add can socket support

Signed-off-by: Peter Bee <[email protected]>

boards/arm/stm32/doublecan/configs/can/defconfig

@@ -74,6 +74,7 @@
 # CONFIG_NSH_DISABLE_WGET is not set
 # CONFIG_NSH_DISABLE_XD is not set
 # CONFIG_STM32_USE_LEGACY_PINMAP is not set
+CONFIG_ALLOW_GPL_COMPONENTS=y
 CONFIG_ANALOG=y
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD="doublecan"
@@ -90,6 +91,11 @@ CONFIG_BOARD_INITTHREAD_STACKSIZE=2048
 CONFIG_BOARD_LATE_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=5483
 CONFIG_BUILTIN=y
+CONFIG_CAN=y
+CONFIG_CANUTILS_CANDUMP=y
+CONFIG_CANUTILS_CANLIB=y
+CONFIG_CANUTILS_CANSEND=y
+CONFIG_CANUTILS_SLCAN=y
 CONFIG_CAN_EXTID=y
 CONFIG_CAN_LOOPBACK=y
 CONFIG_DEBUG_FULLOPT=y
@@ -124,6 +130,7 @@ CONFIG_NET_CAN=y
 CONFIG_NET_CAN_EXTID=y
 CONFIG_NET_SOCKOPTS=y
 CONFIG_NET_STATISTICS=y
+CONFIG_NET_TCP=y
 CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=5
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_BUILTIN_APPS=y
@@ -140,6 +147,7 @@ CONFIG_PTHREAD_STACK_MIN=2048
 CONFIG_RAM_SIZE=65536
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_RR_INTERVAL=200
 CONFIG_SCHED_BACKTRACE=y
 CONFIG_SCHED_HAVE_PARENT=y
@@ -153,6 +161,7 @@ CONFIG_STM32_ADC1=y
 CONFIG_STM32_CAN1=y
 CONFIG_STM32_CAN1_REMAP1=y
 CONFIG_STM32_CAN2=y
+CONFIG_STM32_CAN_SOCKET=y
 CONFIG_STM32_CAN_TSEG1=13
 CONFIG_STM32_CAN_TSEG2=2
 CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y

boards/arm/stm32/doublecan/src/Make.defs

@@ -26,6 +26,10 @@ ifeq ($(CONFIG_STM32_CAN_CHARDRIVER),y)
 CSRCS += stm32_can.c
 endif
 
+ifeq ($(CONFIG_STM32_CAN_SOCKET),y)
+CSRCS += stm32_cansock.c
+endif
+
 ifeq ($(CONFIG_BOARDCTL),y)
 CSRCS += stm32_appinit.c
 endif

boards/arm/stm32/doublecan/src/doublecan.h

@@ -220,5 +220,17 @@ int board_usbmsc_initialize(int port);
 int stm32_can_setup(void);
 #endif
 
+/****************************************************************************
+ * Name: stm32_cansock_setup
+ *
+ * Description:
+ *  Initialize CAN and register the CAN SOCKET device
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_STM32_CAN_SOCKET
+int stm32_cansock_setup(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif /* __BOARDS_ARM_STM32_DOUBLECAN_SRC_DOUBLECAN_H */

boards/arm/stm32/doublecan/src/stm32_appinit.c

@@ -87,7 +87,7 @@ int board_app_initialize(uintptr_t arg)
   ret = board_composite_initialize(0);
 #endif
 
-#ifdef CONFIG_STM32_CAN
+#ifdef CONFIG_STM32_CAN_CHARDRIVER
   /* Initialize CAN and register the CAN driver. */
 
   ret = stm32_can_setup();
@@ -97,6 +97,16 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
+#ifdef CONFIG_STM32_CAN_SOCKET
+  /* Initialize CAN and register the CAN SOCKET driver. */
+
+  ret = stm32_cansock_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: stm32_cansock_setup failed: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_FS_PROCFS
   /* Mount the procfs file system */
 

boards/arm/stm32/doublecan/src/stm32_cansock.c

@@ -0,0 +1,88 @@
+/****************************************************************************
+ * boards/arm/stm32/doublecan/src/stm32_cansock.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+
+#include "stm32_can.h"
+
+#ifdef CONFIG_CAN
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN1_PORT 1
+#endif
+#ifdef CONFIG_STM32_CAN2
+#  define CAN2_PORT 2
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_cansock_setup
+ *
+ * Description:
+ *  Initialize CAN socket interface
+ *
+ ****************************************************************************/
+
+int stm32_cansock_setup(void)
+{
+#if defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)
+  int ret;
+
+  /* Call stm32_cansockinitialize() to get an instance of the CAN interface */
+#if defined(CONFIG_STM32_CAN1)
+  ret = stm32_cansockinitialize(CAN1_PORT);
+  if (ret < 0)
+    {
+      canerr("ERROR:  Failed to get CAN interface %d\n", ret);
+      return ret;
+    }
+#endif
+
+#if defined(CONFIG_STM32_CAN2)
+  ret = stm32_cansockinitialize(CAN2_PORT);
+  if (ret < 0)
+    {
+      canerr("ERROR:  Failed to get CAN interface %d\n", ret);
+      return ret;
+    }
+#endif
+
+  return OK;
+#else
+  return -ENODEV;
+#endif
+}
+
+#endif /* CONFIG_CAN */