MERGECOMMIT: periph_can,candev: socketcan pkg for native RIOT-OS#17533

boards/native/Makefile.dep

@@ -9,6 +9,7 @@ ifneq (,$(filter mtd,$(USEMODULE)))
 endif
 
 ifneq (,$(filter periph_can,$(FEATURES_USED)))
+  USEPKG += libsocketcan
   ifeq ($(OS),Linux)
     CFLAGS += -DCAN_DLL_NUMOF=2
   endif

cpu/native/Makefile.include

@@ -6,7 +6,10 @@ ifeq ($(BUILDOSXNATIVE),1)
 endif
 
 ifneq (,$(filter periph_can,$(USEMODULE)))
-  LINKFLAGS += -lsocketcan
+  ifeq (,$(filter libsocketcan,$(USEPKG)))
+    # link system libsocketcan if not using the provided package
+    LINKFLAGS += -lsocketcan
+  endif
 endif
 
 TOOLCHAINS_SUPPORTED = gnu llvm afl

pkg/libsocketcan/Kconfig

@@ -0,0 +1,10 @@
+# Copyright (c) ML!PA Consulting GmbH
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+config PACKAGE_LIBSOCKETCAN
+    bool "libsocketcan2 32bit for native Linux builds"
+    depends on BOARD_NATIVE

pkg/libsocketcan/Makefile

@@ -0,0 +1,9 @@
+PKG_NAME=libsocketcan
+PKG_URL=https://git.pengutronix.de/git/tools/libsocketcan
+PKG_VERSION=077def398ad303043d73339112968e5112d8d7c8
+PKG_LICENSE=LGPL-2.1
+
+include $(RIOTBASE)/pkg/pkg.mk
+
+all:
+	$(QQ)"$(MAKE)" -C $(PKG_SOURCE_DIR)/src -f $(CURDIR)/Makefile.$(PKG_NAME)

pkg/libsocketcan/Makefile.include

@@ -0,0 +1 @@
+NATIVEINCLUDES += -I"$(PKGDIRBASE)/libsocketcan/include"

pkg/libsocketcan/Makefile.libsocketcan

@@ -0,0 +1,9 @@
+MODULE=libsocketcan
+
+CFLAGS += -Wno-strict-prototypes
+CFLAGS += -Wno-pointer-arith
+CFLAGS += -Wno-old-style-definition
+
+SRC += libsocketcan.c
+
+include $(RIOTBASE)/Makefile.base

pkg/libsocketcan/doc.txt

@@ -0,0 +1,16 @@
+/**
+ * @defgroup pkg_libsocketcan   Socketcan library
+ * @ingroup  pkg
+ * @ingroup  sys_serialization
+ * @brief    Provides libsocketcan for native 32bit linux builds when not available otherwise
+ *
+ * # Introduction
+ *
+ * "This library allows you to control some basic functions in SocketCAN from userspace."
+ *
+ * # License
+ *
+ * Licensed under LGPL 2.1.
+ *
+ * @see      https://git.pengutronix.de/cgit/tools/libsocketcan
+ */

tests/candev/Makefile

@@ -1,21 +1,7 @@
-BOARD ?= nucleo-f767zi
-
 include ../Makefile.tests_common
 
 USEMODULE += shell
 USEMODULE += can
 USEMODULE += isrpipe
 
-
-# define the CAN driver you want to use here
-CAN_DRIVER ?= MCP2515
-
-ifeq ($(CAN_DRIVER), PERIPH_CAN)
-	FEATURES_REQUIRED += periph_can
-else ifeq ($(CAN_DRIVER), MCP2515)
-	USEMODULE += mcp2515
-else ifeq ($(CAN_DRIVER), CAN_ALT)
-	# other can modules can be defined here
-endif
-
 include $(RIOTBASE)/Makefile.include

tests/candev/Makefile.board.dep

@@ -0,0 +1,14 @@
+ifneq (,$(filter native,$(BOARD)))
+  CAN_DRIVER ?= PERIPH_CAN
+endif
+
+# define the CAN driver you want to use here
+CAN_DRIVER ?= MCP2515
+
+ifeq ($(CAN_DRIVER), PERIPH_CAN)
+  FEATURES_REQUIRED += periph_can
+else ifeq ($(CAN_DRIVER), MCP2515)
+  USEMODULE += mcp2515
+else ifeq ($(CAN_DRIVER), CAN_ALT)
+  # other can modules can be defined here
+endif

tests/candev/main.c

@@ -19,10 +19,7 @@
  * @}
  */
 
-#define ENABLE_DEBUG 0
-
 #include <assert.h>
-#include <debug.h>
 #include <errno.h>
 #include <isrpipe.h>
 #include <stdio.h>
@@ -49,6 +46,9 @@ static candev_mcp2515_t mcp2515_dev;
 /* add includes for other candev drivers here */
 #endif
 
+#define ENABLE_DEBUG 0
+#include <debug.h>
+
 /* Default is not using loopback test mode */
 #ifndef CONFIG_USE_LOOPBACK_MODE
 #define CONFIG_USE_LOOPBACK_MODE        0
@@ -96,7 +96,6 @@ static int _send(int argc, char **argv)
 
 static int _receive(int argc, char **argv)
 {
-    uint8_t buf[CAN_MAX_DLEN];
     int n = 1;
 
     if (argc > 1) {
@@ -108,26 +107,21 @@ static int _receive(int argc, char **argv)
     }
 
     for (int i = 0; i < n; i++) {
-        uint32_t can_id = 0;
-        uint8_t can_dlc = 0;
+        struct can_frame frame;
 
         puts("Reading from Rxbuf...");
-        isrpipe_read(&rxbuf, buf, 4);       /* can-id */
-        can_id = ((uint32_t)buf[0] << 24) |
-                 ((uint32_t)buf[1] << 16) |
-                 ((uint32_t)buf[2] << 8) |
-                 ((uint32_t)buf[3]);
-        isrpipe_read(&rxbuf, buf, 1);       /* can-dlc */
-        can_dlc = buf[0];
-        if (can_dlc > 0) {
-            isrpipe_read(&rxbuf, buf, can_dlc); /* data */
+        isrpipe_read(&rxbuf, (uint8_t *)&(frame.can_id), sizeof(frame.can_id));
+        frame.can_id &= 0x1FFFFFFF; /* clear invalid bits */
+        isrpipe_read(&rxbuf, (uint8_t *)&(frame.can_dlc), 1);
+        printf("id: %" PRIx32 " dlc: %" PRIx8, frame.can_id, frame.can_dlc);
+        if (frame.can_dlc > 0) {
+            printf(" data: ");
+            isrpipe_read(&rxbuf, frame.data, frame.can_dlc); /* data */
+            for (int i = 0; i < frame.can_dlc; i++) {
+                printf("0x%X ", frame.data[i]);
+            }
         }
-
-        printf("id: %" PRIx32 " dlc: %" PRIx8 " Data: \n", can_id, can_dlc);
-        for (int i = 0; i < can_dlc; i++) {
-            printf("0x%X ", buf[i]);
-        }
-        puts("");
+        putchar('\n');
     }
 
     return 0;
@@ -163,25 +157,17 @@ static void _can_event_callback(candev_t *dev, candev_event_t event, void *arg)
 
         frame = (struct can_frame *)arg;
 
-        DEBUG("\tid: %" PRIx32 " dlc: %" PRIx8 " Data: \n\t", frame->can_id,
+        DEBUG("            id: %" PRIx32 " dlc: %" PRIx8 " data: ", frame->can_id & 0x1FFFFFFF,
               frame->can_dlc);
         for (uint8_t i = 0; i < frame->can_dlc; i++) {
             DEBUG("0x%X ", frame->data[i]);
         }
-        DEBUG(" ");
+        DEBUG_PUTS("");
 
         /* Store in buffer until user requests the data */
-        isrpipe_write_one(&rxbuf,
-                          (uint8_t)((frame->can_id & 0x1FFFFFFF) >> 24));
-        isrpipe_write_one(&rxbuf,
-                          (uint8_t)((frame->can_id & 0xFF0000) >> 16));
-        isrpipe_write_one(&rxbuf, (uint8_t)((frame->can_id & 0xFF00) >> 8));
-        isrpipe_write_one(&rxbuf, (uint8_t)((frame->can_id & 0xFF)));
-
+        isrpipe_write(&rxbuf, (uint8_t *)&(frame->can_id), sizeof(frame->can_id));
         isrpipe_write_one(&rxbuf, frame->can_dlc);
-        for (uint8_t i = 0; i < frame->can_dlc; i++) {
-            isrpipe_write_one(&rxbuf, frame->data[i]);
-        }
+        isrpipe_write(&rxbuf, frame->data, frame->can_dlc);
 
         break;
     case CANDEV_EVENT_RX_ERROR: