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drivers/can/can.c: Support multiple readers of the same port

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This commit is contained in:
Valmantas Paliksa
2019-04-12 11:13:42 -06:00
committed by Gregory Nutt
parent 2bb15a49a6
commit 7d112f5639
2 changed files with 190 additions and 101 deletions
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include/nuttx/can/can.h
+17 -2
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@@ -1,7 +1,8 @@
/************************************************************************************
* include/nuttx/can/can.h
*
* Copyright (C) 2008, 2009, 2011-2012, 2015-2017 Gregory Nutt. All rights reserved.
* Copyright (C) 2008, 2009, 2011-2012, 2015-2017, 2019 Gregory Nutt. All rights
* reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
@@ -48,6 +49,7 @@
#include <stdbool.h>
#include <semaphore.h>
#include <nuttx/list.h>
#include <nuttx/fs/fs.h>
#include <nuttx/fs/ioctl.h>
@@ -62,6 +64,7 @@
************************************************************************************/
/* Configuration ********************************************************************/
/* CONFIG_CAN - Enables CAN support (MCU-specific selections are also required. For
* STM32, as an example, one or both of CONFIG_STM32_CAN1 or CONFIG_STM32_CAN2
* must also be defined)
@@ -106,6 +109,7 @@
#endif
/* Ioctl Commands *******************************************************************/
/* Ioctl commands supported by the upper half CAN driver.
*
* CANIOC_RTR:
@@ -360,6 +364,7 @@
#endif /* CONFIG_CAN_ERRORS */
/* CAN filter support ***************************************************************/
/* Some CAN hardware supports a notion of prioritizing messages that match filters.
* Only two priority levels are currently supported and are encoded as defined
* below:
@@ -377,6 +382,7 @@
/************************************************************************************
* Public Types
************************************************************************************/
/* CAN-message Format (without Extended ID support)
*
* One based CAN-message is represented with a maximum of 10 bytes. A message is
@@ -431,6 +437,7 @@ begin_packed_struct struct can_hdr_s
uint8_t ch_extid : 1; /* Extended ID indication */
uint8_t ch_unused : 1; /* Unused */
} end_packed_struct;
#else
begin_packed_struct struct can_hdr_s
{
@@ -550,12 +557,21 @@ struct can_ops_s
* The common logic will initialize all semaphores.
*/
struct can_reader_s
{
struct list_node list;
sem_t read_sem;
FAR struct file *filep;
struct can_rxfifo_s fifo; /* Describes receive FIFO */
};
struct can_dev_s
{
uint8_t cd_ocount; /* The number of times the device has been opened */
uint8_t cd_npendrtr; /* Number of pending RTR messages */
volatile uint8_t cd_ntxwaiters; /* Number of threads waiting to enqueue a message */
volatile uint8_t cd_nrxwaiters; /* Number of threads waiting to receive a message */
struct list_node cd_readers;
#ifdef CONFIG_CAN_ERRORS
uint8_t cd_error; /* Flags to indicate internal device errors */
#endif
@@ -564,7 +580,6 @@ struct can_dev_s
sem_t cd_pollsem; /* Manages exclusive access to cd_fds[] */
#endif
struct can_txfifo_s cd_xmit; /* Describes transmit FIFO */
struct can_rxfifo_s cd_recv; /* Describes receive FIFO */
#ifdef CONFIG_CAN_TXREADY
struct work_s cd_work; /* Use to manage can_txready() work */
#endif