diff options
Diffstat (limited to 'can_hal/src')
| -rw-r--r-- | can_hal/src/Makefile | 52 | ||||
| -rw-r--r-- | can_hal/src/can_hal_api.cpp | 166 | ||||
| -rw-r--r-- | can_hal/src/can_hal_core.cpp | 372 | ||||
| -rw-r--r-- | can_hal/src/can_hal_stm.cpp | 243 | ||||
| -rw-r--r-- | can_hal/src/driver_can__CWORD31_.c | 472 | ||||
| -rw-r--r-- | can_hal/src/inc/can_hal_core.h | 37 | ||||
| -rw-r--r-- | can_hal/src/inc/can_hal_frameworkunifiedlog.h | 76 | ||||
| -rw-r--r-- | can_hal/src/inc/can_hal_internal.h | 31 | ||||
| -rw-r--r-- | can_hal/src/inc/can_hal_stm.h | 45 | ||||
| -rw-r--r-- | can_hal/src/inc/can_mng_api.h | 120 |
10 files changed, 1614 insertions, 0 deletions
diff --git a/can_hal/src/Makefile b/can_hal/src/Makefile new file mode 100644 index 00000000..f34eb759 --- /dev/null +++ b/can_hal/src/Makefile @@ -0,0 +1,52 @@ +# +# @copyright Copyright (c) 2019-2020 TOYOTA MOTOR CORPORATION. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +######### installed shared library(*.so) ############# +INST_SHLIBS = libcan_hal + +######### installed static library(*.a) ############# + +######### install headers(*.h) ############# +INST_HEADERS = ../hal_api/can_hal.h + +######### compiled sources ############# +libcan_hal_SRCS = can_hal_core.cpp can_hal_stm.cpp can_hal_api.cpp +libcan_hal_SRCS += driver_can__CWORD31_.c + +######### include paths/files ################### +CPPFLAGS += -I./inc/ +CPPFLAGS += -I../hal_api/ + +######### compile options ####################### +CPPFLAGS += -Wall -fPIC + +######### link options ########################## +LDFLAGS += -shared +LDFLAGS += -Wl,--gc-sections +LDFLAGS += -Wl,--no-as-needed +LDFLAGS += -Wl,--no-undefined +LDFLAGS += -L$(SDKTARGETSYSROOT)/usr/agl/lib + +RPATH := /usr/lib:/usr/agl/lib + +######### linked library ######################## +LDLIBS += -Wl,-Bdynamic -lstdc++ +LDLIBS += -Wl,-Bdynamic -lpthread +LDLIBS += -Wl,-Bdynamic -lNS_FrameworkUnified + +COMPONENT_NAME = +AGL_TOPDIR ?= $(DESTDIR)/usr +include ../can_hal.mk diff --git a/can_hal/src/can_hal_api.cpp b/can_hal/src/can_hal_api.cpp new file mode 100644 index 00000000..86a0104d --- /dev/null +++ b/can_hal/src/can_hal_api.cpp @@ -0,0 +1,166 @@ +/* + * @copyright Copyright (c) 2017-2020 TOYOTA MOTOR CORPORATION. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/* + * Information. + * This source code is a sample source code . + * Implementation of the function must be performed by the vendor. + */ + +#include "can_hal_core.h" +#include "can_hal_stm.h" +#include <stdio.h> +#include <pthread.h> +#include <string.h> +#include <assert.h> + +CANHAL_RET_API CanOpen(HANDLE h_app, CanHalType type) { + CANHAL_RET_API ret = CANHAL_RET_ERR_ERR; + + if (!TypeIsValid(type)) { + return CANHAL_RET_ERR_PARAM; + } + + if (!h_app) { + return CANHAL_RET_ERR_PARAM; + } + + if (IsCanHalOpened(type)) { + return CANHAL_RET_NORMAL; + } + + if (IsDeviceEnabled(type)) { + return CANHAL_RET_NORMAL; + } + + ret = CanOpenCore(type); + if (CANHAL_RET_NORMAL != ret) { + return ret; + } + + ret = CanHalCreateInternalThread(h_app, type); + if (CANHAL_RET_NORMAL != ret) { + CanCloseCore(type); + return ret; + } + + SetDeviceStateEnable(type); + SetCanHalStateOpen(type); + InvokeStateCallback(type); + return ret; +} + +CANHAL_RET_API CanClose(HANDLE h_app, CanHalType type) { + CANHAL_RET_API ret = CANHAL_RET_ERR_ERR; + if (!TypeIsValid(type)) { + return CANHAL_RET_ERR_PARAM; + } + + if (!h_app) { + return CANHAL_RET_ERR_PARAM; + } + + if (!IsCanHalOpened(type)) { + return CANHAL_RET_NORMAL; + } + + if (IsDeviceEnabled(type)) { + ret = CanCloseCore(type); + if (CANHAL_RET_NORMAL != ret) + return ret; + } + + ret = CanHalDestroyInternalThread(h_app, type); + if (CANHAL_RET_NORMAL != ret) + return ret; + + SetDeviceStateDisable(type); + SetCanHalStateClose(type); + InvokeErrorCallback(h_app, type); + + return ret; +} + +static CANHAL_RET_API CanSendCommonCheck(const void *message, + enum CanHalType type) { + if (!TypeIsValid(type)) { + return CANHAL_RET_ERR_PARAM; + } + + if (!message) { + return CANHAL_RET_ERR_PARAM; + } + + if (!IsCanHalOpened(type)) { + return CANHAL_RET_ERR_STATE; + } + + if (!IsDeviceEnabled(type)) { + return CANHAL_RET_ERR_STATE; + } + + return CANHAL_RET_NORMAL; +} + +CANHAL_RET_API CanSend(HANDLE h_app, + const CanMessage *message, enum CanHalType type) { + CANHAL_RET_API ret = CANHAL_RET_ERR_ERR; + void *_message = NULL; + ssize_t sz = 0; + + ret = CanSendCommonCheck(message, type); + if (ret != CANHAL_RET_NORMAL) + return ret; + + if (!h_app) { + return CANHAL_RET_ERR_PARAM; + } + + if (CAN_NORMAL_MESSAGE_LEN < message->dlc) { + return CANHAL_RET_ERR_PARAM; + } + + _message = CanHalPackMessage(h_app, (const void *)message, + sizeof(CanMessage), &sz); + if (!_message) + return CANHAL_RET_ERR_ERR; + + ret = CanHalInternalSend(type, _message, sz); + CanHalDestroyPackedMessage(_message); + return ret; +} + +CANHAL_RET_API CanGetVersion(HANDLE h_app, std::string *p_version) { + CanHalType type = CAN_HAL_TYPE_CAN; + if (!h_app) { + return CANHAL_RET_ERR_PARAM; + } + + if (!IsCanHalOpened(type)) { + return CANHAL_RET_ERR_STATE; + } + + if (!IsDeviceEnabled(type)) { + return CANHAL_RET_ERR_STATE; + } + + if (NULL == p_version) { + return CANHAL_RET_ERR_PARAM; + } + + *p_version = "FFFF"; + return CANHAL_RET_NORMAL; +} diff --git a/can_hal/src/can_hal_core.cpp b/can_hal/src/can_hal_core.cpp new file mode 100644 index 00000000..bdbdbbce --- /dev/null +++ b/can_hal/src/can_hal_core.cpp @@ -0,0 +1,372 @@ +/* + * @copyright Copyright (c) 2017-2020 TOYOTA MOTOR CORPORATION. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "can_hal.h" +#include "can_hal_core.h" +#include "can_hal_internal.h" +#include "can_hal_frameworkunifiedlog.h" +#include "can_hal_stm.h" +extern "C" { + #include "can_mng_api.h" +} +#include <native_service/ns_message_center_if.h> +#include <native_service/frameworkunified_framework_if.h> +#include <native_service/frameworkunified_multithreading.h> +#include <stdio.h> +#include <pthread.h> +#include <string> + +static CanCtlApiObj g_driver_obj; // can driver handler + +typedef struct MessageWrapper { + HANDLE h_app; + void *message; +} MessageWrapper; + +// define frame +enum CANHAL_FRAME { + CANHAL_FRAME_SF = 0x00, + CANHAL_FRAME_FF, + CANHAL_FRAME_CF, + CANHAL_FRAME_NONE = 0xFF, +}; + +// Declaration of the local functions +static EFrameworkunifiedStatus CanSendData(HANDLE h_app); +static UINT8 PackageSendData(const CanMessage *send_msg, + UINT8 *send_cmd); +static UINT8 PackageRecvData(const UINT8 *recv_data, CanMessage *message); +static uint32_t GetCanId(const UINT8 *recv_data); + +#define CANHAL_VALID_NUM_INDEX 0x00 +#define CANHAL_CANID_HI_INDEX 0x00 +#define CANHAL_CANID_LO_INDEX 0x01 +#define CANHAL_DLC_INDEX 0x02 +#define CANHAL_DATA_START_INDEX 0x03 + +#define CANHAL_RECV_DATA_LENGTH_INVALID 0xFF + +#define CANHAL_RECV_DATABLOCK_SIZE (0x0B) +#define CANHAL_RECV_NTA_INDEX (0x03) + +// Register table for framework callback +static const FrameworkunifiedProtocolCallbackHandler kCanHalPcbhs[] = { + { TX_INTERNAL, CanSendData }, +}; + +void *CanHalPackMessage(HANDLE h_app, const void *msg, ssize_t msg_sz, + ssize_t *packed_sz) { + *packed_sz = msg_sz + sizeof(ssize_t) + sizeof(HANDLE); + void *p = malloc(*packed_sz); + if (p) { + char *_p = (char *)p; + // Set HANDLE to new buffer. + memcpy(_p, &h_app, sizeof(HANDLE)); + // Set message size to new buffer + _p += sizeof(HANDLE); + *(ssize_t *)_p = msg_sz; + // Set message body to new buffer + _p += (sizeof(ssize_t)); + memcpy(_p, msg, msg_sz); + } + return p; +} + +void CanHalUnPackMessage(void *packed, HANDLE *h_app, void **msg, + ssize_t *msg_sz) { + char *_p = (char *)packed; + *h_app = *(HANDLE *)_p; + _p += sizeof(HANDLE); + *msg_sz = *((ssize_t *)_p); + _p += sizeof(ssize_t); + *msg = _p; +} + +void CanHalDestroyPackedMessage(void *packed) { + free(packed); +} + +// Start function of the receive thread +void *CanRecvRun(void *arg) { + UINT8 data_start_index = 0; + UINT8 loop_num = 0; + UINT32 ret = 0; + CanCtlApiCmd recv_cmd; + memset(&recv_cmd, 0x00, sizeof(CanCtlApiCmd)); + CanMessage recv_data_can; + memset(&recv_data_can, 0x00, sizeof(recv_data_can)); + enum CanHalType *type = (enum CanHalType *)arg; + + while (1) { + // call driver API to receive the can data + ret = CanCtlApiRcvCmd(&g_driver_obj, &recv_cmd); + if (CAN_CTL_RET_SUCCESS != ret) { + continue; + } + + /** + * Receive data in the following structure: + * ----------------- + * BYTE 01 | num of can data | + * ----------------- + * BYTE 02 | CAN ID (Hi) | + * ----------------- + * BYTE 03 | CAN ID (Lo) | + * ----------------- + * BYTE 04 | DLC | + * ----------------- + * BYTE 05 | DATA #1 | + * ----------------- + * | ... | + * ----------------- + * BYTE 12 | DATA #8 | + * ----------------- + * BYTE 13 | CAN ID (Hi) | + * ----------------- + * BYTE 14 | CAN ID (Lo) | + * ----------------- + * BYTE 15 | DLC | + * ----------------- + * BYTE 16 | DATA #1 | + * ----------------- + * | ... | + * ----------------- + * BYTE 23 | DATA #8 | + * ----------------- + * | ... | + * ----------------- + * BYTE 255 | | + * ----------------- + * + * BYTE 0 for the invalid number of the can data + * CAN ID (Hi) and (Lo) combine for the CAN ID + * CAN ID (Hi) byte's low 7 bits is the high 7 bits of the CAN ID + * CAN ID (Lo) byte's high 4 bits is the low 4 bits of the CAN ID + * DLC for the length of the following data + * DATA #1 ~ #8 for the receive data, its actual length changes + * according to the previous DLC byte + */ + UINT8 total_data_num = recv_cmd.data[CANHAL_VALID_NUM_INDEX]; + data_start_index = 1; + + for (loop_num = 0; loop_num < total_data_num; loop_num++) { + uint32_t can_id; + can_id = GetCanId(&(recv_cmd.data[data_start_index])); + + // normal can + // Return value of the PackageRecvData is the total length + // of one can data package, so add to the data_start_index + // for the next can data package. + ret = PackageRecvData(&(recv_cmd.data[data_start_index]), + &recv_data_can); + if (CANHAL_RECV_DATA_LENGTH_INVALID == ret) { + continue; + } + data_start_index += ret; + CanHalReceiveNotify(*type, &(recv_data_can), sizeof(recv_data_can)); + } + + // reset buffer + memset(&recv_cmd, 0x00, sizeof(CanCtlApiCmd)); + usleep(1000); + } + + return NULL; +} + +// get can id from recive buffer +static uint32_t GetCanId(const UINT8 *recv_data) { + uint32_t can_id; + can_id = (recv_data[CANHAL_CANID_HI_INDEX] & 0x7F); + can_id <<= 4; + can_id |= ((recv_data[CANHAL_CANID_LO_INDEX] & 0xF0) >> 4); + return can_id; +} + +static CANHAL_RET_API CanOpenCoreCAN(void) { + CanCtlRcvId recv_can_id; + memset(recv_can_id.id, 0xFF, sizeof(recv_can_id.id)); + if (CAN_CTL_RET_SUCCESS != CanCtlApiOpen(&g_driver_obj)) + return CANHAL_RET_ERR_ERR; + + if (CAN_CTL_RET_SUCCESS != CanCtlApiSetRcvId(&g_driver_obj, &recv_can_id)) { + return CANHAL_RET_ERR_ERR; + } + + return CANHAL_RET_NORMAL; +} + +CANHAL_RET_API CanOpenCore(CanHalType type) { + CANHAL_RET_API ret = CANHAL_RET_ERR_ERR; + switch (type) { + case CAN_HAL_TYPE_CAN: + ret = CanOpenCoreCAN(); + break; + default: + // Do nothing + break; + } + return ret; +} + +// Initialize the sending thread +EFrameworkunifiedStatus CanSendThreadStart(HANDLE h_app) { + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + intptr_t ptr; + e_status = FrameworkunifiedAttachCallbacksToDispatcher(h_app, + FRAMEWORKUNIFIED_ANY_SOURCE, + kCanHalPcbhs, + _countof(kCanHalPcbhs)); + if (e_status != eFrameworkunifiedStatusOK) + goto finish; + + e_status = FrameworkunifiedGetMsgDataOfSize(h_app, &ptr, sizeof(ptr)); + if (e_status != eFrameworkunifiedStatusOK) + goto finish; + + *((HANDLE *)ptr) = FrameworkunifiedMcOpenSender(h_app, FrameworkunifiedGetAppName(h_app)); + if (!(*(HANDLE *)ptr)) + e_status = eFrameworkunifiedStatusFail; + +finish: + return e_status; +} + +// Clean the sending thread +EFrameworkunifiedStatus CanSendThreadStop(HANDLE h_app) { + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + intptr_t ptr; + e_status = FrameworkunifiedGetMsgDataOfSize(h_app, &ptr, sizeof(ptr)); + if (e_status != eFrameworkunifiedStatusOK) + goto finish; + + FrameworkunifiedMcClose(*((HANDLE*)ptr)); +finish: + return e_status; +} + +static CANHAL_RET_API CanCloseCoreCAN(void) { + CanCtlApiClose(&g_driver_obj); + return CANHAL_RET_NORMAL; +} + +// Stop the can hal +CANHAL_RET_API CanCloseCore(CanHalType type) { + CANHAL_RET_API ret = CANHAL_RET_NORMAL; + switch (type) { + case CAN_HAL_TYPE_CAN: + ret = CanCloseCoreCAN(); + if (ret != CANHAL_RET_NORMAL) + goto finish; + break; + default: + goto finish; + break; + } +finish: + return ret; +} + +// Callback for the sending thread to send the can data +static EFrameworkunifiedStatus CanSendData(HANDLE h_app) { + UINT8 ret = 0; + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + HANDLE hb = NULL; + CanMessage mb; + ssize_t sz = 0; + void *send_msg = NULL; + HANDLE unpacked_h_app; + CanMessage *unpacked_msg; + ssize_t unpacked_sz; + + send_msg = CanHalPackMessage(hb, (const void *)&mb, sizeof(mb), &sz); + if (!send_msg) + return eFrameworkunifiedStatusFail; + + e_status = FrameworkunifiedGetMsgDataOfSize(h_app, send_msg, sz, eSMRRelease); + if (eFrameworkunifiedStatusOK != e_status) { + if (eFrameworkunifiedStatusInvldBufSize == e_status) { + FrameworkunifiedClearMsgData(h_app); + } + return eFrameworkunifiedStatusFail; + } + + CanHalUnPackMessage(send_msg, &unpacked_h_app, + (void **)&unpacked_msg, &unpacked_sz); + + CanCtlApiCmd send_can_data; + memset(&send_can_data, 0, sizeof(CanCtlApiCmd)); + send_can_data.data[CANHAL_VALID_NUM_INDEX] = 1; + ret = PackageSendData(unpacked_msg, &(send_can_data.data[1])); + send_can_data.len = ret + 1; + CanSendResult send_result; + send_result.can_id = unpacked_msg->can_id; + send_result.rid = unpacked_msg->rid; + + if (CAN_CTL_RET_SUCCESS == CanCtlApiSndCmd(&g_driver_obj, &send_can_data)) { + send_result.result = CAN_SEND_RESULT_SUCCESS; + } else { + send_result.result = CAN_SEND_RESULT_FAILURE; + } + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "Send status is %d.", send_result.result); + + if (CANHAL_RET_NORMAL != CanHalSendStatus(CAN_HAL_TYPE_CAN, + unpacked_h_app, &send_result, sizeof(send_result))) { + CanHalDestroyPackedMessage(send_msg); + return eFrameworkunifiedStatusFail; + } + + CanHalDestroyPackedMessage(send_msg); + return eFrameworkunifiedStatusOK; +} + +/** + * param [in] send_msg + * param [out] send_can_data + */ +static UINT8 PackageSendData(const CanMessage *send_msg, + UINT8 *send_can_data) { + // package according to the rule of the data structure, + // refer to the line 108 and 109 + send_can_data[CANHAL_CANID_HI_INDEX] = (send_msg->can_id & 0x7F0) >> 4; + send_can_data[CANHAL_CANID_LO_INDEX] = (send_msg->can_id & 0x0F) << 4; + send_can_data[CANHAL_DLC_INDEX] = send_msg->dlc; + memcpy(&(send_can_data[CANHAL_DATA_START_INDEX]), + send_msg->data, + send_msg->dlc); + return (send_msg->dlc + CANHAL_DATA_START_INDEX); +} + +/** + * param [in] recv_data + * param [out] message + */ +static UINT8 PackageRecvData(const UINT8 *recv_data, CanMessage *message) { + if (CAN_NORMAL_MESSAGE_LEN < recv_data[CANHAL_DLC_INDEX]) { + // receive data's length is invalid + return CANHAL_RECV_DATA_LENGTH_INVALID; + } + // package according to the rule of the data structure, + // refer to the line 108 and 109 + message->can_id = recv_data[CANHAL_CANID_HI_INDEX] & 0x7F; + message->can_id <<= 4; + message->can_id |= (recv_data[CANHAL_CANID_LO_INDEX] & 0xF0) >> 4; + message->dlc = recv_data[CANHAL_DLC_INDEX]; + memcpy(message->data, &(recv_data[CANHAL_DATA_START_INDEX]), CAN_NORMAL_MESSAGE_LEN); + + return CANHAL_RECV_DATABLOCK_SIZE; +} + diff --git a/can_hal/src/can_hal_stm.cpp b/can_hal/src/can_hal_stm.cpp new file mode 100644 index 00000000..fc24964a --- /dev/null +++ b/can_hal/src/can_hal_stm.cpp @@ -0,0 +1,243 @@ +/* + * @copyright Copyright (c) 2017-2020 TOYOTA MOTOR CORPORATION. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "can_hal_stm.h" +#include "can_hal_core.h" +#include "can_hal_internal.h" +#include <native_service/ns_message_center_if.h> +#include <native_service/frameworkunified_framework_if.h> +#include <native_service/frameworkunified_multithreading.h> +#include <string> +#include <stdbool.h> +#include <stdint.h> +#include <assert.h> +#include <pthread.h> + +// BSS section would be initialized to all 0. +struct CanHalStateMachine { + CanHalType type; + HANDLE h_app; + bool can_hal_is_opened; + bool device_is_enabled; + struct { + HANDLE tx; + HANDLE tx_sender; + uint32_t tx_cmd; + const char *tx_name; + bool rx_initialized; + pthread_t rx; + pthread_attr_t rx_attr; + } internal; +} can_hal_stm[NR_CAN_HAL_TYPES]; + +bool TypeIsValid(enum CanHalType type) { + if (CAN_HAL_TYPE_CAN == type) + return true; + + return false; +} + +bool IsCanHalOpened(enum CanHalType type) { + return can_hal_stm[type].can_hal_is_opened; +} + +void SetCanHalStateOpen(enum CanHalType type) { + can_hal_stm[type].can_hal_is_opened = true; +} + +void SetCanHalStateClose(enum CanHalType type) { + can_hal_stm[type].can_hal_is_opened = false; +} + +bool IsDeviceEnabled(enum CanHalType type) { + return can_hal_stm[type].device_is_enabled; +} + +void SetDeviceStateEnable(enum CanHalType type) { + can_hal_stm[type].device_is_enabled = true; +} + +void SetDeviceStateDisable(enum CanHalType type) { + can_hal_stm[type].device_is_enabled = false; +} + +CANHAL_RET_API CanHalDestroyInternalThread(HANDLE h_app, enum CanHalType type) { + intptr_t ptr = (intptr_t)&(can_hal_stm[type].internal.tx_sender); + + if (can_hal_stm[type].internal.tx) { + FrameworkunifiedStopChildThread(h_app, can_hal_stm[type].internal.tx, sizeof(ptr), &ptr); + FrameworkunifiedDestroyChildThread(h_app, can_hal_stm[type].internal.tx); + can_hal_stm[type].internal.tx = NULL; + } + + if (can_hal_stm[type].internal.rx_initialized) { + pthread_cancel(can_hal_stm[type].internal.rx); + pthread_join(can_hal_stm[type].internal.rx, NULL); + can_hal_stm[type].internal.rx_initialized = false; + } + can_hal_stm[type].h_app = NULL; + return CANHAL_RET_NORMAL; +} + +CANHAL_RET_API CanHalCreateInternalThread(HANDLE h_app, enum CanHalType type) { + enum CANHAL_RET_API ret = CANHAL_RET_ERR_PARAM; + EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK; + intptr_t ptr = (intptr_t)&(can_hal_stm[type].internal.tx_sender); + + can_hal_stm[type].h_app = h_app; + can_hal_stm[type].internal.tx_name = CANHAL_CAN_SEND_THREAD; + can_hal_stm[type].internal.tx = FrameworkunifiedCreateChildThread(h_app, + can_hal_stm[type].internal.tx_name, + CanSendThreadStart, CanSendThreadStop); + if (!can_hal_stm[type].internal.tx) + goto cleanup; + + err = FrameworkunifiedStartChildThread(h_app, + can_hal_stm[type].internal.tx, + sizeof(ptr), &ptr); + if (err != eFrameworkunifiedStatusOK) + goto cleanup; + + if (0 != pthread_attr_init(&(can_hal_stm[type].internal.rx_attr))) + goto cleanup; + + if (0 != pthread_create(&(can_hal_stm[type].internal.rx), + &(can_hal_stm[type].internal.rx_attr), CanRecvRun, + (void *)&(can_hal_stm[type].type))) + goto cleanup; + + can_hal_stm[type].internal.rx_initialized = true; + ret = CANHAL_RET_NORMAL; + return ret; +cleanup: + if (can_hal_stm[type].internal.tx) { + FrameworkunifiedStopChildThread(h_app, can_hal_stm[type].internal.tx, sizeof(ptr), &ptr); + FrameworkunifiedDestroyChildThread(h_app, can_hal_stm[type].internal.tx); + can_hal_stm[type].internal.tx = NULL; + } + + return ret; +} + +CANHAL_RET_API CanHalInternalSend_CWORD118_(enum CanHalType type, + const void *msg, ssize_t sz) { + EFrameworkunifiedStatus e_status = FrameworkunifiedSendMsg(can_hal_stm[type].internal.tx_sender, + TX_INTERNAL__CWORD118_, sz, msg); + if (e_status != eFrameworkunifiedStatusOK) { + return CANHAL_RET_ERR_ERR; + } + return CANHAL_RET_NORMAL; +} + +static EFrameworkunifiedStatus FrameworkunifiedSendMsgOneshot(HANDLE h_app, UI_32 cmd, + UI_32 l, PCVOID d) { + HANDLE h_client = NULL; + EFrameworkunifiedStatus err = eFrameworkunifiedStatusFail; + + h_client = FrameworkunifiedMcOpenSender(h_app, FrameworkunifiedGetAppName(h_app)); + if (!h_client) + return err; + + err = FrameworkunifiedSendMsg(h_client, cmd, l, d); + FrameworkunifiedMcClose(h_client); + return err; +} + +CANHAL_RET_API CanHalInternalSend(enum CanHalType type, + const void *msg, ssize_t sz) { + EFrameworkunifiedStatus e_status = FrameworkunifiedSendMsg(can_hal_stm[type].internal.tx_sender, + TX_INTERNAL, sz, msg); + if (e_status != eFrameworkunifiedStatusOK) { + return CANHAL_RET_ERR_ERR; + } + return CANHAL_RET_NORMAL; +} + + +CANHAL_RET_API InvokeStateCallback(enum CanHalType type) { + HANDLE sender = can_hal_stm[type].h_app; + uint32_t cmd = 0; + EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK; + bool send = true; + + switch (type) { + case CAN_HAL_TYPE_CAN: + cmd = CID_CANHAL_CMD_CAN_READY; + break; + default: + assert(0); + break; + } + + err = FrameworkunifiedSendMsgOneshot(sender, cmd, sizeof(send), &send); + if (err != eFrameworkunifiedStatusOK) + return CANHAL_RET_ERR_ERR; + return CANHAL_RET_NORMAL; +} + +CANHAL_RET_API InvokeErrorCallback(HANDLE h_app, enum CanHalType type) { + HANDLE sender = h_app; + uint32_t cmd = CID_CANHAL_CMD_ERROR_NOTIFY; + char msg[CANHAL_ERROR_MESSAGE_LEN] = {0}; + ssize_t sz = sizeof(msg); + EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK; + + switch (type) { + case CAN_HAL_TYPE_CAN: + sprintf(msg, "Global CAN Stop"); + break; + default: + assert(0); + break; + } + + err = FrameworkunifiedSendMsgOneshot(sender, cmd, sz, msg); + if (err != eFrameworkunifiedStatusOK) + return CANHAL_RET_ERR_ERR; + return CANHAL_RET_NORMAL; +} + +CANHAL_RET_API CanHalSendStatus(enum CanHalType type, HANDLE h_app, + const void *msg, ssize_t sz) { + EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK; + e_status = FrameworkunifiedSendMsgOneshot(h_app, CID_CANHAL_CMD_CAN_SEND_STATUS, sz, msg); + if (e_status != eFrameworkunifiedStatusOK) { + return CANHAL_RET_ERR_ERR; + } + return CANHAL_RET_NORMAL; +} + +CANHAL_RET_API CanHalReceiveNotify(enum CanHalType type, + const void *msg, ssize_t sz) { + EFrameworkunifiedStatus e_status; + uint32_t cmd = 0; + + switch (type) { + case CAN_HAL_TYPE_CAN: + cmd = CID_CANHAL_CMD_CAN_RECV; + break; + default: + assert(0); + break; + } + + e_status = FrameworkunifiedSendMsgOneshot(can_hal_stm[type].h_app, cmd, sz, msg); + if (e_status != eFrameworkunifiedStatusOK) { + return CANHAL_RET_ERR_ERR; + } + + return CANHAL_RET_NORMAL; +} diff --git a/can_hal/src/driver_can__CWORD31_.c b/can_hal/src/driver_can__CWORD31_.c new file mode 100644 index 00000000..bd9cb291 --- /dev/null +++ b/can_hal/src/driver_can__CWORD31_.c @@ -0,0 +1,472 @@ +/* + * @copyright Copyright (c) 2020 TOYOTA MOTOR CORPORATION. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + + +#include <stdio.h> +#include <string.h> +#include "can_mng_api.h" + +#include <poll.h> +#include <sys/types.h> +#include <sys/stat.h> +#include <fcntl.h> +#include <sys/ioctl.h> +#include <unistd.h> +#include <errno.h> +#include <stdio.h> +#include <string.h> + +#include <linux/can/raw.h> +#include <net/if.h> + + +#define DUMP_DIR "/nv/driver-can" +#define DUMP_RCVID "/nv/driver-can/dump_rcvid" +#define CAN_DATA_SIZE (sizeof(CanData)) + +static int fd_can = -1; +static struct sockaddr_can tx_address; +static CanCtlRcvId RcvId; +const char* device_name = "vcan0"; + +static UINT32 getData(CanCtlRcvId*, CanCtlApiCmd*); +static UINT32 getCanData(unsigned char*); +static UINT32 copyEnableCandata(UINT16* , unsigned char*, unsigned char*); +static UINT32 isOpendDriver(void); + +UINT32 CanCtlApiOpen(CanCtlApiObj* pClientObj) +{ + int err_no; + int ret; + + CAN_MNG_API_LOGT("FUNC IN"); + + /*----------------------------------------------------------------------*/ + /* Clear Object */ + /*----------------------------------------------------------------------*/ + if (pClientObj != NULL) { + memset(pClientObj, 0, sizeof(*pClientObj)); + } + + if (fd_can != -1) { + CAN_MNG_API_LOGT("Already Opened"); + CAN_MNG_API_LOGT("FUNC OUT"); + return CAN_CTL_RET_SUCCESS; + } + + // open socket + CAN_MNG_API_LOGT("open socket start"); + struct ifreq ifr = {0}; + fd_can = socket(PF_CAN, SOCK_RAW, CAN_RAW); + err_no = errno; + CAN_MNG_API_LOGT("open socket end"); + if (fd_can == -1) { + CAN_MNG_API_LOGE("Socket Open Error."); + CAN_MNG_API_LOGE("(errno[%d]).", err_no); + return CAN_CTL_RET_ERR_ERR; + } + + // ioctl(SIOCGIFINDEX) + strcpy(ifr.ifr_name, device_name); + ret = ioctl(fd_can, SIOCGIFINDEX, &ifr); + err_no = errno; + if (ret < 0) { + CAN_MNG_API_LOGE("ioctl(SIOCGIFINDEX) Error."); + CAN_MNG_API_LOGE("(errno[%d]).", err_no); + (void)close(fd_can); + fd_can = -1; + return CAN_CTL_RET_ERR_ERR; + } + + // bind + tx_address.can_family = AF_CAN; + tx_address.can_ifindex = ifr.ifr_ifindex; + + ret = bind(fd_can, (struct sockaddr *)&tx_address, sizeof(tx_address)); + err_no = errno; + if (ret < 0) { + CAN_MNG_API_LOGE("Socket Bind Error."); + CAN_MNG_API_LOGE("(errno[%d]).", err_no); + (void)close(fd_can); + fd_can = -1; + return -1; + } + + // Initialize RcvId Map + memset(&RcvId, 0, sizeof(RcvId)); + + CAN_MNG_API_LOGT("FUNC OUT"); + + return CAN_CTL_RET_SUCCESS; +} + +UINT32 CanCtlApiClose(CanCtlApiObj* pClientObj) +{ + /*----------------------------------------------------------------------*/ + /* Clear Object */ + /*----------------------------------------------------------------------*/ + if (pClientObj != NULL) { + memset(pClientObj, 0, sizeof(*pClientObj)); + } + + if (fd_can != -1) { + (void)close(fd_can); + } + + // Initialize fd info + fd_can = -1; + + CAN_MNG_API_LOGT("FUNC OUT"); + + return CAN_CTL_RET_SUCCESS; +} + +UINT32 CanCtlApiSndCmd(CanCtlApiObj* pClientObj, CanCtlApiCmd* pSndCmd) +{ + int i; + printf("%s: call_id=0x%x len=%d\n", + __func__, pClientObj->call_id, pSndCmd->len); + for (i = 0; i < pSndCmd->len; i++) { + printf("[%d]0x%x ", i, pSndCmd->data[i]); + if ((i != 0) && ((i % 7) == 0)) + printf("\n"); + } + printf("\n"); + + + int ret; + int err_no; + + CAN_MNG_API_LOGT("FUNC IN"); + /*----------------------------------------------------------------------*/ + /* Check Input Value */ + /*----------------------------------------------------------------------*/ + if (NULL == pSndCmd) + { + CAN_MNG_API_LOGE("%s(%p) invalid parameter.", __func__, pSndCmd); + return CAN_CTL_RET_ERR_PARAM; + } + + ret = isOpendDriver(); + if (ret != CAN_CTL_RET_SUCCESS) { + CAN_MNG_API_LOGE("Not Open Driver."); + return CAN_CTL_RET_ERR_ERR; + } + + struct can_frame frame = {0}; + + frame.can_id = pSndCmd->data[1] & 0x7F; + frame.can_id <<= 4; + frame.can_id |= (pSndCmd->data[2] & 0xF0) >> 4; + frame.can_dlc = pSndCmd->data[3]; + frame.data[0] = pSndCmd->data[4]; + frame.data[1] = pSndCmd->data[5]; + frame.data[2] = pSndCmd->data[6]; + frame.data[3] = pSndCmd->data[7]; + frame.data[4] = pSndCmd->data[8]; + frame.data[5] = pSndCmd->data[9]; + frame.data[6] = pSndCmd->data[10]; + frame.data[7] = pSndCmd->data[11]; + + CAN_MNG_API_LOGT("write() CanDataExtSendNotif start size = %d", (int)sizeof(frame)); + ret = write(fd_can, &frame, sizeof(frame)); + err_no = errno; + CAN_MNG_API_LOGE("write() ret = %d).", ret); + + CAN_MNG_API_LOGT("write() CanDataExtSendNotif end"); + if (ret == -1) { + CAN_MNG_API_LOGE("write() error(errno[%d]).", err_no); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("FUNC OUT"); + + return CAN_CTL_RET_SUCCESS; +} + +UINT32 CanCtlApiSetRcvId(CanCtlApiObj* pClientObj, CanCtlRcvId* pRcvId) +{ + FILE* fp; + size_t nmemb; + + CAN_MNG_API_LOGT("FUNC IN"); + /*----------------------------------------------------------------------*/ + /* Check Input Value */ + /*----------------------------------------------------------------------*/ + if (NULL == pRcvId) + { + CAN_MNG_API_LOGE("%s(%p) invalid parameter.", __func__, pRcvId); + return CAN_CTL_RET_ERR_PARAM; + } + + struct stat st; + int ret = 0; + if (stat(DUMP_DIR, &st) != 0) { + ret = mkdir(DUMP_DIR, 0755); + } + if (ret != 0) { + CAN_MNG_API_LOGE("Can not Created RcvId Dump dir."); + return CAN_CTL_RET_ERR_ERR; + } + CAN_MNG_API_LOGT("fopen(DUMP_RCVID) start"); + fp = fopen(DUMP_RCVID, "wb"); + CAN_MNG_API_LOGT("fopen(DUMP_RCVID) end"); + if (fp == NULL) { + CAN_MNG_API_LOGE("Can not Opened RcvId Dump file."); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("fwrite(pRcvId) start"); + nmemb = fwrite(pRcvId, sizeof(CanCtlRcvId), 1, fp); + CAN_MNG_API_LOGT("fwrite(pRcvId) end"); + if (nmemb != 1) { + CAN_MNG_API_LOGE("RcvId Dump file write error."); + (void)fclose(fp); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("fclose() start"); + (void)fclose(fp); + CAN_MNG_API_LOGT("fclose() end"); + + CAN_MNG_API_LOGT("FUNC OUT"); + + return CAN_CTL_RET_SUCCESS; +} + +UINT32 CanCtlApiRcvCmd(CanCtlApiObj* pClientObj, CanCtlApiCmd* pRcvCmd) +{ + int ret; + int enable_ret; + + CanCtlRcvId InitialRcvId; + CanCtlRcvId RcvId; + FILE* fp; + size_t nmemb; + + CAN_MNG_API_LOGT("FUNC IN"); + /*----------------------------------------------------------------------*/ + /* Check Input Value */ + /*----------------------------------------------------------------------*/ + if (NULL == pRcvCmd) + { + CAN_MNG_API_LOGE("%s(%p) invalid parameter.", __func__, pRcvCmd); + return CAN_CTL_RET_ERR_PARAM; + } + + ret = isOpendDriver(); + if (ret != CAN_CTL_RET_SUCCESS) { + CAN_MNG_API_LOGE("Not Open Driver."); + return CAN_CTL_RET_ERR_ERR; + } + + // Restore RcvId + CAN_MNG_API_LOGT("fopen(DUMP_RCVID) start"); + fp = fopen(DUMP_RCVID, "rb"); + CAN_MNG_API_LOGT("fopen(DUMP_RCVID) end"); + if (fp == NULL) { + CAN_MNG_API_LOGE("Can not Opened RcvId Dump file."); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("fread(RcvId) start"); + nmemb = fread(&RcvId, sizeof(CanCtlRcvId), 1, fp); + CAN_MNG_API_LOGT("fread(RcvId) end"); + if (nmemb != 1) { + CAN_MNG_API_LOGE("RcvId Dump file read error."); + (void)fclose(fp); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("fclose() start"); + (void)fclose(fp); + CAN_MNG_API_LOGT("fclose() end"); + + memset(&InitialRcvId.id, 0, sizeof(InitialRcvId.id)); + + if (memcmp(InitialRcvId.id, RcvId.id, sizeof(RcvId.id)) == 0) { + CAN_MNG_API_LOGE("No RecvId Maps."); + return CAN_CTL_RET_ERR_ERR; + } + + enable_ret = getData(&RcvId, pRcvCmd); + + if (enable_ret != CAN_CTL_RET_SUCCESS) { + CAN_MNG_API_LOGE("No data founds."); + return enable_ret; + } + + CAN_MNG_API_LOGT("FUNC OUT"); + + return CAN_CTL_RET_SUCCESS; +} + +static UINT32 getData(CanCtlRcvId* pRcvId, CanCtlApiCmd* pRcvCmd) { + int ret; + int total_cnt = 0; + int copy_cnt = 0; + int i; + unsigned char can_data[CAN_CTL_CMD_LEN_MAX+1]; + unsigned char enable_can_data[CAN_CTL_CMD_LEN_MAX]; + unsigned char store_can_data[CAN_CTL_CMD_LEN_MAX]; + unsigned char* scd; + + + UINT16 id_map[CAN_CTL_CMD_ID_HI_NUM]; + + CAN_MNG_API_LOGT("FUNC IN"); + + memcpy(id_map, pRcvId->id, sizeof(id_map)); + + memset(store_can_data, 0, sizeof(store_can_data)); + scd = store_can_data; + + while(1) { + memset(can_data, 0, sizeof(can_data)); + memset(enable_can_data, 0, sizeof(enable_can_data)); + ret = getCanData(can_data); + if (ret != CAN_CTL_RET_SUCCESS) { + // In case of error, read next data + CAN_MNG_API_LOGE("getCanData error."); + continue; + } + + // Extract data of "CAN data extended reception notification 4" + copy_cnt = copyEnableCandata(id_map, can_data, enable_can_data); + if( copy_cnt == 0 ){ + continue; + } + + // Store in work buffer + for (i = 0; i < copy_cnt; i++) { + if (total_cnt >= CAN_CTL_MAX_RCV_CAN_SIZE) { + CAN_MNG_API_LOGE("buffer over"); + break; + } + memcpy(scd, &enable_can_data[CAN_DATA_SIZE * i], CAN_DATA_SIZE); + scd = scd + CAN_DATA_SIZE; + total_cnt++; + } + + // Check work buffer overflow + if (total_cnt >= CAN_CTL_MAX_RCV_CAN_SIZE) { + CAN_MNG_API_LOGE("buffer over"); + break; + } + } + + // If data exists, set and return + if (total_cnt != 0) { + pRcvCmd->len = 1 + (total_cnt * CAN_DATA_SIZE); + pRcvCmd->data[0] = total_cnt; + memcpy( &(pRcvCmd->data[1]), store_can_data, (total_cnt * CAN_DATA_SIZE)); + } else { + // If there is no data, return with length 0 + pRcvCmd->len = 0; + memset( &(pRcvCmd->data[0]), 0, sizeof(UINT8) * CAN_DAT_LEN_MAX ); + CAN_MNG_API_LOGE("data not found"); + } + + CAN_MNG_API_LOGT("FUNC OUT"); + + return CAN_CTL_RET_SUCCESS; +} + +static UINT32 getCanData(unsigned char *can_data) { + int err_no; + int i; + + CAN_MNG_API_LOGT("FUNC IN"); + + CAN_MNG_API_LOGE("recvfrom start"); + + int nbytes = 0; + struct can_frame frame = {0}; + socklen_t addrlen = sizeof(struct sockaddr_can); + nbytes = recvfrom(fd_can, &frame, sizeof(frame), 0, (struct sockaddr*)&tx_address, &addrlen); + err_no = errno; + CAN_MNG_API_LOGE("recvfrom end ret = %d",nbytes); + if (nbytes == -1) { + CAN_MNG_API_LOGE("Not Read CAN Driver(errno[%d]).", err_no); + return CAN_CTL_RET_ERR_ERR; + } else if (nbytes != CAN_MTU) { + CAN_MNG_API_LOGE("Receive Error size: %d.", nbytes); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("Recvfrom CAN Data(start)"); + can_data[0] = (frame.can_id & 0x7F0) >> 4; + can_data[1] = (frame.can_id & 0x0F) << 4; + can_data[2] = frame.can_dlc; + for (i = 0; i < frame.can_dlc; i++) { + can_data[3+i] = frame.data[i]; + CAN_MNG_API_LOGE(" 0x%02x", frame.data[i]); + } + CAN_MNG_API_LOGT(""); + CAN_MNG_API_LOGT("Recvfrom Data(end)"); + + CAN_MNG_API_LOGT("FUNC OUT"); + return CAN_CTL_RET_SUCCESS; +} + +static UINT32 copyEnableCandata(UINT16* id_map, unsigned char* can_data, unsigned char* enable_can_data) { + int id; + UINT16 val; + unsigned char* ecd = enable_can_data; + UINT32 count = 0; + + CAN_MNG_API_LOGT("FUNC IN"); + // Search data of "CAN data extended reception notification 4" + id = can_data[0]; + val = can_data[1] >> 4; // Shift right 4 bits and determine search position + + CAN_MNG_API_LOGE("data id =%x", id); + CAN_MNG_API_LOGE("data val=%x", val); + CAN_MNG_API_LOGE("file val=%x", id_map[id]); + + // If the target data is found (If the bit is on ?) + if ((id_map[id] & (0x01 << val)) != 0) { + CAN_MNG_API_LOGT("matched."); + CAN_MNG_API_LOGE("id_map[%u]", id_map[id]); + + // Store data in work buffer + memcpy(ecd, &can_data[0], CAN_DATA_SIZE); + count++; + } + + CAN_MNG_API_LOGT("FUNC OUT"); + return count; +} + +UINT32 CanCtlApiRcvSpd(CanCtlApiObj* pClientObj, CanCtlApiCmd* pRcvCmd) +{ + // Note. + // If vendor needs the special implementation about receiving the vehicle speed, + // it should be implemented by vendor. + return CAN_CTL_RET_SUCCESS; +} + +static UINT32 isOpendDriver() { + CAN_MNG_API_LOGT("FUNC IN"); + + if (fd_can == -1) { + CAN_MNG_API_LOGE("Not Open CAN Driver."); + return CAN_CTL_RET_ERR_ERR; + } + + CAN_MNG_API_LOGT("FUNC OUT"); + return CAN_CTL_RET_SUCCESS; +} diff --git a/can_hal/src/inc/can_hal_core.h b/can_hal/src/inc/can_hal_core.h new file mode 100644 index 00000000..57a9c9d8 --- /dev/null +++ b/can_hal/src/inc/can_hal_core.h @@ -0,0 +1,37 @@ +/* + * @copyright Copyright (c) 2020 TOYOTA MOTOR CORPORATION. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef _CAN_HAL_CORE_H_ +#define _CAN_HAL_CORE_H_ +#include <stdint.h> +#include "can_hal.h" +#ifdef __cplusplus +extern "C" { +#endif +CANHAL_RET_API CanOpenCore(CanHalType type); +CANHAL_RET_API CanCloseCore(CanHalType type); +EFrameworkunifiedStatus CanSendThreadStart(HANDLE h_app); +EFrameworkunifiedStatus CanSendThreadStop(HANDLE h_app); +void *CanRecvRun(void *arg); +void *CanHalPackMessage(HANDLE h_app, const void *msg, ssize_t msg_sz, + ssize_t *packed_sz); +void CanHalUnPackMessage(void *packed, HANDLE *h_app, void **msg, + ssize_t *msg_sz); +void CanHalDestroyPackedMessage(void *packed); +#ifdef __cplusplus +} +#endif +#endif diff --git a/can_hal/src/inc/can_hal_frameworkunifiedlog.h b/can_hal/src/inc/can_hal_frameworkunifiedlog.h new file mode 100644 index 00000000..f3a5f500 --- /dev/null +++ b/can_hal/src/inc/can_hal_frameworkunifiedlog.h @@ -0,0 +1,76 @@ +/* + * @copyright Copyright (c) 2018-2020 TOYOTA MOTOR CORPORATION. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef INC_CAN_HAL_FRAMEWORKUNIFIEDLOG_H_ +#define INC_CAN_HAL_FRAMEWORKUNIFIEDLOG_H_ + +#include <native_service/ns_logger_if.h> + +#define ZONE_INIT ZONEMASK(10) +#define ZONE_FUNC ZONEMASK(11) +#define ZONE_MEM ZONEMASK(12) +#define ZONE_13 ZONEMASK(13) +#define ZONE_14 ZONEMASK(14) +#define ZONE_15 ZONEMASK(15) +#define ZONE_16 ZONEMASK(16) +#define ZONE_17 ZONEMASK(17) +#define ZONE_18 ZONEMASK(18) +#define ZONE_19 ZONEMASK(19) +#define ZONE_20 ZONEMASK(20) +#define ZONE_21 ZONEMASK(21) +#define ZONE_22 ZONEMASK(22) +#define ZONE_23 ZONEMASK(23) +#define ZONE_24 ZONEMASK(24) +#define ZONE_25 ZONEMASK(25) +#define ZONE_26 ZONEMASK(26) +#define ZONE_27 ZONEMASK(27) +#define ZONE_28 ZONEMASK(28) +#define ZONE_INFO ZONEMASK(29) +#define ZONE_WARN ZONEMASK(30) +#define ZONE_ERR ZONEMASK(31) + +#define ZONE_TEXT_10 "Init" +#define ZONE_TEXT_11 "Function" +#define ZONE_TEXT_12 "Memory" +#define ZONE_TEXT_13 "" +#define ZONE_TEXT_14 "" +#define ZONE_TEXT_15 "" +#define ZONE_TEXT_16 "" +#define ZONE_TEXT_17 "" +#define ZONE_TEXT_18 "" +#define ZONE_TEXT_19 "" +#define ZONE_TEXT_20 "" +#define ZONE_TEXT_21 "" +#define ZONE_TEXT_22 "" +#define ZONE_TEXT_23 "" +#define ZONE_TEXT_24 "" +#define ZONE_TEXT_25 "" +#define ZONE_TEXT_26 "" +#define ZONE_TEXT_27 "" +#define ZONE_TEXT_28 "" +#define ZONE_TEXT_29 "Info" +#define ZONE_TEXT_30 "Warning" +#define ZONE_TEXT_31 "Error" + +#ifndef FRAMEWORKUNIFIEDLOGOPTIONS +#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM) // LPRINT , LMSGQ, LSLOGGER +#endif + +#ifndef FRAMEWORKUNIFIEDLOGAPPZONES +#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO +#endif + +#endif // INC_CAN_HAL_FRAMEWORKUNIFIEDLOG_H_ diff --git a/can_hal/src/inc/can_hal_internal.h b/can_hal/src/inc/can_hal_internal.h new file mode 100644 index 00000000..f42a73f7 --- /dev/null +++ b/can_hal/src/inc/can_hal_internal.h @@ -0,0 +1,31 @@ +/* + * @copyright Copyright (c) 2018-2020 TOYOTA MOTOR CORPORATION. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef INC_CAN_HAL_INTERNAL_H_ +#define INC_CAN_HAL_INTERNAL_H_ + +/** + * \~english Name of the CAN send thread + */ +#define CANHAL_CAN_SEND_THREAD "HalCANSend" + +enum CanHalInternalCmd { + INVALID_CMD = 0, + TX_INTERNAL, + TX_INTERNAL__CWORD118_ +}; + +#endif // INC_CAN_HAL_INTERNAL_H_ diff --git a/can_hal/src/inc/can_hal_stm.h b/can_hal/src/inc/can_hal_stm.h new file mode 100644 index 00000000..cd078140 --- /dev/null +++ b/can_hal/src/inc/can_hal_stm.h @@ -0,0 +1,45 @@ +/* + * @copyright Copyright (c) 2020 TOYOTA MOTOR CORPORATION. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef _CAN_HAL_STM_H_ +#define _CAN_HAL_STM_H_ +#include "can_hal.h" +#ifdef __cplusplus +extern "C" { +#endif +bool TypeIsValid(enum CanHalType type); +bool IsCanHalOpened(enum CanHalType type); +void SetCanHalStateOpen(enum CanHalType type); +void SetCanHalStateClose(enum CanHalType type); +bool IsDeviceEnabled(enum CanHalType type); +void SetDeviceStateEnable(enum CanHalType type); +void SetDeviceStateDisable(enum CanHalType type); +CANHAL_RET_API InvokeStateCallback(enum CanHalType type); +CANHAL_RET_API InvokeErrorCallback(HANDLE h_app, enum CanHalType type); +CANHAL_RET_API CanHalInternalSend(enum CanHalType type, + const void *msg, ssize_t sz); +CANHAL_RET_API CanHalInternalSend_CWORD118_(enum CanHalType type, + const void *msg, ssize_t sz); +CANHAL_RET_API CanHalSendStatus(enum CanHalType type, HANDLE h_app, + const void *msg, ssize_t sz); +CANHAL_RET_API CanHalReceiveNotify(enum CanHalType type, + const void *msg, ssize_t sz); +CANHAL_RET_API CanHalCreateInternalThread(HANDLE h_app, enum CanHalType type); +CANHAL_RET_API CanHalDestroyInternalThread(HANDLE h_app, enum CanHalType type); +#ifdef __cplusplus +} +#endif +#endif diff --git a/can_hal/src/inc/can_mng_api.h b/can_hal/src/inc/can_mng_api.h new file mode 100644 index 00000000..ef03750f --- /dev/null +++ b/can_hal/src/inc/can_mng_api.h @@ -0,0 +1,120 @@ +/* + * @copyright Copyright (c) 2020 TOYOTA MOTOR CORPORATION. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef __CAN_MNG_API_H__ +#define __CAN_MNG_API_H__ + +/** @includes + * + */ + +/** @define + * + */ +#ifndef UINT8 +#define UINT8 unsigned char +#endif +#ifndef UINT16 +#define UINT16 unsigned short +#endif +#ifndef INT32 +#define INT32 int +#endif +#ifndef UINT32 +#define UINT32 unsigned int +#endif + +/*------------------------------------------*/ +/* Log */ +/*------------------------------------------*/ +#if defined(CAN_MNG_API_FORCE_DEBUG) + #define CAN_MNG_API_LOGT(fmt,...) fprintf(stderr, "[T][CAN_API] %s(%s)(%d):" fmt "\n", __FILE__, __func__, __LINE__, ## __VA_ARGS__) + #define CAN_MNG_API_LOGD(fmt,...) fprintf(stderr, "[D][CAN_API] %s(%s)(%d):" fmt "\n", __FILE__, __func__, __LINE__, ## __VA_ARGS__) + #define CAN_MNG_API_LOGE(fmt,...) fprintf(stderr, "[E][CAN_API] %s(%s)(%d):" fmt "\n", __FILE__, __func__, __LINE__, ## __VA_ARGS__) +#else + #define CAN_MNG_API_LOGT(fmt,...) + #define CAN_MNG_API_LOGD(fmt,...) + #define CAN_MNG_API_LOGE(fmt,...) +#endif +/*------------------------------------------*/ +/* API return value */ +/*------------------------------------------*/ +#define CAN_CTL_RET_SUCCESS 0 /* Normal end */ +#define CAN_CTL_RET_ERR_PARAM -1 /* Parameter error */ +#define CAN_CTL_RET_ERR_NOSVC -2 /* Service not open error */ +#define CAN_CTL_RET_ERR_ERR -3 /* Other error */ + +/*------------------------------------------*/ +/* Received command information */ +/*------------------------------------------*/ +#define CAN_CTL_CMD_LEN_MAX 255 /* Maximum data length */ +#define CAN_DAT_LEN_MAX CAN_CTL_CMD_LEN_MAX /* Maximum data length */ +#define CAN_CTL_CMD_ID_HI_NUM 128 /* Number of higher CAN-ID(8bit) (00 to 7F) */ + +#define CAN_CTL_MAX_RCV_CAN_SIZE 23 + +/** @typedefs + * + */ +/* Object for CAN communication control API */ +typedef struct _CanCtlApiObj { + /* ID assigned to the command reception notification callback */ + INT32 call_id; +} CanCtlApiObj ; + +/* CAN command structure */ +typedef struct _CanCtlApiCmd { + UINT8 len; /* Data length */ + UINT8 data[CAN_DAT_LEN_MAX]; /* Data */ +} CanCtlApiCmd; + +/* Received ID MAP information */ +typedef struct _CanCtlRcvId { + UINT16 id[CAN_CTL_CMD_ID_HI_NUM]; /* CAN ID MAP(000~7FF) */ +} CanCtlRcvId; + + +/* CAN Frame structure */ +typedef union { + UINT8 Data[2]; +} CanId; + +#define LCN_SRV_MSB_FRAME_DAT_SIZE (8) /* MSB send/receive frame data size */ + +typedef struct _CanData { + CanId id; /* CAN Frame structure */ + UINT8 dlc; /* Valid bytes of DATA#1~#8. DLC is 1 to 8. */ + UINT8 Data[LCN_SRV_MSB_FRAME_DAT_SIZE]; /* Receive data */ + /* Data of DLC size is valid, otherwise set to 0 as invalid value. */ +} CanData; + +/** @forward declarations + * + */ +/* API prototype */ +#ifdef __cplusplus +extern "C" { +#endif +UINT32 CanCtlApiOpen(CanCtlApiObj* pClientObj); +UINT32 CanCtlApiClose(CanCtlApiObj* pClientObj); +UINT32 CanCtlApiSndCmd(CanCtlApiObj* pClientObj, CanCtlApiCmd* pSndCmd); +UINT32 CanCtlApiSetRcvId(CanCtlApiObj* pClientObj, CanCtlRcvId* pRcvId); +UINT32 CanCtlApiRcvCmd(CanCtlApiObj* pClientObj, CanCtlApiCmd* pRcvCmd); +UINT32 CanCtlApiRcvSpd(CanCtlApiObj* pClientObj, CanCtlApiCmd* pRcvCmd); +#ifdef __cplusplus +} +#endif +#endif /* __CAN_MNG_API_H__ */ |