can: add transceiver support in CAN stack

sys/auto_init/can/auto_init_can_native.c

@@ -40,6 +40,9 @@ void auto_init_can_native(void) {
         candev_linux_init(&candev_linux[i], &candev_linux_conf[i]);
         candev_dev_linux[i].dev = (candev_t *)&candev_linux[i];
         candev_dev_linux[i].name = candev_linux_params[i].name;
+#ifdef MODULE_CAN_TRX
+        candev_dev_linux[i].trx = candev_linux_params[i].trx;
+#endif
 #ifdef MODULE_CAN_PM
         candev_dev_linux[i].rx_inactivity_timeout = candev_linux_params[i].rx_inactivity_timeout;
         candev_dev_linux[i].tx_wakeup_timeout = candev_linux_params[i].tx_wakeup_timeout;

sys/can/device.c

@@ -23,6 +23,10 @@
 #include "can/pkt.h"
 #include "can/dll.h"
 
+#ifdef MODULE_CAN_TRX
+#include "can/can_trx.h"
+#endif
+
 #define ENABLE_DEBUG    (0)
 #include "debug.h"
 
@@ -131,6 +135,9 @@ static int power_up(candev_dev_t *candev_dev)
 
     DEBUG("candev: power up\n");
 
+#ifdef MODULE_CAN_TRX
+    can_trx_set_mode(candev_dev->trx, TRX_NORMAL_MODE);
+#endif
     canopt_state_t state = CANOPT_STATE_ON;
     int res = dev->driver->set(dev, CANOPT_STATE, &state, sizeof(state));
     dev->state = CAN_STATE_ERROR_ACTIVE;
@@ -144,6 +151,9 @@ static int power_down(candev_dev_t *candev_dev)
 
     DEBUG("candev: power down\n");
 
+#ifdef MODULE_CAN_TRX
+    can_trx_set_mode(candev_dev->trx, TRX_SLEEP_MODE);
+#endif
     canopt_state_t state = CANOPT_STATE_SLEEP;
     int res = dev->driver->set(dev, CANOPT_STATE, &state, sizeof(state));
     dev->state = CAN_STATE_SLEEPING;
@@ -209,6 +219,9 @@ static void *_can_device_thread(void *args)
     candev_dev->pm_timer.arg = candev_dev;
     pm_reset(candev_dev, candev_dev->rx_inactivity_timeout);
 #endif
+#ifdef MODULE_CAN_TRX
+    can_trx_init(candev_dev->trx);
+#endif
 
     int res;
     can_pkt_t *pkt;
@@ -312,6 +325,20 @@ static void *_can_device_thread(void *args)
             reply.content.value = (uint32_t)res;
             msg_reply(&msg, &reply);
             break;
+#ifdef MODULE_CAN_TRX
+        case CAN_MSG_SET_TRX:
+            DEBUG("can device: CAN_MSG_SET_TRX received\n");
+            reply.type = CAN_MSG_ACK;
+            if (dev->state != CAN_STATE_SLEEPING) {
+                reply.content.value = -EBUSY;
+            }
+            else {
+                candev_dev->trx = msg.content.ptr;
+                reply.content.value = 0;
+            }
+            msg_reply(&msg, &reply);
+            break;
+#endif
 #ifdef MODULE_CAN_PM
         case CAN_MSG_PM:
             DEBUG("can device: pm power down\n");

sys/can/dll.c

@@ -469,6 +469,23 @@ int raw_can_set_bitrate(int ifnum, uint32_t bitrate, uint32_t sample_point)
     return res;
 }
 
+#ifdef MODULE_CAN_TRX
+int raw_can_set_trx(int ifnum, can_trx_t *trx)
+{
+    msg_t msg, reply;
+
+    assert(ifnum < candev_nb);
+
+    msg.type = CAN_MSG_SET_TRX;
+    msg.content.ptr = trx;
+    if (msg_send_receive(&msg, &reply, candev_list[ifnum]->pid) != 1) {
+        return -EBUSY;
+    }
+
+    return (int) reply.content.value;
+}
+#endif
+
 int raw_can_get_ifnum_by_name(const char *name)
 {
     for (int i = 0; i < candev_nb; i++) {

sys/include/can/common.h

@@ -91,6 +91,9 @@ enum can_msg {
     CAN_MSG_REMOVE_FILTER,    /**< remove a filter */
     CAN_MSG_POWER_UP,         /**< power up */
     CAN_MSG_POWER_DOWN,       /**< power down */
+#if defined(MODULE_CAN_TRX) || defined(DOXYGEN)
+    CAN_MSG_SET_TRX,          /**< set a transceiver */
+#endif
     /* candev internal messages */
     CAN_MSG_EVENT = 0x200,    /**< driver event */
     CAN_MSG_WAKE_UP,          /**< driver has been woken up by bus */

sys/include/can/device.h

@@ -31,6 +31,9 @@ extern "C" {
 #ifdef MODULE_CAN_PM
 #include "xtimer.h"
 #endif
+#ifdef MODULE_CAN_TRX
+#include "can/can_trx.h"
+#endif
 
 #ifndef CAN_MAX_RATE_ERROR
 /**
@@ -52,6 +55,9 @@ extern "C" {
  */
 typedef struct candev_params {
     const char *name;                /**< candev name to set */
+#if defined(MODULE_CAN_TRX) || defined(DOXYGEN)
+    can_trx_t *trx;                  /**< transceiver to set */
+#endif
 #if defined(MODULE_CAN_PM) || defined(DOXYGEN)
     uint32_t rx_inactivity_timeout;  /**< power management rx timeout value */
     uint32_t tx_wakeup_timeout;      /**< power management tx wake up value */
@@ -66,6 +72,9 @@ typedef struct candev_dev {
     int ifnum;        /**< interface number */
     kernel_pid_t pid; /**< pid */
     const char *name; /**< device name */
+#if defined(MODULE_CAN_TRX) || defined(DOXYGEN)
+    can_trx_t *trx;   /**< transceiver attached to the device */
+#endif
 #if defined(MODULE_CAN_PM) || defined(DOXYGEN)
     uint32_t rx_inactivity_timeout; /**< Min timeout loaded when a frame is received */
     uint32_t tx_wakeup_timeout;     /**< Min timeout loaded when a frame is sent */

sys/include/can/raw.h

@@ -37,6 +37,9 @@ extern "C" {
 #include "mbox.h"
 #endif
 
+#ifdef MODULE_TRX
+#include "can/can_trx.h"
+#endif
 
 /**
  * @brief Default value for undefined interface number
@@ -253,6 +256,21 @@ candev_dev_t *raw_can_get_dev_by_ifnum(int ifnum);
  */
 int raw_can_set_bitrate(int ifnum, uint32_t bitrate, uint32_t sample_point);
 
+#if defined(MODULE_CAN_TRX) || defined(DOXYGEN)
+/**
+ * @brief Set a transceiver for a given interface
+ *
+ * The interface must be powered down before changing the transceiver.
+ *
+ * @param[in] ifnum   the interface number
+ * @param[in] trx     the transceiver to set
+ *
+ * @return 0 on success
+ * @return < 0 on error (-EBUSY if device is not powered down)
+ */
+int raw_can_set_trx(int ifnum, can_trx_t *trx);
+#endif
+
 #ifdef __cplusplus
 }
 #endif

tests/conn_can/Makefile

@@ -19,5 +19,6 @@ USEMODULE += conn_can
 USEMODULE += can_isotp
 USEMODULE += conn_can_isotp_multi
 USEMODULE += can_pm
+USEMODULE += can_trx
 
 include $(RIOTBASE)/Makefile.include