Commit 427f8030 authored by Jan Charvát's avatar Jan Charvát

net/can: Initial host SocketCan support for CAN FD.

Signed-off-by: Jan Charvát's avatarJan Charvat <charvj10@fel.cvut.cz>
parent 98b2e3c9
......@@ -268,6 +268,7 @@ static void buff2frame_pel(const uint8_t *buff, qemu_can_frame *frame)
{
uint8_t i;
frame->flags = 0;
frame->can_id = 0;
if (buff[0] & 0x40) { /* RTR */
frame->can_id = QEMU_CAN_RTR_FLAG;
......@@ -303,6 +304,7 @@ static void buff2frame_bas(const uint8_t *buff, qemu_can_frame *frame)
{
uint8_t i;
frame->flags = 0;
frame->can_id = ((buff[0] << 3) & (0xff << 3)) + ((buff[1] >> 5) & 0x07);
if (buff[1] & 0x10) { /* RTR */
frame->can_id = QEMU_CAN_RTR_FLAG;
......
......@@ -46,7 +46,8 @@ typedef uint32_t qemu_canid_t;
typedef struct qemu_can_frame {
qemu_canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
uint8_t can_dlc; /* data length code: 0 .. 8 */
uint8_t data[8] QEMU_ALIGNED(8);
uint8_t flags;
uint8_t data[64] QEMU_ALIGNED(8);
} qemu_can_frame;
/* Keep defines for QEMU separate from Linux ones for now */
......@@ -58,6 +59,10 @@ typedef struct qemu_can_frame {
#define QEMU_CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
#define QEMU_CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
#define QEMU_CAN_FRMF_BRS 0x01 /* bit rate switch (2nd bitrate for data) */
#define QEMU_CAN_FRMF_ESI 0x02 /* error state ind. of transmitting node */
#define QEMU_CAN_FRMF_TYPE_FD 0x10 /* internal bit ind. of CAN FD frame */
/**
* struct qemu_can_filter - CAN ID based filter in can_register().
* @can_id: relevant bits of CAN ID which are not masked out.
......@@ -97,6 +102,7 @@ struct CanBusClientState {
char *model;
char *name;
void (*destructor)(CanBusClientState *);
bool fd_mode;
};
#define TYPE_CAN_BUS "can-bus"
......
......@@ -104,6 +104,14 @@ static void can_host_socketcan_read(void *opaque)
return;
}
if (!ch->bus_client.fd_mode) {
c->buf[0].flags = 0;
} else {
if (c->bufcnt > CAN_MTU) {
c->buf[0].flags |= QEMU_CAN_FRMF_TYPE_FD;
}
}
can_bus_client_send(&ch->bus_client, c->buf, 1);
if (DEBUG_CAN) {
......@@ -122,12 +130,21 @@ static ssize_t can_host_socketcan_receive(CanBusClientState *client,
CanHostState *ch = container_of(client, CanHostState, bus_client);
CanHostSocketCAN *c = CAN_HOST_SOCKETCAN(ch);
size_t len = sizeof(qemu_can_frame);
size_t len;
int res;
if (c->fd < 0) {
return -1;
}
if (frames->flags & QEMU_CAN_FRMF_TYPE_FD) {
if (!ch->bus_client.fd_mode) {
return 0;
}
len = CANFD_MTU;
} else {
len = CAN_MTU;
}
res = write(c->fd, frames, len);
......@@ -173,6 +190,8 @@ static void can_host_socketcan_connect(CanHostState *ch, Error **errp)
{
CanHostSocketCAN *c = CAN_HOST_SOCKETCAN(ch);
int s; /* can raw socket */
int mtu;
int enable_canfd = 1;
struct sockaddr_can addr;
struct ifreq ifr;
......@@ -186,6 +205,7 @@ static void can_host_socketcan_connect(CanHostState *ch, Error **errp)
addr.can_family = AF_CAN;
memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
strcpy(ifr.ifr_name, c->ifname);
/* check if the frame fits into the CAN netdevice */
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
error_setg_errno(errp, errno,
"SocketCAN host interface %s not available", c->ifname);
......@@ -193,6 +213,25 @@ static void can_host_socketcan_connect(CanHostState *ch, Error **errp)
}
addr.can_ifindex = ifr.ifr_ifindex;
if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
error_setg_errno(errp, errno,
"SocketCAN host interface %s SIOCGIFMTU failed", c->ifname);
goto fail;
}
mtu = ifr.ifr_mtu;
if (mtu >= CANFD_MTU) {
/* interface is ok - try to switch the socket into CAN FD mode */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfd, sizeof(enable_canfd))) {
warn_report("SocketCAN host interface %s enabling CAN FD failed", c->ifname);
} else {
c->parent.bus_client.fd_mode = true;
}
}
c->err_mask = 0xffffffff; /* Receive error frame. */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
&c->err_mask, sizeof(c->err_mask));
......
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