From patchwork Sun Jan 14 20:14:07 2018 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit X-Patchwork-Submitter: Pavel Pisa X-Patchwork-Id: 10162757 Return-Path: Received: from mail.wl.linuxfoundation.org (pdx-wl-mail.web.codeaurora.org [172.30.200.125]) by pdx-korg-patchwork.web.codeaurora.org (Postfix) with ESMTP id 91F7960216 for ; Sun, 14 Jan 2018 20:16:02 +0000 (UTC) Received: from mail.wl.linuxfoundation.org (localhost [127.0.0.1]) by mail.wl.linuxfoundation.org (Postfix) with ESMTP id 8248228415 for ; Sun, 14 Jan 2018 20:16:02 +0000 (UTC) Received: by mail.wl.linuxfoundation.org (Postfix, from userid 486) id 75C2528AB9; Sun, 14 Jan 2018 20:16:02 +0000 (UTC) X-Spam-Checker-Version: SpamAssassin 3.3.1 (2010-03-16) on pdx-wl-mail.web.codeaurora.org X-Spam-Level: X-Spam-Status: No, score=-6.9 required=2.0 tests=BAYES_00,RCVD_IN_DNSWL_HI autolearn=ham version=3.3.1 Received: from lists.gnu.org (lists.gnu.org [208.118.235.17]) (using TLSv1 with cipher AES256-SHA (256/256 bits)) (No client certificate requested) by mail.wl.linuxfoundation.org (Postfix) with ESMTPS id 5193B28415 for ; Sun, 14 Jan 2018 20:16:01 +0000 (UTC) Received: from localhost ([::1]:33584 helo=lists.gnu.org) by lists.gnu.org with esmtp (Exim 4.71) (envelope-from ) id 1eaohE-0007l4-7l for patchwork-qemu-devel@patchwork.kernel.org; Sun, 14 Jan 2018 15:16:00 -0500 Received: from eggs.gnu.org ([2001:4830:134:3::10]:42012) by lists.gnu.org with esmtp (Exim 4.71) (envelope-from ) id 1eaog6-0006s5-EF for qemu-devel@nongnu.org; Sun, 14 Jan 2018 15:14:52 -0500 Received: from Debian-exim by eggs.gnu.org with spam-scanned (Exim 4.71) (envelope-from ) id 1eaog3-0005Hc-6E for qemu-devel@nongnu.org; Sun, 14 Jan 2018 15:14:50 -0500 Received: from smtp8.web4u.cz ([81.91.87.88]:45453 helo=mx-8.mail.web4u.cz) by eggs.gnu.org with esmtps (TLS1.0:DHE_RSA_AES_256_CBC_SHA1:32) (Exim 4.71) (envelope-from ) id 1eaog2-0005HI-Rr for qemu-devel@nongnu.org; Sun, 14 Jan 2018 15:14:47 -0500 Received: from mx-8.mail.web4u.cz (localhost [127.0.0.1]) by mx-8.mail.web4u.cz (Postfix) with ESMTP id B44D71FFED4; Sun, 14 Jan 2018 21:14:43 +0100 (CET) Received: from baree.pikron.com (unknown [89.102.4.32]) (Authenticated sender: ppisa@pikron.com) by mx-8.mail.web4u.cz (Postfix) with ESMTPA id 75D7F1FF62C; Sun, 14 Jan 2018 21:14:43 +0100 (CET) From: pisa@cmp.felk.cvut.cz To: qemu-devel@nongnu.org Date: Sun, 14 Jan 2018 21:14:07 +0100 Message-Id: X-Mailer: git-send-email 2.11.0 In-Reply-To: References: In-Reply-To: References: X-W4U-Auth: 5fac0e038ae823ca29dc9391af048e17e700afab X-detected-operating-system: by eggs.gnu.org: GNU/Linux 2.2.x-3.x [generic] [fuzzy] X-Received-From: 81.91.87.88 Subject: [Qemu-devel] [PATCH V4 1/7] CAN bus simple messages transport implementation for QEMU X-BeenThere: qemu-devel@nongnu.org X-Mailman-Version: 2.1.21 Precedence: list List-Id: List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Cc: Marek Vasut , Oliver Hartkopp , Stefan Hajnoczi , Deniz Eren , Oleksij Rempel , Konrad Frederic , Jan Kiszka , Pavel Pisa Errors-To: qemu-devel-bounces+patchwork-qemu-devel=patchwork.kernel.org@nongnu.org Sender: "Qemu-devel" X-Virus-Scanned: ClamAV using ClamSMTP From: Pavel Pisa The CanBusState state structure is created for each emulated CAN channel. Individual clients/emulated CAN interfaces or host interface connection registers to the bus by CanBusClientState structure. The CAN core is prepared to support connection to the real host CAN bus network. The commit with such support for Linux SocketCAN follows. Implementation is as simple as possible, no migration, messages prioritization and queuing considered for now. But it is intended to be extended when need arises. Development repository and more documentation at https://gitlab.fel.cvut.cz/canbus/qemu-canbus The work is based on Jin Yang GSoC 2013 work funded by Google and mentored in frame of RTEMS project GSoC slot donated to QEMU. Rewritten for QEMU-2.0+ versions and architecture cleanup by Pavel Pisa (Czech Technical University in Prague). Signed-off-by: Pavel Pisa --- default-configs/pci.mak | 1 + hw/Makefile.objs | 1 + hw/can/Makefile.objs | 6 +++ hw/can/can_core.c | 136 ++++++++++++++++++++++++++++++++++++++++++++++++ hw/can/can_host_stub.c | 36 +++++++++++++ include/can/can_emu.h | 131 ++++++++++++++++++++++++++++++++++++++++++++++ 6 files changed, 311 insertions(+) create mode 100644 hw/can/Makefile.objs create mode 100644 hw/can/can_core.c create mode 100644 hw/can/can_host_stub.c create mode 100644 include/can/can_emu.h diff --git a/default-configs/pci.mak b/default-configs/pci.mak index e514bdef42..bbe11887a1 100644 --- a/default-configs/pci.mak +++ b/default-configs/pci.mak @@ -31,6 +31,7 @@ CONFIG_ESP_PCI=y CONFIG_SERIAL=y CONFIG_SERIAL_ISA=y CONFIG_SERIAL_PCI=y +CONFIG_CAN_CORE=y CONFIG_IPACK=y CONFIG_WDT_IB6300ESB=y CONFIG_PCI_TESTDEV=y diff --git a/hw/Makefile.objs b/hw/Makefile.objs index cf4cb2010b..9d84b8faaa 100644 --- a/hw/Makefile.objs +++ b/hw/Makefile.objs @@ -6,6 +6,7 @@ devices-dirs-$(CONFIG_SOFTMMU) += block/ devices-dirs-$(CONFIG_SOFTMMU) += bt/ devices-dirs-$(CONFIG_SOFTMMU) += char/ devices-dirs-$(CONFIG_SOFTMMU) += cpu/ +devices-dirs-$(CONFIG_SOFTMMU) += can/ devices-dirs-$(CONFIG_SOFTMMU) += display/ devices-dirs-$(CONFIG_SOFTMMU) += dma/ devices-dirs-$(CONFIG_SOFTMMU) += gpio/ diff --git a/hw/can/Makefile.objs b/hw/can/Makefile.objs new file mode 100644 index 0000000000..1028d7c455 --- /dev/null +++ b/hw/can/Makefile.objs @@ -0,0 +1,6 @@ +# CAN bus interfaces emulation and infrastructure + +ifeq ($(CONFIG_CAN_CORE),y) +common-obj-y += can_core.o +common-obj-y += can_host_stub.o +endif diff --git a/hw/can/can_core.c b/hw/can/can_core.c new file mode 100644 index 0000000000..41c458c792 --- /dev/null +++ b/hw/can/can_core.c @@ -0,0 +1,136 @@ +/* + * CAN common CAN bus emulation support + * + * Copyright (c) 2013-2014 Jin Yang + * Copyright (c) 2014-2018 Pavel Pisa + * + * Initial development supported by Google GSoC 2013 from RTEMS project slot + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ +#include "qemu/osdep.h" +#include "chardev/char.h" +#include "qemu/sockets.h" +#include "qemu/error-report.h" +#include "hw/hw.h" +#include "can/can_emu.h" + +static QTAILQ_HEAD(, CanBusState) can_buses = + QTAILQ_HEAD_INITIALIZER(can_buses); + +CanBusState *can_bus_find_by_name(const char *name, bool create_missing) +{ + CanBusState *bus; + + if (name == NULL) { + name = "canbus0"; + } + + QTAILQ_FOREACH(bus, &can_buses, next) { + if (!strcmp(bus->name, name)) { + return bus; + } + } + + if (!create_missing) { + return 0; + } + + bus = g_malloc0(sizeof(*bus)); + if (bus == NULL) { + return NULL; + } + + QTAILQ_INIT(&bus->clients); + + bus->name = g_strdup(name); + + QTAILQ_INSERT_TAIL(&can_buses, bus, next); + return bus; +} + +int can_bus_insert_client(CanBusState *bus, CanBusClientState *client) +{ + client->bus = bus; + QTAILQ_INSERT_TAIL(&bus->clients, client, next); + return 0; +} + +int can_bus_remove_client(CanBusClientState *client) +{ + CanBusState *bus = client->bus; + if (bus == NULL) { + return 0; + } + + QTAILQ_REMOVE(&bus->clients, client, next); + client->bus = NULL; + return 1; +} + +ssize_t can_bus_client_send(CanBusClientState *client, + const struct qemu_can_frame *frames, size_t frames_cnt) +{ + int ret = 0; + CanBusState *bus = client->bus; + CanBusClientState *peer; + if (bus == NULL) { + return -1; + } + + QTAILQ_FOREACH(peer, &bus->clients, next) { + if (peer->info->can_receive(peer)) { + if (peer == client) { + /* No loopback support for now */ + continue; + } + if (peer->info->receive(peer, frames, frames_cnt) > 0) { + ret = 1; + } + } + } + + return ret; +} + +int can_bus_filter_match(struct qemu_can_filter *filter, qemu_canid_t can_id) +{ + int m; + if (((can_id | filter->can_mask) & QEMU_CAN_ERR_FLAG)) { + return (filter->can_mask & QEMU_CAN_ERR_FLAG) != 0; + } + m = (can_id & filter->can_mask) == (filter->can_id & filter->can_mask); + return filter->can_id & QEMU_CAN_INV_FILTER ? !m : m; +} + +int can_bus_client_set_filters(CanBusClientState *client, + const struct qemu_can_filter *filters, size_t filters_cnt) +{ + return 0; +} + +int can_bus_connect_to_host_device(CanBusState *bus, const char *name) +{ + if (can_bus_connect_to_host_variant == NULL) { + error_report("CAN bus connect to host device is not " + "supported on this system"); + exit(1); + } + return can_bus_connect_to_host_variant(bus, name); +} diff --git a/hw/can/can_host_stub.c b/hw/can/can_host_stub.c new file mode 100644 index 0000000000..748d25f995 --- /dev/null +++ b/hw/can/can_host_stub.c @@ -0,0 +1,36 @@ +/* + * CAN stub to connect to host system CAN interface + * + * Copyright (c) 2013-2014 Jin Yang + * Copyright (c) 2014-2018 Pavel Pisa + * + * Initial development supported by Google GSoC 2013 from RTEMS project slot + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ +#include "qemu/osdep.h" +#include "chardev/char.h" +#include "qemu/sockets.h" +#include "qemu/error-report.h" +#include "hw/hw.h" +#include "can/can_emu.h" + + +int (*can_bus_connect_to_host_variant)(CanBusState *bus, const char *name) = + NULL; diff --git a/include/can/can_emu.h b/include/can/can_emu.h new file mode 100644 index 0000000000..85237ee3c9 --- /dev/null +++ b/include/can/can_emu.h @@ -0,0 +1,131 @@ +/* + * CAN common CAN bus emulation support + * + * Copyright (c) 2013-2014 Jin Yang + * Copyright (c) 2014-2018 Pavel Pisa + * + * Initial development supported by Google GSoC 2013 from RTEMS project slot + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#ifndef NET_CAN_EMU_H +#define NET_CAN_EMU_H + +#include "qemu/queue.h" + +/* NOTE: the following two structures is copied from . */ + +/* + * Controller Area Network Identifier structure + * + * bit 0-28 : CAN identifier (11/29 bit) + * bit 29 : error frame flag (0 = data frame, 1 = error frame) + * bit 30 : remote transmission request flag (1 = rtr frame) + * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) + */ +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); +} qemu_can_frame; + +/* Keep defines for QEMU separate from Linux ones for now */ + +#define QEMU_CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ +#define QEMU_CAN_RTR_FLAG 0x40000000U /* remote transmission request */ +#define QEMU_CAN_ERR_FLAG 0x20000000U /* error message frame */ + +#define QEMU_CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ +#define QEMU_CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ + +/** + * struct qemu_can_filter - CAN ID based filter in can_register(). + * @can_id: relevant bits of CAN ID which are not masked out. + * @can_mask: CAN mask (see description) + * + * Description: + * A filter matches, when + * + * & mask == can_id & mask + * + * The filter can be inverted (QEMU_CAN_INV_FILTER bit set in can_id) or it can + * filter for error message frames (QEMU_CAN_ERR_FLAG bit set in mask). + */ +typedef struct qemu_can_filter { + qemu_canid_t can_id; + qemu_canid_t can_mask; +} qemu_can_filter; + +/* QEMU_CAN_INV_FILTER can be set in qemu_can_filter.can_id */ +#define QEMU_CAN_INV_FILTER 0x20000000U + +typedef struct CanBusClientState CanBusClientState; +typedef struct CanBusState CanBusState; + +typedef struct CanBusClientInfo { + size_t size; + int (*can_receive)(CanBusClientState *); + ssize_t (*receive)(CanBusClientState *, + const struct qemu_can_frame *frames, size_t frames_cnt); + void (*cleanup) (CanBusClientState *); + void (*poll)(CanBusClientState *, bool enable); +} CanBusClientInfo; + +struct CanBusClientState { + CanBusClientInfo *info; + CanBusState *bus; + int link_down; + QTAILQ_ENTRY(CanBusClientState) next; + CanBusClientState *peer; + char *model; + char *name; + void (*destructor)(CanBusClientState *); +}; + +struct CanBusState { + char *name; + QTAILQ_HEAD(, CanBusClientState) clients; + QTAILQ_ENTRY(CanBusState) next; +}; + +extern int (*can_bus_connect_to_host_variant)(CanBusState *bus, + const char *name); + +int can_bus_filter_match(struct qemu_can_filter *filter, qemu_canid_t can_id); + +CanBusState *can_bus_find_by_name(const char *name, bool create_missing); + +int can_bus_insert_client(CanBusState *bus, CanBusClientState *client); + +int can_bus_remove_client(CanBusClientState *client); + +ssize_t can_bus_client_send(CanBusClientState *, + const struct qemu_can_frame *frames, + size_t frames_cnt); + +int can_bus_client_set_filters(CanBusClientState *, + const struct qemu_can_filter *filters, + size_t filters_cnt); + +int can_bus_connect_to_host_device(CanBusState *bus, const char *host_dev_name); + +#endif