Refs #316. Improvements in the SocketCAN interface module after testing with BootCommander and XCP on CAN.

git-svn-id: https://svn.code.sf.net/p/openblt/code/trunk@323 5dc33758-31d5-4daf-9ae8-b24bf3d40d73

Host/Source/BootCommander/CMakeLists.txt

@@ -76,7 +76,7 @@ set(LIBOPENBLT_LIB ${PROJECT_OUTPUT_DIRECTORY})
 if(WIN32)
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DPLATFORM_WIN32 -D_CRT_SECURE_NO_WARNINGS")
 elseif(UNIX)
-  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DPLATFORM_LINUX")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DPLATFORM_LINUX -pthread")
 endif(WIN32)
 
 

Host/Source/LibOpenBLT/port/linux/canif/socketcan/socketcan.c

@@ -42,7 +42,6 @@
 #include <net/if.h>                         /* network interfaces                      */
 #include <linux/can.h>                      /* CAN kernel definitions                  */
 #include <linux/can/raw.h>                  /* CAN raw sockets                         */
-#include <linux/can/error.h>                /* CAN errors                              */
 #include "util.h"                           /* Utility module                          */
 #include "candriver.h"                      /* Generic CAN driver module               */
 #include "socketcan.h"                      /* SocketCAN interface                     */
@@ -104,11 +103,6 @@ static volatile tCanEvents * socketCanEventsList;
 /** \brief Total number of event entries into the \ref socketCanEventsList list. */
 static volatile uint32_t socketCanEventsEntries;
 
-/** \brief Flag to set in the event thread when either a bus off or bus heavy situation
- *
- */
-static volatile bool socketCanErrorDetected;
-
 /** \brief Event thread control. */
 static volatile tSocketCanThreadCtrl eventThreadCtrl;
 
@@ -145,7 +139,6 @@ static void SocketCanInit(tCanSettings const * settings)
   /* Initialize locals. */
   socketCanEventsList = NULL;
   socketCanEventsEntries = 0;
-  socketCanErrorDetected = false;
   /* Reset CAN interface settings. */
   socketCanSettings.devicename = "";
   socketCanSettings.channel = 0;
@@ -224,10 +217,6 @@ static bool SocketCanConnect(void)
   struct ifreq ifr;
   int32_t flags;
   struct can_filter rxFilter;
-  can_err_mask_t errMask;
-
-  /* Reset the error flag. */
-  socketCanErrorDetected = false;
 
   /* Check settings. */
   assert(socketCanSettings.devicename != NULL);
@@ -314,17 +303,6 @@ static bool SocketCanConnect(void)
       }
     }
 
-    /* Configure reception of bus off and other CAN controller status related events. */
-    if (result)
-    {
-      errMask = (CAN_ERR_BUSOFF | CAN_ERR_CRTL);
-      if (setsockopt(canSocket, SOL_CAN_RAW, CAN_RAW_ERR_FILTER, &errMask, sizeof(errMask)) != 0)
-      {
-        close(canSocket);
-        result = false;
-      }
-    }
-
     if (result)
     {
       /* Start the event thread. */
@@ -350,8 +328,6 @@ static void SocketCanDisconnect(void)
   SocketCanStopEventThread();
   /* Close the socket. */
   close(canSocket);
-  /* Reset the error flag. */
-  socketCanErrorDetected = false;
 } /*** end of SocketCanDisconnect ***/
 
 
@@ -421,16 +397,15 @@ static bool SocketCanIsBusError(void)
 {
   bool result= false;
 
-  /* Read flag to detect bus off or bus heavy. */
+  /* The purpose of this function is that when an error is detected, SocketCanConnect()
-  UtilCriticalSectionEnter();
+   * can be called to reset the error. With SocketCAN a bus off error is reset on
-  if (socketCanErrorDetected)
+   * network link level and not by this interface module. It is therefore not needed to
-  {
+   * check for the errors here. It is better to configure the automatic bus off recovery
-    /* Update result. */
+   * on network link level. For example:
-    result = true;
+   *   ip link set can0 type can bitrate 500000 restart-ms 100
-    /* Reset the error flag. */
+   * where "restart-ms <value>" specifies the number of milliseconds after which that
-    socketCanErrorDetected = false;
+   * automatic recovery is started.
-  }
+   */
-  UtilCriticalSectionExit();
 
   /* Give the result back to the caller. */
   return result;
@@ -555,35 +530,11 @@ static void *SocketCanEventThread(void *param)
     /* Check if CAN frames were received. */
     while (read(canSocket, &canRxFrame, sizeof(struct can_frame)) == (ssize_t)sizeof(struct can_frame))
     {
-      /* Ignore remote frames */
+      /* Ignore remote frames and error information. */
-      if (canRxFrame.can_id & CAN_RTR_FLAG)
+      if ( (canRxFrame.can_id & CAN_RTR_FLAG) || (canRxFrame.can_id & CAN_ERR_FLAG) )
       {
         continue;
       }
-      /* Does the message contain error information? */
-      else if (canRxFrame.can_id & CAN_ERR_FLAG)
-      {
-        /* Was it a bus off event? */
-        if ((canRxFrame.can_id & CAN_ERR_BUSOFF) != 0)
-        {
-          /* Set the error flag. */
-          UtilCriticalSectionEnter();
-          socketCanErrorDetected = true;
-          UtilCriticalSectionExit();
-        }
-        /* Was it a CAN controller event? */
-        else if ((canRxFrame.can_id & CAN_ERR_CRTL) != 0)
-        {
-          /* Is the controller in error passive mode (bus heavy)? */
-          if ((canRxFrame.data[1] & (CAN_ERR_CRTL_RX_PASSIVE | CAN_ERR_CRTL_TX_PASSIVE)) != 0)
-          {
-            /* Set the error flag. */
-            UtilCriticalSectionEnter();
-            socketCanErrorDetected = true;
-            UtilCriticalSectionExit();
-          }
-        }
-      }
       /* It was a regular CAN message with either 11- or 29-bit identifier. */
       else
       {

Host/Source/LibOpenBLT/port/linux/critutil.c

@@ -40,13 +40,10 @@
 * Local data declarations
 ****************************************************************************************/
 /** \brief Flag to determine if the critical section object was already initialized. */
-static bool criticalSectionInitialized = false;
+static volatile bool criticalSectionInitialized = false;
-
-/** \brief Critical section nesting counter. ***/
-static uint32_t criticalSectionNesting;
 
 /** \brief Critical section object. */
-static pthread_mutex_t mtxCritSect;
+static volatile pthread_mutex_t mtxCritSect;
 
 
 /************************************************************************************//**
@@ -61,9 +58,7 @@ void UtilCriticalSectionInit(void)
   if (!criticalSectionInitialized)
   {
     /* Initialize the critical section object. */
-    (void)pthread_mutex_init(&mtxCritSect, NULL);
+    (void)pthread_mutex_init((pthread_mutex_t *)&mtxCritSect, NULL);
-    /* Reset nesting counter. */
-    criticalSectionNesting = 0;
     /* Set initialized flag. */
     criticalSectionInitialized = true;
   }
@@ -84,10 +79,8 @@ void UtilCriticalSectionTerminate(void)
   {
     /* Reset the initialized flag. */
     criticalSectionInitialized = false;
-    /* Reset nesting counter. */
-    criticalSectionNesting = 0;
     /* Delete the critical section object. */
-    (void)pthread_mutex_destroy(&mtxCritSect);
+    (void)pthread_mutex_destroy((pthread_mutex_t *)&mtxCritSect);
   }
 } /*** end of UtilCriticalSectionTerminate ***/
 
@@ -106,13 +99,7 @@ void UtilCriticalSectionEnter(void)
   /* Only continue if actually initialized. */
   if (criticalSectionInitialized)
   {
-    /* Enter the critical section if not already entered. */
+    (void)pthread_mutex_lock((pthread_mutex_t *)&mtxCritSect);
-    if (criticalSectionNesting == 0)
-    {
-      (void)pthread_mutex_lock(&mtxCritSect);
-    }
-    /* Increment nesting counter. */
-    criticalSectionNesting++; /*lint !e456 */
   }
 } /*** end of UtilCriticalSectionEnter ***/ /*lint !e456 !e454 */
 
@@ -130,19 +117,7 @@ void UtilCriticalSectionExit(void)
   /* Only continue if actually initialized. */
   if (criticalSectionInitialized)
   {
-    /* Sanity check. */
+    (void)pthread_mutex_unlock((pthread_mutex_t *)&mtxCritSect); /*lint !e455 */
-    assert(criticalSectionNesting > 0);
-
-    /* Decrement nesting counter if it is valid. */
-    if (criticalSectionNesting > 0)
-    {
-      criticalSectionNesting--;
-      /* Leave the critical section. */
-      if (criticalSectionNesting == 0)
-      {
-        (void)pthread_mutex_unlock (&mtxCritSect); /*lint !e455 */
-      }
-    }
   }
 } /*** end of UtilCriticalSectionExit ***/
 

Host/Source/LibOpenBLT/port/windows/critutil.c

@@ -40,10 +40,7 @@
 * Local data declarations
 ****************************************************************************************/
 /** \brief Flag to determine if the critical section object was already initialized. */
-static bool criticalSectionInitialized = false;
+static volatile bool criticalSectionInitialized = false;
-
-/** \brief Critical section nesting counter. ***/
-static uint32_t criticalSectionNesting;
 
 /** \brief Critical section object. */
 static CRITICAL_SECTION criticalSection;
@@ -61,9 +58,7 @@ void UtilCriticalSectionInit(void)
   if (!criticalSectionInitialized)
   {
     /* Initialize the critical section object. */
-    InitializeCriticalSection(&criticalSection);
+    InitializeCriticalSection((CRITICAL_SECTION *)&criticalSection);
-    /* Reset nesting counter. */
-    criticalSectionNesting = 0;
     /* Set initialized flag. */
     criticalSectionInitialized = true;
   }
@@ -84,10 +79,8 @@ void UtilCriticalSectionTerminate(void)
   {
     /* Reset the initialized flag. */
     criticalSectionInitialized = false;
-    /* Reset nesting counter. */
-    criticalSectionNesting = 0;
     /* Delete the critical section object. */
-    DeleteCriticalSection(&criticalSection);
+    DeleteCriticalSection((CRITICAL_SECTION *)&criticalSection);
   }
 } /*** end of UtilCriticalSectionTerminate ***/
 
@@ -106,13 +99,7 @@ void UtilCriticalSectionEnter(void)
   /* Only continue if actually initialized. */
   if (criticalSectionInitialized)
   {
-    /* Enter the critical section if not already entered. */
+    EnterCriticalSection((CRITICAL_SECTION *)&criticalSection);
-    if (criticalSectionNesting == 0)
-    {
-      EnterCriticalSection(&criticalSection);
-    }
-    /* Increment nesting counter. */
-    criticalSectionNesting++;
   }
 } /*** end of UtilCriticalSectionEnter ***/
 
@@ -130,19 +117,7 @@ void UtilCriticalSectionExit(void)
   /* Only continue if actually initialized. */
   if (criticalSectionInitialized)
   {
-    /* Sanity check. */
+    LeaveCriticalSection((CRITICAL_SECTION *)&criticalSection);
-    assert(criticalSectionNesting > 0);
-
-    /* Decrement nesting counter if it is valid. */
-    if (criticalSectionNesting > 0)
-    {
-      criticalSectionNesting--;
-      /* Leave the critical section. */
-      if (criticalSectionNesting == 0)
-      {
-        LeaveCriticalSection(&criticalSection);
-      }
-    }
   }
 } /*** end of UtilCriticalSectionExit ***/