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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
This commit is contained in:
Frank Voorburg 2017-08-01 11:20:00 +00:00
parent c71b3ebbb4
commit c324e3b877
4 changed files with 23 additions and 122 deletions
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2
Host/Source/BootCommander/CMakeLists.txt
View File

@ -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)

71
Host/Source/LibOpenBLT/port/linux/canif/socketcan/socketcan.c
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@ -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. */
UtilCriticalSectionEnter();
if (socketCanErrorDetected)
{
/* Update result. */
result = true;
/* Reset the error flag. */
socketCanErrorDetected = false;
}
UtilCriticalSectionExit();
/* The purpose of this function is that when an error is detected, SocketCanConnect()
* can be called to reset the error. With SocketCAN a bus off error is reset on
* 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
* on network link level. For example:
* ip link set can0 type can bitrate 500000 restart-ms 100
* where "restart-ms <value>" specifies the number of milliseconds after which that
* automatic recovery is started.
*/
/* 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 */
if (canRxFrame.can_id & CAN_RTR_FLAG)
/* Ignore remote frames and error information. */
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
{

37
Host/Source/LibOpenBLT/port/linux/critutil.c
View File

@ -40,13 +40,10 @@
* Local data declarations
****************************************************************************************/
/** \brief Flag to determine if the critical section object was already initialized. */
static bool criticalSectionInitialized = false;
/** \brief Critical section nesting counter. ***/
static uint32_t criticalSectionNesting;
static volatile bool criticalSectionInitialized = false;
/** \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);
/* Reset nesting counter. */
criticalSectionNesting = 0;
(void)pthread_mutex_init((pthread_mutex_t *)&mtxCritSect, NULL);
/* 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. */
if (criticalSectionNesting == 0)
{
(void)pthread_mutex_lock(&mtxCritSect);
}
/* Increment nesting counter. */
criticalSectionNesting++; /*lint !e456 */
(void)pthread_mutex_lock((pthread_mutex_t *)&mtxCritSect);
}
} /*** end of UtilCriticalSectionEnter ***/ /*lint !e456 !e454 */
@ -130,19 +117,7 @@ void UtilCriticalSectionExit(void)
/* Only continue if actually initialized. */
if (criticalSectionInitialized)
{
/* Sanity check. */
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 */
}
}
(void)pthread_mutex_unlock((pthread_mutex_t *)&mtxCritSect); /*lint !e455 */
}
} /*** end of UtilCriticalSectionExit ***/

35
Host/Source/LibOpenBLT/port/windows/critutil.c
View File

@ -40,10 +40,7 @@
* Local data declarations
****************************************************************************************/
/** \brief Flag to determine if the critical section object was already initialized. */
static bool criticalSectionInitialized = false;
/** \brief Critical section nesting counter. ***/
static uint32_t criticalSectionNesting;
static volatile bool criticalSectionInitialized = false;
/** \brief Critical section object. */
static CRITICAL_SECTION criticalSection;
@ -61,9 +58,7 @@ void UtilCriticalSectionInit(void)
if (!criticalSectionInitialized)
{
/* Initialize the critical section object. */
InitializeCriticalSection(&criticalSection);
/* Reset nesting counter. */
criticalSectionNesting = 0;
InitializeCriticalSection((CRITICAL_SECTION *)&criticalSection);
/* 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. */
if (criticalSectionNesting == 0)
{
EnterCriticalSection(&criticalSection);
}
/* Increment nesting counter. */
criticalSectionNesting++;
EnterCriticalSection((CRITICAL_SECTION *)&criticalSection);
}
} /*** end of UtilCriticalSectionEnter ***/
@ -130,19 +117,7 @@ void UtilCriticalSectionExit(void)
/* Only continue if actually initialized. */
if (criticalSectionInitialized)
{
/* Sanity check. */
assert(criticalSectionNesting > 0);
/* Decrement nesting counter if it is valid. */
if (criticalSectionNesting > 0)
{
criticalSectionNesting--;
/* Leave the critical section. */
if (criticalSectionNesting == 0)
{
LeaveCriticalSection(&criticalSection);
}
}
LeaveCriticalSection((CRITICAL_SECTION *)&criticalSection);
}
} /*** end of UtilCriticalSectionExit ***/