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drivers: can: implement native Linux SocketCAN driver #49894

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Merged
merged 1 commit into from
Sep 9, 2022
Merged

drivers: can: implement native Linux SocketCAN driver #49894

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12 changes: 12 additions & 0 deletions boards/posix/native_posix/native_posix.dts
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Original file line number Diff line number Diff line change
Expand Up @@ -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>;
};
};
15 changes: 15 additions & 0 deletions drivers/can/CMakeLists.txt
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Expand Up @@ -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)

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2 changes: 1 addition & 1 deletion drivers/can/Kconfig
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Expand Up @@ -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"

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30 changes: 30 additions & 0 deletions drivers/can/Kconfig.native_posix_linux
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@@ -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
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