drivers: can: native_posix_linux: initial implementation

This driver provides an interface to SocketCAN interfaces of the Linux
system running a Zephyr application with the native_posix board. These
interfaces may be virtual or actual CAN buses.

Signed-off-by: Martin Jäger <martin@libre.solar>

Author: martinjaeger

boards/posix/native_posix/native_posix.dts

@@ -194,4 +194,16 @@
 		sample-point = <875>;
 		bus-speed = <125000>;
 	};
+
+	can0: can {
+		status = "disabled";
+		compatible = "zephyr,native-posix-linux-can";
+		/* adjust zcan0 to desired host interface or create an alternative
+		 * name, e.g.: sudo ip link property add dev vcan0 altname zcan0
+		 */
+		host-interface = "zcan0";
+		sjw = <1>;
+		sample-point = <875>;
+		bus-speed = <125000>;
+	};
 };

drivers/can/CMakeLists.txt

@@ -14,6 +14,21 @@ zephyr_library_sources_ifdef(CONFIG_CAN_STM32FD      can_stm32fd.c)
 zephyr_library_sources_ifdef(CONFIG_CAN_STM32H7      can_stm32h7.c)
 zephyr_library_sources_ifdef(CONFIG_CAN_RCAR         can_rcar.c)
 
+if(CONFIG_CAN_NATIVE_POSIX_LINUX)
+  if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL Linux)
+    zephyr_library_include_directories(${ZEPHYR_BASE}/subsys/net/l2)
+    zephyr_library_compile_definitions(NO_POSIX_CHEATS)
+    zephyr_library_compile_definitions(_BSD_SOURCE)
+    zephyr_library_compile_definitions(_DEFAULT_SOURCE)
+    zephyr_library_sources(
+      can_native_posix_linux.c
+      can_native_posix_linux_socketcan.c
+    )
+  else()
+    message(FATAL_ERROR "CONFIG_CAN_NATIVE_POSIX_LINUX only available on Linux")
+  endif()
+endif()
+
 zephyr_library_sources_ifdef(CONFIG_CAN_SJA1000      can_sja1000.c)
 zephyr_library_sources_ifdef(CONFIG_CAN_ESP32_TWAI   can_esp32_twai.c)
 

drivers/can/Kconfig

@@ -98,7 +98,7 @@ source "drivers/can/Kconfig.mcp2515"
 source "drivers/can/Kconfig.mcan"
 source "drivers/can/Kconfig.rcar"
 source "drivers/can/Kconfig.loopback"
-
+source "drivers/can/Kconfig.native_posix_linux"
 source "drivers/can/Kconfig.sja1000"
 source "drivers/can/Kconfig.esp32"
 

drivers/can/Kconfig.native_posix_linux

@@ -0,0 +1,30 @@
+# Native Linux SocketCAN configuration options
+
+# Copyright (c) 2022 Martin Jäger <martin@libre.solar>
+# SPDX-License-Identifier: Apache-2.0
+
+config CAN_NATIVE_POSIX_LINUX
+	bool "Native Linux SocketCAN Driver"
+	default y
+	depends on DT_HAS_ZEPHYR_NATIVE_POSIX_LINUX_CAN_ENABLED
+	help
+	  Enable native Linux SocketCAN Driver
+
+if CAN_NATIVE_POSIX_LINUX
+
+config CAN_NATIVE_POSIX_LINUX_RX_THREAD_PRIORITY
+	int "Priority for internal RX thread"
+	default 2
+	help
+	  Priority level of the internal thread which is run for
+	  handling of incoming packets.
+
+config CAN_MAX_FILTER
+	int "Maximum number of concurrent active filters"
+	default 5
+	range 1 32
+	help
+	  Defines the array size of the callback/msgq pointers.
+	  Must be at least the size of concurrent reads.
+
+endif # CAN_NATIVE_POSIX_LINUX