "Rate-limited error handling period (milliseconds)"
 	range 10 1000
 	default 100
-	depends on CAN_ERRORS
+	depends on CAN_ERRORS || NET_CAN_ERRORS
 	---help---
 		When error messages (CAN_ERRORS) are enabled, the Tiva
 		CAN driver will disable interrupts for individual errors

arch/arm/src/tiva/Make.defs

@@ -91,10 +91,14 @@ ifeq ($(CONFIG_TIVA_ADC),y)
   CHIP_CSRCS += tiva_adclib.c
 endif
 
-ifeq ($(CONFIG_TIVA_CAN),y)
+ifeq ($(CONFIG_TIVA_CHAR_DEV_CAN),y)
   CHIP_CSRCS += tiva_can.c
 endif
 
+ifeq ($(CONFIG_TIVA_SOCKET_CAN),y)
+  CHIP_CSRCS += tiva_sock_can.c
+endif
+
 ifeq ($(CONFIG_TIVA_ETHERNET),y)
 ifeq ($(CONFIG_ARCH_CHIP_LM3S),y)
   CHIP_CSRCS += lm3s_ethernet.c

arch/arm/src/tiva/tiva_can.h

@@ -61,7 +61,7 @@ extern "C"
 /****************************************************************************
  * Public Function Prototypes
  ****************************************************************************/
-
+#ifdef CONFIG_TIVA_CHAR_DEV_CAN
 /****************************************************************************
  * Name: tiva_can_initialize
  *
@@ -78,6 +78,23 @@ extern "C"
  ****************************************************************************/
 
 int tiva_can_initialize(char *devpath, int modnum);
+#elif CONFIG_TIVA_SOCKET_CAN
+/****************************************************************************
+ * Name: tiva_cansockinitialize
+ *
+ * Description:
+ *   Initialize the selected CAN module using socket net API
+ *
+ * Input Parameters:
+ *   Module number, for chips with multiple modules (typically 0 or 1)
+ *
+ * Returned Value:
+ *   OK on success; Negated errno on failure.
+ *
+ ****************************************************************************/
+
+int tiva_cansockinitialize(int modnum);
+#endif
 
 #undef EXTERN
 #if defined(__cplusplus)

boards/arm/tiva/tm4c1294-launchpad/src/tm4c_can.c

@@ -78,6 +78,7 @@ int tm4c_can_setup(void)
       goto configgpio_error;
     }
 
+#    ifdef CONFIG_TIVA_CHAR_DEV_CAN
   /* Call tiva_can_initialize() to get an instance of CAN interface 0
    * and register it.
    */
@@ -88,6 +89,20 @@ int tm4c_can_setup(void)
       canerr("ERROR:  Failed to get/register CAN interface 0\n");
       return ret;
     }
+#    endif /* CONFIG_TIVA_CHAR_DEV_CAN */
+
+#    if defined(CONFIG_TIVA_SOCKET_CAN)
+  /* Call tiva_cansockinitialize() to get an instance of CAN interface 0
+   * and register it.
+   */
+
+  ret = tiva_cansockinitialize(0);
+  if (ret < 0)
+    {
+      canerr("ERROR:  Failed to get/register CAN interface 0\n");
+      return ret;
+    }
+#    endif /* CONFIG_TIVA_SOCKET_CAN */
 #  endif /* CONFIG_TIVA_CAN0 */
 
 #  ifdef CONFIG_TIVA_CAN1
@@ -105,6 +120,7 @@ int tm4c_can_setup(void)
       goto configgpio_error;
     }
 
+#    ifdef CONFIG_TIVA_CHAR_DEV_CAN
   /* Call tiva_can_initialize() to get an instance of CAN interface 1
    * and register it.
    */
@@ -115,6 +131,20 @@ int tm4c_can_setup(void)
       canerr("ERROR:  Failed to get/register CAN interface 1\n");
       return ret;
     }
+
+#    endif /* CONFIG_TIVA_CHAR_DEV_CAN */
+#    if defined(CONFIG_TIVA_SOCKET_CAN)
+  /* Call tiva_cansockinitialize() to get an instance of CAN interface 0
+   * and register it.
+   */
+
+  ret = tiva_cansockinitialize(0);
+  if (ret < 0)
+    {
+      canerr("ERROR:  Failed to get/register CAN interface 0\n");
+      return ret;
+    }
+#    endif /* CONFIG_TIVA_SOCKET_CAN */
 #  endif /* CONFIG_TIVA_CAN1 */
 
   return OK;