From 5469ba1d49df7c8371022b11eb7f08f217638943 Mon Sep 17 00:00:00 2001
From: Vincent Dupont <vincent@otakeys.com>
Date: Wed, 23 Nov 2016 19:02:02 +0100
Subject: [PATCH] can: add CAN stack
The CAN stack support only raw CAN at this time.
It contains a device interface (drivers/include/can/candev.h) and the data link
layer, build around can/device.c can/pkt.c and can/router.c. can/dll.c contains
the upper level and lower level interface to send and receive CAN frames.
Upper layer interface is located in include/can/raw.h
---
Makefile.dep | 10 +-
drivers/include/can/candev.h | 182 +++++++++++
makefiles/pseudomodules.inc.mk | 3 +
sys/can/Makefile | 1 +
sys/can/device.c | 563 +++++++++++++++++++++++++++++++++
sys/can/dll.c | 504 +++++++++++++++++++++++++++++
sys/can/pkt.c | 163 ++++++++++
sys/can/router.c | 400 +++++++++++++++++++++++
sys/include/can/can.h | 149 +++++++++
sys/include/can/common.h | 162 ++++++++++
sys/include/can/device.h | 113 +++++++
sys/include/can/dll.h | 110 +++++++
sys/include/can/doc.txt | 23 ++
sys/include/can/pkt.h | 152 +++++++++
sys/include/can/raw.h | 261 +++++++++++++++
sys/include/can/router.h | 116 +++++++
16 files changed, 2911 insertions(+), 1 deletion(-)
create mode 100644 drivers/include/can/candev.h
create mode 100644 sys/can/Makefile
create mode 100644 sys/can/device.c
create mode 100644 sys/can/dll.c
create mode 100644 sys/can/pkt.c
create mode 100644 sys/can/router.c
create mode 100644 sys/include/can/can.h
create mode 100644 sys/include/can/common.h
create mode 100644 sys/include/can/device.h
create mode 100644 sys/include/can/dll.h
create mode 100644 sys/include/can/doc.txt
create mode 100644 sys/include/can/pkt.h
create mode 100644 sys/include/can/raw.h
create mode 100644 sys/include/can/router.h
diff --git a/Makefile.dep b/Makefile.dep
index 949924ec72..a49ef30358 100644
--- a/Makefile.dep
+++ b/Makefile.dep
@@ -56,7 +56,7 @@ ifneq (,$(filter nordic_softdevice_ble,$(USEPKG)))
USEMODULE += gnrc_ipv6_netif
endif
-ifneq (,$(filter gnrc_%,$(filter-out gnrc_netapi gnrc_netreg gnrc_netif% gnrc_pktbuf,$(USEMODULE))))
+ifneq (,$(filter gnrc_%,$(filter-out gnrc_netapi gnrc_netreg gnrc_netif% gnrc_pkt%,$(USEMODULE))))
USEMODULE += gnrc
endif
@@ -566,6 +566,14 @@ ifneq (,$(filter evtimer,$(USEMODULE)))
USEMODULE += xtimer
endif
+ifneq (,$(filter can,$(USEMODULE)))
+ USEMODULE += can_raw
+ ifneq (,$(filter can_mbox,$(USEMODULE)))
+ USEMODULE += core_mbox
+ endif
+ USEMODULE += gnrc_pktbuf_static
+endif
+
ifneq (,$(filter random,$(USEMODULE)))
# select default prng
ifeq (,$(filter prng_%,$(USEMODULE)))
diff --git a/drivers/include/can/candev.h b/drivers/include/can/candev.h
new file mode 100644
index 0000000000..5b6b66775c
--- /dev/null
+++ b/drivers/include/can/candev.h
@@ -0,0 +1,182 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * 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.
+ */
+
+/**
+ * @ingroup can
+ * @ingroup drivers
+ * @defgroup drivers_can CAN drivers
+ * @{
+ *
+ * This is the CAN controller driver interface
+ *
+ * @file
+ * @brief Definitions low-level CAN driver interface
+ *
+ * @author Vincent Dupont <vincent@otakeys.com>
+ * @author Toon Stegen <toon.stegen@altran.com>
+ */
+
+#ifndef CAN_CANDEV_H
+#define CAN_CANDEV_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "can/can.h"
+#include "can/common.h"
+#include "mutex.h"
+
+
+/**
+ * @brief Possible event types that are send from the device driver to the
+ * upper layer
+ */
+typedef enum {
+ CANDEV_EVENT_NOEVENT, /**< no event, used internally */
+ CANDEV_EVENT_ISR, /**< driver needs it's ISR handled */
+ CANDEV_EVENT_WAKE_UP, /**< driver has been woken up by bus */
+ CANDEV_EVENT_TX_CONFIRMATION, /**< a packet has been sent */
+ CANDEV_EVENT_TIMEOUT_TX_CONF, /**< tx conf timeout received */
+ CANDEV_EVENT_RX_INDICATION, /**< a packet has been received */
+ CANDEV_EVENT_TX_ERROR, /**< there was an error when transmitting */
+ CANDEV_EVENT_RX_ERROR, /**< there was an error when receiving */
+ CANDEV_EVENT_BUS_OFF, /**< bus-off detected */
+ CANDEV_EVENT_ERROR_PASSIVE, /**< driver switched in error passive */
+ CANDEV_EVENT_ERROR_WARNING, /**< driver reached error warning */
+ /* expand this list if needed */
+} candev_event_t;
+
+/**
+ * @brief Forward declaration for candev struct
+ */
+typedef struct candev candev_t;
+
+/**
+ * @brief Event callback for signaling event to upper layers
+ *
+ * @param[in] dev CAN device descriptor
+ * @param[in] type type of the event
+ * @param[in] arg event argument
+ */
+typedef void (*candev_event_cb_t)(candev_t *dev, candev_event_t event, void *arg);
+
+/**
+ * @brief Structure to hold driver state
+ *
+ * Supposed to be extended by driver implementations.
+ * The extended structure should contain all variable driver state.
+ */
+struct candev {
+ const struct candev_driver *driver; /**< ptr to that driver's interface. */
+ candev_event_cb_t event_callback; /**< callback for device events */
+ void *isr_arg; /**< argument to pass on isr event */
+ struct can_bittiming bittiming; /**< device bittimings */
+ enum can_state state; /**< device state */
+};
+
+/**
+ * @brief Structure to hold driver interface -> function mapping
+ */
+typedef struct candev_driver {
+ /**
+ * @brief Send packet
+ *
+ * @param[in] dev CAN device descriptor
+ * @param[in] frame CAN frame to send
+ *
+ * @return < 0 on error
+ * @return mailbox id >= 0 if OK
+ */
+ int (*send)(candev_t *dev, const struct can_frame *frame);
+
+ /**
+ * @brief Abort a packet sending
+ *
+ * @param[in] dev CAN device descriptor
+ * @param[in] frame CAN frame to abort
+ *
+ * @return < 0 on error
+ * @return 0 on OK
+ */
+ int (*abort)(candev_t *dev, const struct can_frame *frame);
+
+ /**
+ * @brief the driver's initialization function
+ *
+ * @param[in] dev CAN device descriptor
+ *
+ * @return < 0 on error, 0 on success
+ */
+ int (*init)(candev_t *dev);
+
+ /**
+ * @brief a driver's user-space ISR handler
+ *
+ * @param[in] dev CAN device descriptor
+ */
+ void (*isr)(candev_t *dev);
+
+ /**
+ * @brief Get an option value from a given CAN device
+ *
+ * @param[in] dev CAN device descriptor
+ * @param[in] opt option type
+ * @param[out] value pointer to store the option's value in
+ * @param[in] max_len maximal amount of byte that fit into @p value
+ *
+ * @return number of bytes written to @p value
+ * @return <0 on error
+ */
+ int (*get)(candev_t *dev, canopt_t opt, void *value, size_t max_len);
+
+ /**
+ * @brief Set an option value for a given CAN device
+ *
+ * @param[in] dev CAN device descriptor
+ * @param[in] opt option type
+ * @param[in] value value to set
+ * @param[in] value_len the length of @p value
+ *
+ * @return number of bytes used from @p value
+ * @return <0 on error
+ */
+ int (*set)(candev_t *dev, canopt_t opt, void *value, size_t value_len);
+
+ /**
+ * @brief Set a receive @p filter
+ *
+ * @param[in] dev CAN device descriptor
+ * @param[in] filter filter to set
+ *
+ * @return a positive filter number
+ * @return <0 on error
+ */
+ int (*set_filter)(candev_t *dev, const struct can_filter *filter);
+
+ /**
+ * @brief Remove a @p filter
+ *
+ * @param[in] dev CAN device descriptor
+ * @param[in] filter filter to remove
+ *
+ * @return 0 on success
+ * @return <0 on error
+ */
+ int (*remove_filter)(candev_t *dev, const struct can_filter *filter);
+} candev_driver_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CAN_CANDEV_H */
+/** @} */
diff --git a/makefiles/pseudomodules.inc.mk b/makefiles/pseudomodules.inc.mk
index 29cad6e389..003fad8198 100644
--- a/makefiles/pseudomodules.inc.mk
+++ b/makefiles/pseudomodules.inc.mk
@@ -1,4 +1,7 @@
PSEUDOMODULES += auto_init_gnrc_rpl
+PSEUDOMODULES += can_mbox
+PSEUDOMODULES += can_pm
+PSEUDOMODULES += can_raw
PSEUDOMODULES += core_%
PSEUDOMODULES += emb6_router
PSEUDOMODULES += gnrc_ipv6_default
diff --git a/sys/can/Makefile b/sys/can/Makefile
new file mode 100644
index 0000000000..48422e909a
--- /dev/null
+++ b/sys/can/Makefile
@@ -0,0 +1 @@
+include $(RIOTBASE)/Makefile.base
diff --git a/sys/can/device.c b/sys/can/device.c
new file mode 100644
index 0000000000..eab6b7a056
--- /dev/null
+++ b/sys/can/device.c
@@ -0,0 +1,563 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * 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.
+ */
+
+/**
+ * @file
+ * @brief CAN device interface
+ *
+ * @author Toon Stegen <toon.stegen@altran.com>
+ * @author Vincent Dupont <vincent@otakeys.com>
+ * @author Aurelien Gonce <aurelien.gonce@altran.com>
+ */
+
+#include <errno.h>
+
+#include "thread.h"
+#include "can/device.h"
+#include "can/common.h"
+#include "can/pkt.h"
+#include "can/dll.h"
+
+#define ENABLE_DEBUG (0)
+#include "debug.h"
+
+#ifndef CAN_DEVICE_MSG_QUEUE_SIZE
+#define CAN_DEVICE_MSG_QUEUE_SIZE 64
+#endif
+
+#ifdef MODULE_CAN_PM
+#define CAN_DEVICE_PM_DEFAULT_RX_TIMEOUT (10 * US_PER_SEC)
+#define CAN_DEVICE_PM_DEFAULT_TX_TIMEOUT (2 * US_PER_SEC)
+#endif
+
+static int power_up(candev_dev_t *candev_dev);
+static int power_down(candev_dev_t *candev_dev);
+#ifdef MODULE_CAN_PM
+static void pm_cb(void *arg);
+static void pm_reset(candev_dev_t *candev_dev, uint32_t value);
+#endif
+
+static inline enum can_msg _can_event_error_to_msg(candev_event_t error)
+{
+ switch (error) {
+ case CANDEV_EVENT_TX_ERROR:
+ return CAN_MSG_TX_ERROR;
+ case CANDEV_EVENT_RX_ERROR:
+ return CAN_MSG_RX_ERROR;
+ case CANDEV_EVENT_BUS_OFF:
+ return CAN_MSG_BUS_OFF;
+ case CANDEV_EVENT_ERROR_PASSIVE:
+ return CAN_MSG_ERROR_PASSIVE;
+ case CANDEV_EVENT_ERROR_WARNING:
+ return CAN_MSG_ERROR_WARNING;
+ default:
+ return 0;
+ }
+}
+
+static void _can_event(candev_t *dev, candev_event_t event, void *arg)
+{
+ msg_t msg;
+ struct can_frame *frame;
+ can_pkt_t *pkt;
+ candev_dev_t *candev_dev = dev->isr_arg;
+
+ DEBUG("_can_event: dev=%p, params=%p\n", (void*)dev, (void*)candev_dev);
+ DEBUG("_can_event: params->ifnum=%d, params->pid=%" PRIkernel_pid ", params->dev=%p\n",
+ candev_dev->ifnum, candev_dev->pid, (void*)candev_dev->dev);
+
+ switch (event) {
+ case CANDEV_EVENT_ISR:
+ DEBUG("_can_event: CANDEV_EVENT_ISR\n");
+ msg.type = CAN_MSG_EVENT;
+ if (msg_send(&msg, candev_dev->pid) <= 0) {
+ DEBUG("can device: isr lost\n");
+ }
+ break;
+ case CANDEV_EVENT_WAKE_UP:
+ DEBUG("_can_event: CANDEV_EVENT_WAKE_UP\n");
+ power_up(candev_dev);
+#ifdef MODULE_CAN_PM
+ pm_reset(candev_dev, candev_dev->rx_inactivity_timeout);
+#endif
+ break;
+ case CANDEV_EVENT_TX_CONFIRMATION:
+ DEBUG("_can_event: CANDEV_EVENT_TX_CONFIRMATION\n");
+ /* frame pointer in arg */
+ pkt = container_of((struct can_frame *)arg, can_pkt_t, frame);
+ can_dll_dispatch_tx_conf(pkt);
+ break;
+ case CANDEV_EVENT_TX_ERROR:
+ DEBUG("_can_event: CANDEV_EVENT_TX_ERROR\n");
+ /* frame pointer in arg */
+ pkt = container_of((struct can_frame *)arg, can_pkt_t, frame);
+ can_dll_dispatch_tx_error(pkt);
+ break;
+ case CANDEV_EVENT_RX_INDICATION:
+ DEBUG("_can_event: CANDEV_EVENT_RX_INDICATION\n");
+#ifdef MODULE_CAN_PM
+ pm_reset(candev_dev, candev_dev->rx_inactivity_timeout);
+#endif
+ /* received frame in arg */
+ frame = (struct can_frame *) arg;
+ can_dll_dispatch_rx_frame(frame, candev_dev->pid);
+ break;
+ case CANDEV_EVENT_RX_ERROR:
+ DEBUG("_can_event: CANDEV_EVENT_RX_ERROR\n");
+ break;
+ case CANDEV_EVENT_BUS_OFF:
+ dev->state = CAN_STATE_BUS_OFF;
+ break;
+ case CANDEV_EVENT_ERROR_PASSIVE:
+ dev->state = CAN_STATE_ERROR_PASSIVE;
+ break;
+ case CANDEV_EVENT_ERROR_WARNING:
+ dev->state = CAN_STATE_ERROR_WARNING;
+ break;
+ default:
+ DEBUG("_can_event: unknown event\n");
+ break;
+ }
+}
+
+static int power_up(candev_dev_t *candev_dev)
+{
+ candev_t *dev = candev_dev->dev;
+
+ DEBUG("candev: power up\n");
+
+ canopt_state_t state = CANOPT_STATE_ON;
+ int res = dev->driver->set(dev, CANOPT_STATE, &state, sizeof(state));
+ dev->state = CAN_STATE_ERROR_ACTIVE;
+
+ return res;
+}
+
+static int power_down(candev_dev_t *candev_dev)
+{
+ candev_t *dev = candev_dev->dev;
+
+ DEBUG("candev: power down\n");
+
+ canopt_state_t state = CANOPT_STATE_SLEEP;
+ int res = dev->driver->set(dev, CANOPT_STATE, &state, sizeof(state));
+ dev->state = CAN_STATE_SLEEPING;
+
+#ifdef MODULE_CAN_PM
+ xtimer_remove(&candev_dev->pm_timer);
+ candev_dev->last_pm_update = 0;
+#endif
+
+ return res;
+}
+
+#ifdef MODULE_CAN_PM
+static void pm_cb(void *arg)
+{
+ candev_dev_t *dev = arg;
+ msg_t msg;
+ msg.type = CAN_MSG_PM;
+
+ msg_send(&msg, dev->pid);
+}
+
+static void pm_reset(candev_dev_t *candev_dev, uint32_t value)
+{
+ DEBUG("pm_reset: dev=%p, value=%" PRIu32 ", last_pm_value=%" PRIu32
+ ", last_pm_update=%" PRIu32 "\n", (void *)candev_dev, value,
+ candev_dev->last_pm_value, candev_dev->last_pm_update);
+
+ if (value == 0) {
+ candev_dev->last_pm_value = 0;
+ xtimer_remove(&candev_dev->pm_timer);
+ return;
+ }
+
+ if (candev_dev->last_pm_update == 0 ||
+ value > (candev_dev->last_pm_value - (xtimer_now_usec() - candev_dev->last_pm_update))) {
+ candev_dev->last_pm_value = value;
+ candev_dev->last_pm_update = xtimer_now_usec();
+ xtimer_set(&candev_dev->pm_timer, value);
+ }
+}
+#endif
+
+static void *_can_device_thread(void *args)
+{
+ candev_dev_t *candev_dev = (candev_dev_t *) args;
+ candev_t *dev = candev_dev->dev;
+
+ DEBUG("_can_device_thread: starting thread for ifnum=%d, pid=%" PRIkernel_pid "\n",
+ candev_dev->ifnum, thread_getpid());
+ DEBUG("_cand_device_thread: dev=%p, params=%p\n", (void*)dev, (void*)candev_dev);
+
+ candev_dev->pid = thread_getpid();
+
+#ifdef MODULE_CAN_PM
+ if (candev_dev->rx_inactivity_timeout == 0) {
+ candev_dev->rx_inactivity_timeout = CAN_DEVICE_PM_DEFAULT_RX_TIMEOUT;
+ }
+ if (candev_dev->tx_wakeup_timeout == 0) {
+ candev_dev->tx_wakeup_timeout = CAN_DEVICE_PM_DEFAULT_TX_TIMEOUT;
+ }
+ candev_dev->pm_timer.callback = pm_cb;
+ candev_dev->pm_timer.arg = candev_dev;
+ pm_reset(candev_dev, candev_dev->rx_inactivity_timeout);
+#endif
+
+ int res;
+ can_pkt_t *pkt;
+ can_opt_t *opt;
+ msg_t msg, reply, msg_queue[CAN_DEVICE_MSG_QUEUE_SIZE];
+
+ /* setup the device layers message queue */
+ msg_init_queue(msg_queue, CAN_DEVICE_MSG_QUEUE_SIZE);
+
+ dev->event_callback = _can_event;
+ dev->isr_arg = candev_dev;
+
+ candev_dev->ifnum = can_dll_register_candev(candev_dev);
+
+ dev->driver->init(dev);
+ dev->state = CAN_STATE_ERROR_ACTIVE;
+
+ while (1) {
+ msg_receive(&msg);
+ switch (msg.type) {
+ case CAN_MSG_EVENT:
+ DEBUG("can device: CAN_MSG_EVENT received\n");
+ dev->driver->isr(dev);
+ break;
+ case CAN_MSG_ABORT_FRAME:
+ DEBUG("can device: CAN_MSG_ABORT_FRAME received\n");
+ pkt = (can_pkt_t *) msg.content.ptr;
+ dev->driver->abort(dev, &pkt->frame);
+ reply.type = CAN_MSG_ACK;
+ reply.content.value = 0;
+ msg_reply(&msg, &reply);
+ break;
+ case CAN_MSG_SEND_FRAME:
+ DEBUG("can device: CAN_MSG_SEND_FRAME received\n");
+ pkt = (can_pkt_t *) msg.content.ptr;
+ if (dev->state == CAN_STATE_BUS_OFF || dev->state == CAN_STATE_SLEEPING) {
+ DEBUG("can device: waking up driver\n");
+ power_up(candev_dev);
+ }
+#ifdef MODULE_CAN_PM
+ pm_reset(candev_dev, candev_dev->tx_wakeup_timeout);
+#endif
+ dev->driver->send(dev, &pkt->frame);
+ break;
+ case CAN_MSG_SET:
+ DEBUG("can device: CAN_MSG_SET received\n");
+ /* read incoming options */
+ opt = (can_opt_t *)msg.content.ptr;
+ /* set option for device driver */
+ res = dev->driver->set(dev, opt->opt, opt->data, opt->data_len);
+ /* send reply to calling thread */
+ reply.type = CAN_MSG_ACK;
+ reply.content.value = (uint32_t)res;
+ msg_reply(&msg, &reply);
+ break;
+ case CAN_MSG_GET:
+ DEBUG("can device: CAN_MSG_GET received\n");
+ /* read incoming options */
+ opt = (can_opt_t *)msg.content.ptr;
+ /* get option for device driver */
+ res = dev->driver->get(dev, opt->opt, opt->data, opt->data_len);
+ /* send reply to calling thread */
+ reply.type = CAN_MSG_ACK;
+ reply.content.value = (uint32_t)res;
+ msg_reply(&msg, &reply);
+ break;
+ case CAN_MSG_SET_FILTER:
+ DEBUG("can device: CAN_MSG_SET_FILTER received\n");
+ /* set filter for device driver */
+ res = dev->driver->set_filter(dev, msg.content.ptr);
+ /* send reply to calling thread */
+ reply.type = CAN_MSG_ACK;
+ reply.content.value = (uint32_t)res;
+ msg_reply(&msg, &reply);
+ break;
+ case CAN_MSG_REMOVE_FILTER:
+ DEBUG("can device: CAN_MSG_REMOVE_FILTER received\n");
+ /* set filter for device driver */
+ res = dev->driver->remove_filter(dev, msg.content.ptr);
+ /* send reply to calling thread */
+ reply.type = CAN_MSG_ACK;
+ reply.content.value = (uint32_t)res;
+ msg_reply(&msg, &reply);
+ break;
+ case CAN_MSG_POWER_UP:
+ DEBUG("can device: CAN_MSG_POWER_UP received\n");
+ res = power_up(candev_dev);
+#ifdef MODULE_CAN_PM
+ pm_reset(candev_dev, 0);
+#endif
+ /* send reply to calling thread */
+ reply.type = CAN_MSG_ACK;
+ reply.content.value = (uint32_t)res;
+ msg_reply(&msg, &reply);
+ break;
+ case CAN_MSG_POWER_DOWN:
+ DEBUG("can device: CAN_MSG_POWER_DOWN received\n");
+ res = power_down(candev_dev);
+ /* send reply to calling thread */
+ reply.type = CAN_MSG_ACK;
+ reply.content.value = (uint32_t)res;
+ msg_reply(&msg, &reply);
+ break;
+#ifdef MODULE_CAN_PM
+ case CAN_MSG_PM:
+ DEBUG("can device: pm power down\n");
+ power_down(candev_dev);
+ break;
+#endif
+ default:
+ break;
+ }
+ }
+
+ return NULL;
+}
+
+kernel_pid_t can_device_init(char *stack, int stacksize, char priority,
+ const char *name, candev_dev_t *params)
+{
+ kernel_pid_t res;
+
+ /* check if given device is defined and the driver is set */
+ if (params == NULL || params->dev == NULL || params->dev->driver == NULL) {
+ return -ENODEV;
+ }
+
+ /* create new can device thread */
+ res = thread_create(stack, stacksize, priority, THREAD_CREATE_STACKTEST,
+ _can_device_thread, (void *)params, name);
+ if (res <= 0) {
+ return -EINVAL;
+ }
+
+ return res;
+}
+
+
+#define SJW 2
+#define CAN_SYNC_SEG 1
+
+static inline uint32_t min(uint32_t x, uint32_t y)
+{
+ return x < y ? x : y;
+}
+
+static inline uint32_t max(uint32_t x, uint32_t y)
+{
+ return x > y ? x : y;
+}
+
+static inline uint32_t clamp(uint32_t val, uint32_t lo, uint32_t hi)
+{
+ return min(max(val, lo), hi);
+}
+
+/**
+ * @brief Compute tseg1 and tseg2 and returns the sample point
+ *
+ * tseg1 and tseg2 are calculated from the nominal sample point and tseg
+ *
+ * @param[in] btc the bittiming const
+ * @param[in] spt_nominal the nominal sample point
+ * @param[in] tseg number of tq in the nbt minus the SYNC_SEG
+ * @param[out] p_tseg1 number of tq in tseg1 (PHASE_SEG_1 + PROP_SEG)
+ * @param[out] p_tseg2 number of tq in tseg2 (PHASE_SEG_2)
+ * @param[out] p_spt_error (optional) the sample point difference between @p spt_nominal
+ * and computed sample point from @p tseg1 and @p tseg2
+ *
+ * @return the computed sample point from @p tseg1 and @p tseg2
+ */
+static uint32_t update_sample_point(const struct can_bittiming_const *btc, uint32_t spt_nominal,
+ uint32_t tseg, uint32_t *p_tseg1, uint32_t *p_tseg2, uint32_t *p_spt_error)
+{
+ uint32_t best_spt = 0;
+ uint32_t min_spt_error = UINT32_MAX;
+
+ for (int i = 0; i <= 1; i++) {
+ uint32_t tseg1;
+ uint32_t tseg2;
+ uint32_t spt;
+ uint32_t spt_error;
+
+ tseg2 = tseg + CAN_SYNC_SEG - (spt_nominal * (tseg + CAN_SYNC_SEG)) / 1000 - i;
+ tseg2 = clamp(tseg2, btc->tseg2_min, btc->tseg2_max);
+ tseg1 = tseg - tseg2;
+ if (tseg1 > btc->tseg1_max) {
+ tseg1 = btc->tseg1_max;
+ tseg2 = tseg - tseg1;
+ }
+
+ spt = 1000 * (tseg1 + CAN_SYNC_SEG) / (tseg + CAN_SYNC_SEG);
+ spt_error = max(spt, spt_nominal) - min(spt, spt_nominal);
+ if (spt <= spt_nominal && spt_error < min_spt_error) {
+ best_spt = spt;
+ min_spt_error = spt_error;
+ *p_tseg1 = tseg1;
+ *p_tseg2 = tseg2;
+ }
+
+ if (p_spt_error) {
+ *p_spt_error = min_spt_error;
+ }
+ DEBUG("tseg1=%" PRIu32 ", tseg2=%" PRIu32 ", spt_error=%" PRIu32 "\n",
+ tseg1, tseg2, spt_error);
+ }
+
+ return best_spt;
+}
+
+/*
+ * Nominal bit time (nbt) composed of 8 time quantum (tq)
+ * |<------------------------------------------------------------------------------------->|
+ * | |
+ * +----------+----------+-------------------------------------------+---------------------+
+ * | SYNC_SEG | PROP_SEG | PHASE_SEG_1 | PHASE_SEG_2 |
+ * +----------+----------+-------------------------------------------+---------------------+
+ * | ^ |
+ * | Sample point | at 75% |
+ * |----------|----------|----------|----------|----------|----------|----------|----------|
+ * | Time quanta 6 | 2 |
+ *
+ * Synchronization segment = always 1 tq
+ * SYNC_SEG + PROP_SEG + PHASE_SEG1
+ * Sample point = --------------------------------
+ * nbt
+ *
+ * tseg1 = PROP_SEG + PHASE_SEG_1
+ * tseg2 = PHASE_SEG_2
+ * tseg = tseg1 + tseg2
+ * nbt = tseg + SYNC_SEG
+ *
+ */
+int can_device_calc_bittiming(uint32_t clock, const struct can_bittiming_const *timing_const,
+ struct can_bittiming *timing)
+{
+ uint32_t spt; /* nominal sample point, in one-tenth of a percent */
+ uint32_t spt_error;
+ uint32_t min_spt_error = UINT32_MAX;
+ uint32_t best_brp = 0;
+ uint32_t tseg;
+ uint32_t tseg1;
+ uint32_t tseg2;
+ uint32_t best_tseg = 0;
+ uint32_t rate; /* current bitrate */
+ uint32_t rate_error;
+ uint32_t min_rate_error;
+
+ assert((timing != NULL) && (timing->bitrate != 0));
+ assert(timing_const != NULL);
+
+ if (timing->sample_point) {
+ spt = timing->sample_point;
+ }
+ else {
+ /* Use recommended sample points */
+ /* See CiA 301 (https://www.can-cia.org/standardization/technical-documents/) */
+ /* 87.5% is recommended from 10kbit/s to 1Mbit/s */
+ spt = 875;
+ }
+ rate_error = min_rate_error = timing->bitrate;
+
+ DEBUG("init_bittiming: rate=%" PRIu32 ", clock=%" PRIu32 ", spt=%" PRIu32 "\n",
+ timing->bitrate, clock, timing->sample_point);
+
+ /* Starting from higher tq per nbt */
+ for (tseg = timing_const->tseg1_max + timing_const->tseg2_max;
+ tseg >= timing_const->tseg1_min + timing_const->tseg2_min; tseg--) {
+ uint32_t nbt = tseg + CAN_SYNC_SEG;
+
+ /* theoritical brp */
+ uint32_t brp = clock / (timing->bitrate * nbt);
+ /* brp according to brp_inc */
+ brp = (brp / timing_const->brp_inc) * timing_const->brp_inc;
+
+ DEBUG("tsegall=%" PRIu32 ", brp=%" PRIu32 "\n", nbt, brp);
+
+ if (brp < timing_const->brp_min || brp > timing_const->brp_max) {
+ /* Invalid brp */
+ DEBUG("invalid brp\n");
+ continue;
+ }
+
+ rate = clock / (brp * nbt);
+ rate_error = max(timing->bitrate, rate) - min(timing->bitrate, rate);
+ if (rate_error > min_rate_error) {
+ DEBUG("timing->rate=%" PRIu32 ", rate=%" PRIu32 ", rate_error=%" PRIu32 " > min_rate_error=%" PRIu32 ", continuing\n",
+ timing->bitrate, rate, rate_error, min_rate_error);
+ continue;
+ }
+
+ if (rate_error < min_rate_error) {
+ min_spt_error = UINT32_MAX;
+ }
+
+ update_sample_point(timing_const, spt, tseg, &tseg1, &tseg2, &spt_error);
+ if (spt_error > min_spt_error) {
+ DEBUG("spt_error=%" PRIu32 " > min_spt_error=%" PRIu32 ", continuing\n",
+ spt_error, min_spt_error);
+ continue;
+ }
+
+ min_spt_error = spt_error;
+ min_rate_error = rate_error;
+ best_tseg = tseg;
+ best_brp = brp;
+
+ DEBUG("rate_error=%" PRIu32 ", spt_error=%" PRIu32 "\n", rate_error, spt_error);
+
+ if (rate_error == 0 && spt_error == 0) {
+ break;
+ }
+ }
+
+ DEBUG("computed values: min_rate_error=%" PRIu32 ", min_spt_error=%" PRIu32 "\n", min_rate_error, min_spt_error);
+
+ if (min_rate_error) {
+ rate_error = min_rate_error * 1000 / timing->bitrate;
+ if (rate_error > CAN_MAX_RATE_ERROR) {
+ return -1;
+ }
+ }
+
+ timing->sample_point = update_sample_point(timing_const, spt,
+ best_tseg, &tseg1, &tseg2, NULL);
+
+ timing->prop_seg = tseg1 / 2;
+ timing->phase_seg1 = tseg1 - timing->prop_seg;
+ timing->phase_seg2 = tseg2;
+
+ if (!timing->sjw || !timing_const->sjw_max) {
+ timing->sjw = SJW;
+ }
+ else {
+ if (timing->sjw > timing_const->sjw_max) {
+ timing->sjw = timing_const->sjw_max;
+ }
+ if (timing->sjw > tseg2) {
+ timing->sjw = tseg2;
+ }
+ }
+
+ timing->brp = best_brp;
+
+ timing->bitrate = clock / (timing->brp * (CAN_SYNC_SEG + tseg1 + tseg2));
+
+ DEBUG("bitrate=%" PRIu32 ", sample_point=%" PRIu32 ", brp=%" PRIu32 ", prop_seg=%" PRIu32
+ ", phase_seg1=%" PRIu32 ", phase_seg2=%" PRIu32 "\n", timing->bitrate, timing->sample_point,
+ timing->brp, timing->prop_seg, timing->phase_seg1, timing->phase_seg2);
+
+ return 0;
+}
diff --git a/sys/can/dll.c b/sys/can/dll.c
new file mode 100644
index 0000000000..0287863d65
--- /dev/null
+++ b/sys/can/dll.c
@@ -0,0 +1,504 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * 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.
+ */
+
+/**
+ * @file
+ * @brief CAN Data Link Layer module
+ *
+ * This module contains the DLL interfaces for upper layer (raw_can_*)
+ * and devices (can_dll_*).
+ * It manages the connection between an device number and its candev thread.
+ *
+ *
+ * @author Toon Stegen <toon.stegen@altran.com>
+ * @author Vincent Dupont <vincent@otakeys.com>
+ * @author Aurelien Gonce <aurelien.gonce@altran.com>
+ */
+
+#include <errno.h>
+#include <string.h>
+
+#include "thread.h"
+#include "can/dll.h"
+#include "can/raw.h"
+#include "can/device.h"
+#include "can/pkt.h"
+#include "can/common.h"
+#include "can/router.h"
+#include "utlist.h"
+
+#define ENABLE_DEBUG (0)
+#include "debug.h"
+
+static candev_dev_t *candev_list[CAN_DLL_NUMOF];
+static int candev_nb = 0;
+static can_reg_entry_t *tx_list[CAN_DLL_NUMOF];
+static mutex_t tx_lock = MUTEX_INIT;
+
+static int _get_ifnum(kernel_pid_t pid)
+{
+ for (int i = 0; i < candev_nb; i++) {
+ if (candev_list[i]->pid == pid) {
+ return i;
+ }
+ }
+
+ return -ENODEV;
+}
+
+int _send_pkt(can_pkt_t *pkt)
+{
+ if (!pkt) {
+ return -ENOMEM;
+ }
+
+ msg_t msg;
+ int handle = pkt->handle;
+
+ mutex_lock(&tx_lock);
+ LL_APPEND(tx_list[pkt->entry.ifnum], &pkt->entry);
+ mutex_unlock(&tx_lock);
+
+ msg.type = CAN_MSG_SEND_FRAME;
+ msg.content.ptr = (void*) pkt;
+
+ if (msg_send(&msg, candev_list[pkt->entry.ifnum]->pid) <= 0) {
+ return -EOVERFLOW;
+ }
+
+ return handle;
+}
+
+int raw_can_send(int ifnum, const struct can_frame *frame, kernel_pid_t pid)
+{
+ can_pkt_t *pkt;
+
+ assert(frame);
+ assert(ifnum < candev_nb);
+
+ pkt = can_pkt_alloc_tx(ifnum, frame, pid);
+
+ DEBUG("raw_can_send: ifnum=%d, id=0x%" PRIx32 " from pid=%" PRIkernel_pid ", handle=%d\n",
+ ifnum, frame->can_id, pid, pkt->handle);
+
+ return _send_pkt(pkt);
+}
+
+#ifdef MODULE_CAN_MBOX
+int raw_can_send_mbox(int ifnum, const struct can_frame *frame, mbox_t *mbox)
+{
+ can_pkt_t *pkt;
+
+ assert(frame);
+ assert(ifnum < candev_nb);
+
+ pkt = can_pkt_alloc_mbox_tx(ifnum, frame, mbox);
+
+ DEBUG("raw_can_send: ifnum=%d, id=0x%" PRIx32 ", handle=%d\n", ifnum, frame->can_id, pkt->handle);
+
+ return _send_pkt(pkt);
+}
+#endif
+
+int raw_can_abort(int ifnum, int handle)
+{
+ msg_t msg, reply;
+ can_pkt_t *pkt = NULL;
+ can_reg_entry_t *entry;
+
+ assert(ifnum < candev_nb);
+
+ DEBUG("raw_can_abort: ifnum=%u, handle=%d\n", ifnum, handle);
+
+ mutex_lock(&tx_lock);
+ LL_FOREACH(tx_list[ifnum], entry) {
+ pkt = container_of(entry, can_pkt_t, entry);
+ if (pkt->handle == handle) {
+ break;
+ }
+ }
+
+ LL_DELETE(tx_list[ifnum], entry);
+ mutex_unlock(&tx_lock);
+
+ if (pkt == NULL) {
+ DEBUG("raw_can_abort: no pkt\n");
+ return -ENODEV;
+ }
+
+ msg.type = CAN_MSG_ABORT_FRAME;
+ msg.content.ptr = pkt;
+
+ msg_send_receive(&msg, &reply, candev_list[ifnum]->pid);
+
+ can_pkt_free(pkt);
+
+ return 0;
+}
+
+static int register_filter_entry(can_reg_entry_t *entry, struct can_filter *filter, void *param)
+{
+ msg_t msg, reply;
+ int ret;
+
+ DEBUG("register_filter_entry: ifnum=%d, filter=0x%" PRIx32 ", mask=0x%" PRIx32 ", param=%p\n",
+ entry->ifnum, filter->can_id, filter->can_mask, param);
+
+ ret = can_router_register(entry, filter->can_id, filter->can_mask, param);
+ if (ret < 0) {
+ return -ENOMEM;
+ }
+ else if (ret == 1) {
+ DEBUG("raw_can_subscribe_rx: filter=0x%" PRIx32 " already in use\n", filter->can_id);
+ return 0;
+ }
+
+ msg.type = CAN_MSG_SET_FILTER;
+ msg.content.ptr = filter;
+ msg_send_receive(&msg, &reply, candev_list[entry->ifnum]->pid);
+
+ if ((int) reply.content.value < 0) {
+ can_router_unregister(entry, filter->can_id, filter->can_mask, param);
+ return -ENOMEM;
+ }
+
+ return 0;
+}
+
+static int unregister_filter_entry(can_reg_entry_t *entry, struct can_filter *filter, void *param)
+{
+ msg_t msg, reply;
+ int ret;
+
+ DEBUG("unregister_filter_entry: ifnum=%d, filter=0x%" PRIx32 ", mask=0x%" PRIx32 ", param=%p\n",
+ entry->ifnum, filter->can_id, filter->can_mask, param);
+
+ ret = can_router_unregister(entry, filter->can_id, filter->can_mask, param);
+ if (ret < 0) {
+ return -ENOMEM;
+ }
+ else if (ret == 1) {
+ DEBUG("raw_can_unsubscribe_rx: filter=0x%" PRIx32 " still in use\n", filter->can_id);
+ return 0;
+ }
+
+ msg.type = CAN_MSG_REMOVE_FILTER;
+ msg.content.ptr = filter;
+ msg_send_receive(&msg, &reply, candev_list[entry->ifnum]->pid);
+
+ if ((int) reply.content.value < 0) {
+ return -ENOMEM;
+ }
+
+ return 0;
+}
+
+int raw_can_subscribe_rx(int ifnum, struct can_filter *filter, kernel_pid_t pid, void *param)
+{
+ assert(ifnum < candev_nb);
+ assert(filter);
+
+ can_reg_entry_t entry;
+ entry.ifnum = ifnum;
+ entry.target.pid = pid;
+#ifdef MODULE_CAN_MBOX
+ entry.type = CAN_TYPE_DEFAULT;
+#endif
+
+ return register_filter_entry(&entry, filter, param);
+}
+
+#ifdef MODULE_CAN_MBOX
+int raw_can_subscribe_rx_mbox(int ifnum, struct can_filter *filter, mbox_t *mbox, void *param)
+{
+ assert(ifnum < candev_nb);
+ assert(filter);
+
+ can_reg_entry_t entry;
+ entry.ifnum = ifnum;
+ entry.target.mbox = mbox;
+ entry.type = CAN_TYPE_MBOX;
+
+ return register_filter_entry(&entry, filter, param);
+}
+#endif
+
+int raw_can_unsubscribe_rx(int ifnum, struct can_filter *filter, kernel_pid_t pid, void *param)
+{
+ assert(ifnum < candev_nb);
+ assert(filter);
+
+ can_reg_entry_t entry;
+ entry.ifnum = ifnum;
+ entry.target.pid = pid;
+#ifdef MODULE_CAN_MBOX
+ entry.type = CAN_TYPE_DEFAULT;
+#endif
+
+ return unregister_filter_entry(&entry, filter, param);
+}
+
+#ifdef MODULE_CAN_MBOX
+int raw_can_unsubscribe_rx_mbox(int ifnum, struct can_filter *filter, mbox_t *mbox, void *param)
+{
+ assert(ifnum < candev_nb);
+ assert(filter);
+
+ can_reg_entry_t entry;
+ entry.ifnum = ifnum;
+ entry.target.mbox = mbox;
+ entry.type = CAN_TYPE_MBOX;
+
+ return unregister_filter_entry(&entry, filter, param);
+}
+#endif
+
+int raw_can_free_frame(can_rx_data_t *frame)
+{
+ int ret = can_router_free_frame((struct can_frame *)frame->data.iov_base);
+
+ can_pkt_free_rx_data(frame);
+
+ return ret;
+}
+
+int raw_can_get_can_opt(int ifnum, can_opt_t *opt)
+{
+ msg_t msg, reply;
+
+ assert(ifnum < CAN_DLL_NUMOF);
+
+ if (!opt) {
+ return -ENOMEM;
+ }
+
+ opt->context = (uint16_t)candev_list[ifnum]->pid;
+
+ msg.type = CAN_MSG_GET;
+ msg.content.ptr = (void *)opt;
+ if (msg_send_receive(&msg, &reply, opt->context) != 1) {
+ return -EBUSY;
+ }
+
+ return (int) reply.content.value;
+}
+
+int raw_can_set_can_opt(int ifnum, can_opt_t *opt)
+{
+ msg_t msg, reply;
+
+ assert(ifnum < CAN_DLL_NUMOF);
+
+ if (!opt) {
+ return -ENOMEM;
+ }
+
+ opt->context = (uint16_t)candev_list[ifnum]->pid;
+
+ msg.type = CAN_MSG_SET;
+ msg.content.ptr = (void *)opt;
+ if (msg_send_receive(&msg, &reply, opt->context) != 1) {
+ return -EBUSY;
+ }
+
+ return (int) reply.content.value;
+}
+
+int can_dll_register_candev(candev_dev_t *candev)
+{
+ if (candev_nb >= CAN_DLL_NUMOF) {
+ return -ENODEV;
+ }
+
+ DEBUG("can_dll_register_candev: candev=%p, ifnum=%d, pid=%" PRIkernel_pid "\n",
+ (void *)candev, candev_nb, candev->pid);
+
+ candev_list[candev_nb] = candev;
+
+ return candev_nb++;
+}
+
+int can_dll_dispatch_rx_frame(struct can_frame *frame, kernel_pid_t pid)
+{
+ can_pkt_t *pkt = can_pkt_alloc_rx(_get_ifnum(pid), frame);
+
+ return can_router_dispatch_rx_indic(pkt);
+}
+
+int can_dll_dispatch_tx_conf(can_pkt_t *pkt)
+{
+ DEBUG("can_dll_dispatch_tx_conf: pkt=0x%p\n", (void*)pkt);
+
+ can_router_dispatch_tx_conf(pkt);
+
+ mutex_lock(&tx_lock);
+ LL_DELETE(tx_list[pkt->entry.ifnum], &pkt->entry);
+ mutex_unlock(&tx_lock);
+
+ can_pkt_free(pkt);
+
+ return 0;
+}
+
+int can_dll_dispatch_tx_error(can_pkt_t *pkt)
+{
+ DEBUG("can_dll_dispatch_tx_error: pkt=0x%p\n", (void*)pkt);
+
+ can_router_dispatch_tx_error(pkt);
+
+ mutex_lock(&tx_lock);
+ LL_DELETE(tx_list[pkt->entry.ifnum], &pkt->entry);
+ mutex_unlock(&tx_lock);
+
+ can_pkt_free(pkt);
+
+ return 0;
+
+}
+
+int can_dll_dispatch_bus_off(kernel_pid_t pid)
+{
+ int ifnum = _get_ifnum(pid);
+ can_reg_entry_t *entry = tx_list[ifnum];
+
+ DEBUG("can_dll_dispatch_bus_off: ifnum=%d, pid=%" PRIkernel_pid "\n", ifnum, pid);
+
+ mutex_lock(&tx_lock);
+ while (entry) {
+ can_pkt_t *pkt = container_of(entry, can_pkt_t, entry);
+ can_router_dispatch_tx_error(pkt);
+ LL_DELETE(tx_list[ifnum], entry);
+ entry = tx_list[ifnum];
+ }
+ mutex_unlock(&tx_lock);
+
+ return 0;
+}
+
+int can_dll_init(void)
+{
+ can_pkt_init();
+
+ return 0;
+}
+
+int raw_can_power_down(int ifnum)
+{
+ msg_t msg, reply;
+
+ assert(ifnum < candev_nb);
+
+ msg.type = CAN_MSG_POWER_DOWN;
+ if (msg_send_receive(&msg, &reply, candev_list[ifnum]->pid) != 1) {
+ return -EBUSY;
+ }
+
+ return (int) reply.content.value;
+}
+
+int raw_can_power_up(int ifnum)
+{
+ msg_t msg, reply;
+
+ assert(ifnum < candev_nb);
+
+ msg.type = CAN_MSG_POWER_UP;
+ if (msg_send_receive(&msg, &reply, candev_list[ifnum]->pid) != 1) {
+ return -EBUSY;
+ }
+
+ return (int) reply.content.value;
+}
+
+int raw_can_set_bitrate(int ifnum, uint32_t bitrate, uint32_t sample_point)
+{
+ assert(ifnum < candev_nb);
+
+ int res = 0;
+ int ret;
+ uint32_t clock;
+ struct can_bittiming_const btc;
+ struct can_bittiming bittiming;
+ bittiming.bitrate = bitrate;
+ bittiming.sample_point = sample_point;
+
+ can_opt_t opt;
+ opt.opt = CANOPT_CLOCK;
+ opt.data = &clock;
+ opt.data_len = sizeof(clock);
+ ret = raw_can_get_can_opt(ifnum, &opt);
+ if (ret < 0) {
+ DEBUG("raw_can_set_bitrate: error when getting clock (%d)\n", ret);
+ return -1;
+ }
+ DEBUG("raw_can_set_bitrate: clock=%" PRIu32 " Hz\n", clock);
+
+ opt.opt = CANOPT_BITTIMING_CONST;
+ opt.data = &btc;
+ opt.data_len = sizeof(btc);
+ ret = raw_can_get_can_opt(ifnum, &opt);
+ if (ret < 0) {
+ DEBUG("raw_can_set_bitrate: error when getting const (%d)\n", ret);
+ return -1;
+ }
+
+ ret = can_device_calc_bittiming(clock, &btc, &bittiming);
+ if (ret < 0) {
+ DEBUG("raw_can_set_bitrate: bittiming might be wrong, ret=%d\n", ret);
+ res = 1;
+ }
+
+ opt.data = &bittiming;
+ opt.data_len = sizeof(bittiming);
+ opt.opt = CANOPT_BITTIMING;
+
+ ret = raw_can_set_can_opt(ifnum, &opt);
+ if (ret < 0) {
+ DEBUG("raw_can_set_bitrate: error when setting bitrate (%d)\n", ret);
+ return -1;
+ }
+
+ DEBUG("raw_can_set_bitrate: success bitrate=%" PRIu32 ", spt=%" PRIu32 "\n",
+ bittiming.bitrate, bittiming.sample_point);
+
+ return res;
+}
+
+int raw_can_get_ifnum_by_name(const char *name)
+{
+ for (int i = 0; i < candev_nb; i++) {
+ if ((strcmp(name, candev_list[i]->name) == 0) &&
+ (strlen(name) == strlen(candev_list[i]->name))) {
+ return i;
+ }
+ }
+
+ return RAW_CAN_DEV_UNDEF;
+}
+
+const char *raw_can_get_name_by_ifnum(int ifnum)
+{
+ assert(ifnum >= 0);
+
+ if (ifnum >= candev_nb) {
+ return NULL;
+ }
+
+ return candev_list[ifnum]->name;
+}
+
+candev_dev_t *raw_can_get_dev_by_ifnum(int ifnum)
+{
+ assert(ifnum >= 0);
+
+ if (ifnum >= candev_nb) {
+ return NULL;
+ }
+
+ return candev_list[ifnum];
+}
diff --git a/sys/can/pkt.c b/sys/can/pkt.c
new file mode 100644
index 0000000000..cf032e81c1
--- /dev/null
+++ b/sys/can/pkt.c
@@ -0,0 +1,163 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * 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.
+ */
+
+/**
+ * @file
+ * @brief CAN memory allocation module
+ *
+ * @author Vincent Dupont <vincent@otakeys.com>
+ * @author Toon Stegen <toon.stegen@altran.com>
+ */
+
+#include <string.h>
+#include <limits.h>
+#include <errno.h>
+
+#include "net/gnrc/pktbuf.h"
+#include "can/pkt.h"
+#include "mutex.h"
+
+#define ENABLE_DEBUG (0)
+#include "debug.h"
+
+#define HANDLE_UNUSED 0
+
+static int handle;
+static mutex_t _mutex = MUTEX_INIT;
+
+void can_pkt_init(void)
+{
+ mutex_lock(&_mutex);
+ handle = 1;
+ mutex_unlock(&_mutex);
+}
+
+static can_pkt_t *_pkt_alloc(int ifnum, const struct can_frame *frame)
+{
+ can_pkt_t *pkt;
+
+ gnrc_pktsnip_t *snip = gnrc_pktbuf_add(NULL, NULL, sizeof(*pkt), GNRC_NETTYPE_UNDEF);
+ if (!snip) {
+ DEBUG("can_pkt_alloc: out of memory\n");
+ return NULL;
+ }
+
+ pkt = snip->data;
+ pkt->entry.ifnum = ifnum;
+ pkt->frame = *frame;
+ pkt->snip = snip;
+
+ DEBUG("can_pkt_alloc: pkt allocated\n");
+
+ return pkt;
+}
+
+static void _init_pkt(can_pkt_t *pkt, int tx)
+{
+ if (tx) {
+ mutex_lock(&_mutex);
+ pkt->handle = handle++;
+ if (handle == INT_MAX) {
+ handle = 1;
+ }
+ pkt->entry.next = NULL;
+ mutex_unlock(&_mutex);
+ }
+ else {
+ pkt->handle = 0;
+ atomic_store(&pkt->ref_count, 0);
+ }
+}
+
+can_pkt_t *can_pkt_alloc_tx(int ifnum, const struct can_frame *frame, kernel_pid_t tx_pid)
+{
+ can_pkt_t *pkt = _pkt_alloc(ifnum, frame);
+
+ if (!pkt) {
+ return NULL;
+ }
+
+ _init_pkt(pkt, 1);
+ pkt->entry.target.pid = tx_pid;
+#ifdef MODULE_CAN_MBOX
+ pkt->entry.type = CAN_TYPE_DEFAULT;
+#endif
+
+ return pkt;
+}
+
+can_pkt_t *can_pkt_alloc_rx(int ifnum, const struct can_frame *frame)
+{
+ can_pkt_t *pkt = _pkt_alloc(ifnum, frame);
+
+ if (!pkt) {
+ return NULL;
+ }
+
+ _init_pkt(pkt, 0);
+
+ return pkt;
+}
+
+#ifdef MODULE_CAN_MBOX
+can_pkt_t *can_pkt_alloc_mbox_tx(int ifnum, const struct can_frame *frame, mbox_t *tx_mbox)
+{
+ can_pkt_t *pkt = _pkt_alloc(ifnum, frame);
+
+ if (!pkt) {
+ return NULL;
+ }
+
+ _init_pkt(pkt, 1);
+ pkt->entry.target.mbox = tx_mbox;
+ pkt->entry.type = CAN_TYPE_MBOX;
+
+ return pkt;
+}
+#endif
+
+void can_pkt_free(can_pkt_t *pkt)
+{
+ if (!pkt) {
+ return;
+ }
+
+ DEBUG("can_pkt_free: free pkt=%p\n", (void*)pkt);
+
+ gnrc_pktbuf_release(pkt->snip);
+}
+
+can_rx_data_t *can_pkt_alloc_rx_data(void *data, size_t len, void *arg)
+{
+ can_rx_data_t *rx;
+
+ gnrc_pktsnip_t *snip = gnrc_pktbuf_add(NULL, NULL, sizeof(*rx), GNRC_NETTYPE_UNDEF);
+ if (!snip) {
+ DEBUG("can_pkt_alloc_rx_data: out of memory\n");
+ return NULL;
+ }
+
+ rx = snip->data;
+ DEBUG("can_pkt_alloc_rx_data: rx=%p\n", (void *)rx);
+
+ rx->data.iov_base = data;
+ rx->data.iov_len = len;
+ rx->arg = arg;
+ rx->snip = snip;
+
+ return rx;
+}
+
+void can_pkt_free_rx_data(can_rx_data_t *data)
+{
+ if (!data) {
+ return;
+ }
+
+ gnrc_pktbuf_release(data->snip);
+}
diff --git a/sys/can/router.c b/sys/can/router.c
new file mode 100644
index 0000000000..2471c33b37
--- /dev/null
+++ b/sys/can/router.c
@@ -0,0 +1,400 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * 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.
+ */
+
+/**
+ *
+ * @file
+ * @brief Functions for routing RX can frames
+ *
+ * @author Toon Stegen <toon.stegen@altran.com>
+ * @author Vincent Dupont <vincent@otakeys.com>
+ */
+
+#include <stdint.h>
+#include <errno.h>
+
+#include "kernel_defines.h"
+
+#include "net/gnrc/pktbuf.h"
+
+#include "can/router.h"
+#include "can/pkt.h"
+#include "can/device.h"
+#include "utlist.h"
+#include "mutex.h"
+#include "assert.h"
+
+#ifdef MODULE_CAN_MBOX
+#include "mbox.h"
+#endif
+
+#define ENABLE_DEBUG (0)
+#include "debug.h"
+
+#if ENABLE_DEBUG
+#include <inttypes.h>
+#endif
+
+/**
+ * This is a can_id element
+ */
+typedef struct filter_el {
+ can_reg_entry_t entry; /**< filter entry */
+ canid_t can_id; /**< CAN ID of the element */
+ canid_t mask; /**< Mask of the element */
+ void *data; /**< Private data */
+ gnrc_pktsnip_t *snip; /**< Pointer to the allocated snip */
+} filter_el_t;
+
+/**
+ * This table contains @p CAN_ROUTER_APP_MAX lists of CAN IDs per interface
+ */
+static can_reg_entry_t *table[CAN_DLL_NUMOF];
+
+
+static mutex_t lock = MUTEX_INIT;
+
+static filter_el_t *_alloc_filter_el(canid_t can_id, canid_t mask, void *data);
+static void _free_filter_el(filter_el_t *el);
+static void _insert_to_list(can_reg_entry_t **list, filter_el_t *el);
+static filter_el_t *_find_filter_el(can_reg_entry_t *list, can_reg_entry_t *entry, canid_t can_id, canid_t mask, void *data);
+static int _filter_is_used(unsigned int ifnum, canid_t can_id, canid_t mask);
+
+#if ENABLE_DEBUG
+static void _print_filters(void)
+{
+ for (int i = 0; i < (int)CAN_DLL_NUMOF; i++) {
+ DEBUG("--- Ifnum: %d ---\n", i);
+ can_reg_entry_t *entry;
+ LL_FOREACH(table[i], entry) {
+ filter_el_t *el = container_of(entry, filter_el_t, entry);
+ DEBUG("App pid=%" PRIkernel_pid ", el=%p, can_id=0x%" PRIx32 ", mask=0x%" PRIx32 ", data=%p\n",
+ el->entry.target.pid, (void*)el, el->can_id, el->mask, el->data);
+ }
+ }
+}
+
+#define PRINT_FILTERS() _print_filters()
+#else
+#define PRINT_FILTERS()
+#endif
+
+static filter_el_t *_alloc_filter_el(canid_t can_id, canid_t mask, void *data)
+{
+ filter_el_t *el;
+ gnrc_pktsnip_t *snip = gnrc_pktbuf_add(NULL, NULL, sizeof(*el), GNRC_NETTYPE_UNDEF);
+ if (!snip) {
+ DEBUG("can_router: _alloc_canid_el: out of memory\n");
+ return NULL;
+ }
+
+ el = snip->data;
+ el->can_id = can_id;
+ el->mask = mask;
+ el->data = data;
+ el->entry.next = NULL;
+ el->snip = snip;
+ DEBUG("_alloc_canid_el: el allocated with can_id=0x%" PRIx32 ", mask=0x%" PRIx32
+ ", data=%p\n", can_id, mask, data);
+ return el;
+}
+
+static void _free_filter_el(filter_el_t *el)
+{
+ DEBUG("_free_canid_el: el freed with can_id=0x%" PRIx32 ", mask=0x%" PRIx32
+ ", data=%p\n", el->can_id, el->mask, el->data);
+
+ gnrc_pktbuf_release(el->snip);
+}
+
+/* Insert to the list in a sorted way
+ * Lower CAN IDs are inserted first */
+static void _insert_to_list(can_reg_entry_t **list, filter_el_t *el)
+{
+ can_reg_entry_t *next_entry = *list;
+ filter_el_t *next_el = container_of(next_entry, filter_el_t, entry);
+
+ DEBUG("_insert_to_list: list=%p, el=%p\n", (void *)list, (void *)el);
+
+ if (!(*list) || (next_el->can_id > el->can_id)) {
+ LL_PREPEND(*list, &el->entry);
+ DEBUG("_insert_to_list: inserting first el, list=%p\n", (void *)list);
+ }
+ else {
+ do {
+ if (el->can_id <= next_el->can_id) {
+ DEBUG("_insert_to_list: found next_el can_id:0x%" PRIx32
+ "\n", next_el->can_id);
+ LL_PREPEND_ELEM(*list, next_entry, &el->entry);
+ return;
+ }
+ else if (next_el->entry.next == NULL) {
+ DEBUG("_insert_to_list: insert at the end\n");
+ LL_APPEND(next_entry, &el->entry);
+ return;
+ }
+ else {
+ next_entry = next_entry->next;
+ next_el = container_of(next_entry, filter_el_t, entry);
+ DEBUG("_insert_to_list: going to next el: %p\n", (void*) next_el);
+ }
+ } while (next_el);
+
+ }
+}
+
+#ifdef MODULE_CAN_MBOX
+#define ENTRY_MATCHES(e1, e2) (((e1)->type == (e2)->type) && \
+ (((e1)->type == CAN_TYPE_DEFAULT && (e1)->target.pid == (e2)->target.pid) ||\
+ ((e1)->type == CAN_TYPE_MBOX && (e1)->target.mbox == (e2)->target.mbox)))
+#else
+#define ENTRY_MATCHES(e1, e2) ((e1)->target.pid == (e2)->target.pid)
+#endif
+
+static filter_el_t *_find_filter_el(can_reg_entry_t *list, can_reg_entry_t *entry, canid_t can_id, canid_t mask, void *data)
+{
+ filter_el_t *el = container_of(list, filter_el_t, entry);
+ if (!el) {
+ return el;
+ }
+ do {
+ if ((el->can_id == can_id) && (el->mask == mask) && (el->data == data) &&
+ ENTRY_MATCHES(&el->entry, entry)) {
+ DEBUG("_find_filter_el: found el=%p, can_id=%" PRIx32 ", mask=%" PRIx32 ", data=%p\n",
+ (void *)el, el->can_id, el->mask, el->data);
+ return el;
+ }
+ el = container_of(el->entry.next, filter_el_t, entry);
+ } while (el);
+
+ return NULL;
+}
+
+static int _filter_is_used(unsigned int ifnum, canid_t can_id, canid_t mask)
+{
+ filter_el_t *el = container_of(table[ifnum], filter_el_t, entry);
+ if (!el) {
+ DEBUG("_filter_is_used: empty list\n");
+ return 0;
+ }
+ do {
+ if ((el->can_id == can_id) && (el->mask == mask)) {
+ DEBUG("_filter_is_used: found el=%p, can_id=%" PRIx32 ", mask=%" PRIx32 ", data=%p\n",
+ (void *)el, el->can_id, el->mask, el->data);
+ return 1;
+ }
+ el = container_of(el->entry.next, filter_el_t, entry);
+ } while (el);
+
+ DEBUG("_filter_is_used: filter not found\n");
+
+ return 0;
+}
+
+/* register interested users */
+int can_router_register(can_reg_entry_t *entry, canid_t can_id, canid_t mask, void *param)
+{
+ filter_el_t *filter;
+ int ret;
+
+#if ENABLE_DEBUG
+ if (entry->type == CAN_TYPE_DEFAULT) {
+ DEBUG("can_router_register: ifnum=%d, pid=%" PRIkernel_pid ", can_id=0x%" PRIx32
+ ", mask=0x%" PRIx32 ", data=%p\n", entry->ifnum, entry->target.pid, can_id, mask, param);
+ } else if (entry->type == CAN_TYPE_MBOX) {
+ DEBUG("can_router_register: ifnum=%d, mbox=%p, can_id=0x%" PRIx32
+ ", mask=0x%" PRIx32 ", data=%p\n", entry->ifnum, (void *)entry->target.mbox, can_id, mask, param);
+ }
+#endif
+
+ mutex_lock(&lock);
+ ret = _filter_is_used(entry->ifnum, can_id, mask);
+
+ filter = _alloc_filter_el(can_id, mask, param);
+ if (!filter) {
+ mutex_unlock(&lock);
+ return -ENOMEM;
+ }
+
+#ifdef MODULE_CAN_MBOX
+ filter->entry.type = entry->type;
+ switch (entry->type) {
+ case CAN_TYPE_DEFAULT:
+ filter->entry.target.pid = entry->target.pid;
+ break;
+ case CAN_TYPE_MBOX:
+ filter->entry.target.mbox = entry->target.mbox;
+ break;
+ }
+
+#else
+ filter->entry.target.pid = entry->target.pid;
+#endif
+ filter->entry.ifnum = entry->ifnum;
+ _insert_to_list(&table[entry->ifnum], filter);
+ mutex_unlock(&lock);
+
+ PRINT_FILTERS();
+
+ return ret;
+}
+
+/* unregister interested users */
+int can_router_unregister(can_reg_entry_t *entry, canid_t can_id,
+ canid_t mask, void *param)
+{
+ filter_el_t *el;
+ int ret;
+
+#if ENABLE_DEBUG
+ if (entry->type == CAN_TYPE_DEFAULT) {
+ DEBUG("can_router_unregister: ifnum=%d, pid=%" PRIkernel_pid ", can_id=0x%" PRIx32
+ ", mask=0x%" PRIx32 ", data=%p", entry->ifnum, entry->target.pid, can_id, mask, param);
+ } else if (entry->type == CAN_TYPE_MBOX) {
+ DEBUG("can_router_unregister: ifnum=%d, mbox=%p, can_id=0x%" PRIx32
+ ", mask=0x%" PRIx32 ", data=%p\n", entry->ifnum, (void *)entry->target.mbox, can_id, mask, param);
+ }
+#endif
+
+ mutex_lock(&lock);
+ el = _find_filter_el(table[entry->ifnum], entry, can_id, mask, param);
+ if (!el) {
+ mutex_unlock(&lock);
+ return -EINVAL;
+ }
+ LL_DELETE(table[entry->ifnum], &el->entry);
+ _free_filter_el(el);
+ ret = _filter_is_used(entry->ifnum, can_id, mask);
+ mutex_unlock(&lock);
+
+ PRINT_FILTERS();
+
+ return ret;
+}
+
+static int _send_msg(msg_t *msg, can_reg_entry_t *entry)
+{
+#ifdef MODULE_CAN_MBOX
+ switch (entry->type) {
+ case CAN_TYPE_DEFAULT:
+ return msg_try_send(msg, entry->target.pid);
+ case CAN_TYPE_MBOX:
+ DEBUG("_send_msg: sending msg=%p to mbox=%p\n", (void *)msg, (void *)entry->target.mbox);
+ return mbox_try_put(entry->target.mbox, msg);
+ default:
+ return -ENOTSUP;
+ }
+#else
+ return msg_try_send(msg, entry->target.pid);
+#endif
+}
+
+/* send received pkt to all interested users */
+int can_router_dispatch_rx_indic(can_pkt_t *pkt)
+{
+ if (!pkt) {
+ DEBUG("can_router_dispatch_rx_indic: invalid pkt\n");
+ return -EINVAL;
+ }
+
+ int res = 0;
+ msg_t msg;
+ msg.type = CAN_MSG_RX_INDICATION;
+#if ENABLE_DEBUG
+ int msg_cnt = 0;
+#endif
+ DEBUG("can_router_dispatch_rx_indic: pkt=%p, ifnum=%d, can_id=%" PRIx32 "\n",
+ (void *)pkt, pkt->entry.ifnum, pkt->frame.can_id);
+
+ mutex_lock(&lock);
+ can_reg_entry_t *entry;
+ filter_el_t *el;
+ LL_FOREACH(table[pkt->entry.ifnum], entry) {
+ el = container_of(entry, filter_el_t, entry);
+ if ((pkt->frame.can_id & el->mask) == el->can_id) {
+ DEBUG("can_router_dispatch_rx_indic: found el=%p, data=%p\n",
+ (void *)el, (void *)el->data);
+ DEBUG("can_router_dispatch_rx_indic: rx_ind to pid: %"
+ PRIkernel_pid "\n", entry->target.pid);
+ atomic_fetch_add(&pkt->ref_count, 1);
+ msg.content.ptr = can_pkt_alloc_rx_data(&pkt->frame, sizeof(pkt->frame), el->data);
+#if ENABLE_DEBUG
+ msg_cnt++;
+#endif
+ if (!msg.content.ptr || (_send_msg(&msg, entry) <= 0)) {
+ can_pkt_free_rx_data(msg.content.ptr);
+ atomic_fetch_sub(&pkt->ref_count, 1);
+ DEBUG("can_router_dispatch_rx_indic: failed to send msg to "
+ "pid=%" PRIkernel_pid "\n", entry->target.pid);
+ res = -EBUSY;
+ break;
+ }
+ }
+ }
+ mutex_unlock(&lock);
+#if ENABLE_DEBUG
+ DEBUG("can_router_dispatch_rx: msg send to %d threads\n", msg_cnt);
+#endif
+ if (atomic_load(&pkt->ref_count) == 0) {
+ can_pkt_free(pkt);
+ }
+
+ return res;
+}
+
+int can_router_dispatch_tx_conf(can_pkt_t *pkt)
+{
+ msg_t msg;
+ msg.type = CAN_MSG_TX_CONFIRMATION;
+ msg.content.value = pkt->handle;
+
+ DEBUG("can_router_dispatch_tx_conf: frame=%p, pid=%" PRIkernel_pid "\n",
+ (void *)&pkt->frame, pkt->entry.target.pid);
+
+ if (_send_msg(&msg, &pkt->entry) <= 0) {
+ return -1;
+ }
+
+ return 0;
+}
+
+int can_router_dispatch_tx_error(can_pkt_t *pkt)
+{
+ msg_t msg;
+ msg.type = CAN_MSG_TX_ERROR;
+ msg.content.value = pkt->handle;
+
+ DEBUG("can_router_dispatch_tx_error: frame=%p, pid=%" PRIkernel_pid "\n",
+ (void *)&pkt->frame, pkt->entry.target.pid);
+
+ if (_send_msg(&msg, &pkt->entry) <= 0) {
+ return -1;
+ }
+
+ return 0;
+}
+
+int can_router_free_frame(struct can_frame *frame)
+{
+ can_pkt_t *pkt = NULL;
+
+ pkt = container_of(frame, can_pkt_t, frame);
+
+ DEBUG("can_router_free_frame: pkt=%p\n", (void*) pkt);
+
+ if (!pkt || (atomic_load(&pkt->ref_count) <= 0)) {
+ return -1;
+ }
+
+ atomic_fetch_sub(&pkt->ref_count, 1);
+
+ if (atomic_load(&pkt->ref_count) == 0) {
+ can_pkt_free(pkt);
+ }
+ return 0;
+}
diff --git a/sys/include/can/can.h b/sys/include/can/can.h
new file mode 100644
index 0000000000..477aec7ed4
--- /dev/null
+++ b/sys/include/can/can.h
@@ -0,0 +1,149 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * 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.
+ */
+
+/**
+ * @ingroup can
+ * @defgroup can_dll Data Link Layer
+ * @brief CAN Data Link Layer
+ *
+ * The Data Link Layer is composed of the device, router, pkt and dll files.
+ * It can be used to send and receive raw CAN frames through multiple CAN controllers.
+ *
+ * @{
+ *
+ *
+ * @file
+ * @brief Definitions high-level CAN interface
+ *
+ * @author Vincent Dupont <vincent@otakeys.com>
+ * @author Toon Stegen <toon.stegen@altran.com>
+ */
+
+#ifndef CAN_CAN_H
+#define CAN_CAN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+#if defined(__linux__)
+
+#include <linux/can.h>
+#include <libsocketcan.h>
+
+#else
+
+/**
+ * @brief Max data length for a CAN frame
+ */
+#define CAN_MAX_DLEN (8)
+
+/**
+ * @name CAN_ID flags and masks
+ * @{
+ */
+/* special address description flags for the CAN_ID */
+#define CAN_EFF_FLAG (0x80000000U) /**< EFF/SFF is set in the MSB */
+#define CAN_RTR_FLAG (0x40000000U) /**< remote transmission request */
+#define CAN_ERR_FLAG (0x20000000U) /**< error message frame */
+
+/* valid bits in CAN ID for frame formats */
+#define CAN_SFF_MASK (0x000007FFU) /**< standard frame format (SFF) */
+#define CAN_EFF_MASK (0x1FFFFFFFU) /**< extended frame format (EFF) */
+#define CAN_ERR_MASK (0x1FFFFFFFU) /**< omit EFF, RTR, ERR flags */
+/** @} */
+
+/**
+ * @brief CAN operational and error states
+ */
+ enum can_state {
+ CAN_STATE_ERROR_ACTIVE = 0, /**< RX/TX error count < 96 */
+ CAN_STATE_ERROR_WARNING, /**< RX/TX error count < 128 */
+ CAN_STATE_ERROR_PASSIVE, /**< RX/TX error count < 256 */
+ CAN_STATE_BUS_OFF, /**< RX/TX error count >= 256 */
+ CAN_STATE_STOPPED, /**< Device is stopped */
+ CAN_STATE_SLEEPING, /**< Device is sleeping */
+ CAN_STATE_MAX
+ };
+
+/**
+ * @brief Controller Area Network Identifier structure
+ *
+ * bit 0-28 : CAN identifier (11/29 bit) right aligned for 11 bit
+ * bit 29 : error message frame flag (0 = data frame, 1 = error message)
+ * 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 canid_t;
+
+/**
+ * @brief Controller Area Network frame
+ */
+struct can_frame {
+ canid_t can_id; /**< 32 bit CAN_ID + EFF/RTR/ERR flags */
+ uint8_t can_dlc; /**< frame payload length in byte (0 .. CAN_MAX_DLEN) */
+ uint8_t __pad; /**< padding */
+ uint8_t __res0; /**< reserved / padding */
+ uint8_t __res1; /**< reserved / padding */
+ /** Frame data */
+ uint8_t data[CAN_MAX_DLEN] __attribute__((aligned(8)));
+};
+
+/**
+ * @brief Controller Area Network filter
+ */
+struct can_filter {
+ canid_t can_id; /**< CAN ID */
+ canid_t can_mask; /**< Mask */
+};
+
+/**
+ * @brief CAN bit-timing parameters
+ *
+ * For further information, please read chapter "8 BIT TIMING
+ * REQUIREMENTS" of the "Bosch CAN Specification version 2.0"
+ * at http://www.semiconductors.bosch.de/pdf/can2spec.pdf.
+ */
+struct can_bittiming {
+ uint32_t bitrate; /**< Bit-rate in bits/second */
+ uint32_t sample_point; /**< Sample point in one-tenth of a percent */
+ uint32_t tq; /**< Time quanta (TQ) in nanoseconds */
+ uint32_t prop_seg; /**< Propagation segment in TQs */
+ uint32_t phase_seg1; /**< Phase buffer segment 1 in TQs */
+ uint32_t phase_seg2; /**< Phase buffer segment 2 in TQs */
+ uint32_t sjw; /**< Synchronisation jump width in TQs */
+ uint32_t brp; /**< Bit-rate prescaler */
+};
+
+/**
+ * @brief CAN hardware-dependent bit-timing constant
+ *
+ * Used for calculating and checking bit-timing parameters
+ */
+struct can_bittiming_const {
+ uint32_t tseg1_min; /**< Time segment 1 = prop_seg + phase_seg1, min value */
+ uint32_t tseg1_max; /**< Time segment 1, max value */
+ uint32_t tseg2_min; /**< Time segment 2 = phase_seg2, min value */
+ uint32_t tseg2_max; /**< Time segment 2, max value */
+ uint32_t sjw_max; /**< Synchronisation jump width */
+ uint32_t brp_min; /**< Bit-rate prescaler, min value */
+ uint32_t brp_max; /**< Bit-rate prescaler, max value */
+ uint32_t brp_inc; /**< Bit-rate prescaler, increment */
+};
+
+#endif /* defined(__linux__) */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CAN_CAN_H */
+
+/** @} */
diff --git a/sys/include/can/common.h b/sys/include/can/common.h
new file mode 100644
index 0000000000..663d2a59fd
--- /dev/null
+++ b/sys/include/can/common.h
@@ -0,0 +1,162 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * 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.
+ */
+
+/**
+ * @ingroup can
+ * @defgroup can_common Common
+ * @brief CAN stack common definitions
+ *
+ * This module defines the common part of the CAN stack, including structures
+ * and messages.
+ *
+ * @{
+ *
+ *
+ * @file
+ * @brief Definitions of high-level CAN interface
+ *
+ * @author Vincent Dupont <vincent@otakeys.com>
+ */
+
+#ifndef CAN_COMMON_H
+#define CAN_COMMON_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <sys/uio.h>
+
+#include "timex.h"
+#include "thread.h"
+#ifdef MODULE_CAN_MBOX
+#include "mbox.h"
+#endif
+#include "net/gnrc/pktbuf.h"
+
+/**
+ * @brief CAN options
+ */
+typedef enum {
+ CANOPT_BITTIMING, /**< bit timing parameter */
+ CANOPT_RX_FILTERS, /**< rx filters */
+ CANOPT_TEC, /**< Transmit Error Counter */
+ CANOPT_REC, /**< Receive Error Counter*/
+ CANOPT_LEC, /**< Last Error Code */
+ CANOPT_CLOCK, /**< controller main clock */
+ CANOPT_BITTIMING_CONST, /**< controller bittiming parameters */
+ CANOPT_STATE, /**< set controller state @ref canopt_state_t */
+} canopt_t;
+
+/**
+ * @brief CAN state options
+ *
+ * CAN state options to be used with @p CANOPT_STATE
+ */
+typedef enum {
+ CANOPT_STATE_OFF, /**< powered off */
+ CANOPT_STATE_SLEEP, /**< sleep mode */
+ CANOPT_STATE_LISTEN_ONLY, /**< listen only mode */
+ CANOPT_STATE_ON, /**< power on, rx / tx mode */
+} canopt_state_t;
+
+
+/**
+ * @brief Structure to pass a CAN option
+ */
+typedef struct {
+ canopt_t opt; /**< the option to get/set */
+ uint16_t context; /**< (optional) context for that option */
+ void *data; /**< data to set or buffer to read into */
+ uint16_t data_len; /**< size of the data / the buffer */
+} can_opt_t;
+
+/**
+ * @brief Messages which can be sent through the CAN stack
+ */
+enum can_msg {
+ /* High level messages */
+ CAN_MSG_ACK = 0x100, /**< acknowledgment */
+ CAN_MSG_SEND_FRAME, /**< send a frame */
+ CAN_MSG_ABORT_FRAME, /**< abort a frame */
+ CAN_MSG_SET, /**< set an option */
+ CAN_MSG_GET, /**< get an option */
+ CAN_MSG_SET_FILTER, /**< set a filter */
+ CAN_MSG_REMOVE_FILTER, /**< remove a filter */
+ CAN_MSG_POWER_UP, /**< power up */
+ CAN_MSG_POWER_DOWN, /**< power down */
+ /* candev internal messages */
+ CAN_MSG_EVENT = 0x200, /**< driver event */
+ CAN_MSG_WAKE_UP, /**< driver has been woken up by bus */
+ CAN_MSG_TX_CONFIRMATION, /**< a frame has been sent */
+ CAN_MSG_RX_INDICATION, /**< a frame has been received */
+ CAN_MSG_TX_ERROR, /**< there was an error when transmitting */
+ CAN_MSG_RX_ERROR, /**< there was an error when receiving */
+ CAN_MSG_BUS_OFF, /**< bus-off detected */
+ CAN_MSG_ERROR_PASSIVE, /**< driver switched in error passive */
+ CAN_MSG_ERROR_WARNING, /**< driver reached error warning */
+#if defined(MODULE_CAN_PM) || defined(DOXYGEN)
+ CAN_MSG_PM, /**< power management event */
+#endif
+ /* isotp messages */
+#if defined(MODULE_CAN_ISOTP) || defined(DOXYGEN)
+ CAN_MSG_ISOTP_RX_TIMEOUT = 0x400, /**< isotp rx timeout */
+ CAN_MSG_ISOTP_TX_TIMEOUT, /**< isotp tx timeout */
+#endif
+};
+
+/**
+ * @brief Received data structure
+ *
+ * This structure is used when a layer sends received data
+ * to the upper layer
+ */
+typedef struct can_rx_data {
+ struct iovec data; /**< iovec containing received data */
+ void *arg; /**< upper layer private param */
+ gnrc_pktsnip_t *snip; /**< pointer to the allocated snip */
+} can_rx_data_t;
+
+
+/**
+ * @brief registry entry types
+ */
+typedef enum {
+ CAN_TYPE_DEFAULT = 0, /**< default entry (use msg) */
+#if defined(MODULE_CAN_MBOX) || defined(DOXYGEN)
+ CAN_TYPE_MBOX, /**< mbox entry */
+#endif
+} can_reg_type_t;
+
+/**
+ * @brief registry entry
+ *
+ * This structure is used through the stack to describe how to contact
+ * the upper layer and which CAN interface to use
+ */
+typedef struct can_reg_entry {
+ struct can_reg_entry *next; /**< next for linked list */
+ int ifnum; /**< interface number for the entry */
+ union {
+ kernel_pid_t pid; /**< pid of the thread when using msg */
+#if defined(MODULE_CAN_MBOX) || defined(DOXYGEN)
+ mbox_t *mbox; /**< mbox pointer */
+#endif
+ } target; /**< entry target */
+#if defined(MODULE_CAN_MBOX) || defined(DOXYGEN)
+ can_reg_type_t type; /**< entry type */
+#endif
+} can_reg_entry_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CAN_COMMON_H */
+/** @} */
diff --git a/sys/include/can/device.h b/sys/include/can/device.h
new file mode 100644
index 0000000000..f01dc44922
--- /dev/null
+++ b/sys/include/can/device.h
@@ -0,0 +1,113 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * 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.
+ */
+
+/**
+ * @ingroup can_dll
+ * @{
+ *
+ *
+ * @file
+ * @brief Definitions of CAN device interface
+ *
+ * @author Vincent Dupont <vincent@otakeys.com>
+ * @author Toon Stegen <toon.stegen@altran.com>
+ */
+
+#ifndef CAN_DEVICE_H
+#define CAN_DEVICE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "can/candev.h"
+#include "kernel_types.h"
+
+#ifdef MODULE_CAN_PM
+#include "xtimer.h"
+#endif
+
+#ifndef CAN_MAX_RATE_ERROR
+/**
+ * Maximum bit-rate error allowed when computing bittimings
+ * in tenth of percent
+ */
+#define CAN_MAX_RATE_ERROR (50) /* 5 % */
+#endif
+
+#ifndef CAN_DLL_NUMOF
+/**
+ * Maximum number of interfaces which can be registered on DLL
+ */
+#define CAN_DLL_NUMOF (1U)
+#endif
+
+/**
+ * @brief Parameters to initialize a candev
+ */
+typedef struct candev_params {
+ const char *name; /**< candev name to set */
+#if defined(MODULE_CAN_PM) || defined(DOXYGEN)
+ uint32_t rx_inactivity_timeout; /**< power management rx timeout value */
+ uint32_t tx_wakeup_timeout; /**< power management tx wake up value */
+#endif
+} candev_params_t;
+
+/**
+ * @brief candev descriptor to pass to the device thread
+ */
+typedef struct candev_dev {
+ candev_t *dev; /**< the device */
+ int ifnum; /**< interface number */
+ kernel_pid_t pid; /**< pid */
+ const char *name; /**< device name */
+#if defined(MODULE_CAN_PM) || defined(DOXYGEN)
+ uint32_t rx_inactivity_timeout; /**< Min timeout loaded when a frame is received */
+ uint32_t tx_wakeup_timeout; /**< Min timeout loaded when a frame is sent */
+ uint32_t last_pm_update; /**< time when the pm was updated */
+ uint32_t last_pm_value; /**< last pm timer value set */
+ xtimer_t pm_timer; /**< timer for power management */
+#endif
+} candev_dev_t;
+
+/**
+ * @brief Initialize a CAN device thread
+ *
+ * This function sets up a CAN device thread
+ *
+ * @param[in] stack the device thread stack
+ * @param[in] stacksize the device thread stack size
+ * @param[in] priority the device thread priority
+ * @param[in] name the device thread name
+ * @param[in] params the parameters containing the device pointer and the ifnum
+ *
+ * @return the pid of the created thread
+ */
+kernel_pid_t can_device_init(char *stack, int stacksize, char priority,
+ const char *name, candev_dev_t *params);
+
+/**
+ * @brief Fill in a @p bittiming structure from @p bittiming->bitrate and @p timing_const
+ *
+ * @param[in] clock the clock of the CAN controller
+ * @param[in] timing_const the timing parameter of the CAN controller
+ * @param[in,out] bittiming the calculated bittiming (bitrate field must be set)
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int can_device_calc_bittiming(uint32_t clock, const struct can_bittiming_const *timing_const,
+ struct can_bittiming *bittiming);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CAN_DEVICE_H */
+
+/** @} */
diff --git a/sys/include/can/dll.h b/sys/include/can/dll.h
new file mode 100644
index 0000000000..503e97fb98
--- /dev/null
+++ b/sys/include/can/dll.h
@@ -0,0 +1,110 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * 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.
+ */
+
+/**
+ * @ingroup can_dll
+ * @{
+ *
+ *
+ * @file
+ * @brief Definitions of low-level CAN DLL interface
+ *
+ * @author Vincent Dupont <vincent@otakeys.com>
+ * @author Toon Stegen <toon.stegen@altran.com>
+ */
+
+#ifndef CAN_DLL_H
+#define CAN_DLL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "can/common.h"
+#include "can/pkt.h"
+#include "can/device.h"
+#include "thread.h"
+
+/**
+ * @brief Initialize the CAN DLL
+ *
+ * @return 0 on success
+ */
+int can_dll_init(void);
+
+/**
+ * @brief Register a CAN device into the DLL
+ *
+ * This function must be called by the device thread to register the device into the DLL
+ *
+ * @param[in] candev the candev to register
+ *
+ * @return interface number on success
+ * @return -ENODEV if ifnum is invalid
+ */
+int can_dll_register_candev(candev_dev_t *candev);
+
+/**
+ * @brief Dispatch a received frame
+ *
+ * This function is used to send a message to the DLL thread when a @p frame is received
+ * from the device identified by its @p pid
+ *
+ * @param[in] frame the received frame
+ * @param[in] pid the pid of the receiver device
+ *
+ * @return 0 on success
+ * @return -ENOMEM if the message can not be sent
+ */
+int can_dll_dispatch_rx_frame(struct can_frame *frame, kernel_pid_t pid);
+
+/**
+ * @brief Dispatch a tx confirmation
+ *
+ * This function is used to send a message to the sender thread when the
+ * @p pkt has been sent correctly.
+ *
+ * @param[in] pkt the pkt which has been sent
+ *
+ * @return 0 on success
+ * @return -ENOMEM if the message can not be sent
+ */
+int can_dll_dispatch_tx_conf(can_pkt_t *pkt);
+
+/**
+ * @brief Dispatch a tx error
+ *
+ * This function is used to send a message to the sender thread when the
+ * @p pkt has not been sent correctly
+ *
+ * @param[in] pkt the pkt which has not been sent correctly
+ *
+ * @return 0 on success
+ * @return -ENOMEM if the message can not be sent
+ */
+int can_dll_dispatch_tx_error(can_pkt_t *pkt);
+
+/**
+ * @brief Dispatch RX error from a device
+ *
+ * Dispatch RX error from a device to receivers threads
+ * which have subscribed to frames on that interface
+ *
+ * @param[in] pid the device thread pid
+ *
+ * @return 0 on success
+ */
+int can_dll_dispatch_bus_off(kernel_pid_t pid);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CAN_DLL_H */
+
+/** @} */
diff --git a/sys/include/can/doc.txt b/sys/include/can/doc.txt
new file mode 100644
index 0000000000..6b17fecc42
--- /dev/null
+++ b/sys/include/can/doc.txt
@@ -0,0 +1,23 @@
+/**
+ * @defgroup can CAN
+ * @brief RIOT CAN stack
+ *
+ * This module is a full CAN stack integrated to RIOT.
+ * It includes a low-level interface, a data link layer, an ISO-TP layer and
+ * a user interface.
+ *
+ * The low-level interface, candev, must be implemented by controler drivers.
+ * The optional transceiver support can also be activated. Transceiver drivers must
+ * then implement the trx_can interface.
+ *
+ * The data link layer is built around a device thread (one thread per CAN device),
+ * and a common part. The common part is composed of the dll interface, for low-level
+ * calls (from the device) and the raw interface for upper-level calls.
+ * Internally it also uses the pkt module to allocate frames and the router module
+ * to manage CAN filters.
+ *
+ * The ISO-TP layer uses the data link layer to send and receive CAN frames.
+ *
+ * Finally, the connection layer is the user interface to send and receive raw
+ * CAN frames or ISO-TP datagrams.
+ */
diff --git a/sys/include/can/pkt.h b/sys/include/can/pkt.h
new file mode 100644
index 0000000000..9744254dda
--- /dev/null
+++ b/sys/include/can/pkt.h
@@ -0,0 +1,152 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * 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.
+ */
+
+/**
+ * @ingroup can_dll
+ * @{
+ *
+ *
+ * @file
+ * @brief CAN memory allocation module
+ *
+ * @author Vincent Dupont <vincent@otakeys.com>
+ * @author Toon Stegen <toon.stegen@altran.com>
+ */
+
+#ifndef CAN_PKT_H
+#define CAN_PKT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdatomic.h>
+
+#include "net/gnrc/pktbuf.h"
+
+#include "can/common.h"
+#include "can/can.h"
+#include "msg.h"
+#ifdef MODULE_CAN_MBOX
+#include "mbox.h"
+#endif
+
+/**
+ * @brief A CAN packet
+ *
+ * A CAN packet is used to add stack-related data around a CAN frame
+ */
+typedef struct {
+ can_reg_entry_t entry; /**< entry containing ifnum and upper layer info */
+ atomic_uint ref_count; /**< Reference counter (for rx frames) */
+ int handle; /**< handle (for tx frames */
+ struct can_frame frame; /**< CAN Frame */
+ gnrc_pktsnip_t *snip; /**< Pointer to the allocated snip */
+} can_pkt_t;
+
+/**
+ * @brief Initialize the CAN packet module
+ *
+ * This must be called by the DLL to initialize the module
+ */
+void can_pkt_init(void);
+
+/**
+ * @brief Allocate a CAN packet to transmit
+ *
+ * This function allocates a CAN packet and associates it to the @p ifnum and @p tx_pid.
+ * The provided @p frame is copied into the CAN packet and a unique handle is set.
+ *
+ * @param[in] ifnum the interface number
+ * @param[in] frame the frame to copy
+ * @param[in] tx_pid the pid of the sender's device thread
+ *
+ * @return an allocated CAN packet, NULL if an error occured
+ */
+can_pkt_t *can_pkt_alloc_tx(int ifnum, const struct can_frame *frame, kernel_pid_t tx_pid);
+
+/**
+ * @brief Allocate an incoming CAN packet
+ *
+ * @param[in] ifnum the interface number
+ * @param[in] frame the received frame
+ *
+ * @return an allocated CAN packet, NULL if an error occured
+ */
+can_pkt_t *can_pkt_alloc_rx(int ifnum, const struct can_frame *frame);
+
+#if defined(MODULE_CAN_MBOX) || defined(DOXYGEN)
+/**
+ * @brief Allocate a CAN packet for a mbox to transmit
+ *
+ * This function allocates a CAN packet and associate it to the @p ifnum and @p mbox.
+ * The provided @p frame is copied into the CAN packet and a unique handle is set.
+ *
+ * @param[in] ifnum the interface number
+ * @param[in] frame the frame to copy
+ * @param[in] mbox the pointer to the sender's mbox
+ *
+ * @return an allocated CAN packet, NULL if an error occured
+ */
+can_pkt_t *can_pkt_alloc_mbox_tx(int ifnum, const struct can_frame *frame, mbox_t *mbox);
+#endif
+
+/**
+ * @brief Free a CAN packet
+ *
+ * @param[in] pkt the packet to free, it must be a pointer returned
+ * by @ref can_pkt_alloc_tx or @ref can_pkt_alloc_rx
+ */
+void can_pkt_free(can_pkt_t *pkt);
+
+/**
+ * @brief Allocate a @p can_rx_data_t and initialize it with gieven parameters
+ *
+ * This is used to allocate a return value to the upper layer
+ *
+ * @param[in] data data which will be returned
+ * @param[in] len length of @p data
+ * @param[in] arg optional argument for the upper layer
+ *
+ * @return a @p can_rx_data_t pointer, NULL if out of memory
+ */
+can_rx_data_t *can_pkt_alloc_rx_data(void *data, size_t len, void *arg);
+
+/**
+ * @brief Free rx data previously allocated by can_pkt_alloc_rx_data()
+ *
+ * @param[in] data the pointer to free
+ */
+void can_pkt_free_rx_data(can_rx_data_t *data);
+
+/**
+ * @brief Allocate @p size bytes and return the pointer
+ *
+ * This function has been copied from gnrc_pktbuf_static
+ *
+ * @param[in] size the number of bytes to allocate
+ *
+ * @return the pointer to thje allocated data, NULL if out of memory
+ */
+void *can_pkt_buf_alloc(size_t size);
+
+/**
+ * @brief Free the data allocated by can_pkt_buf_alloc()
+ *
+ * @param[in] data the pointer to free
+ * @param[in] size the size of the data to free
+ */
+void can_pkt_buf_free(void *data, size_t size);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CAN_PKT_H */
+
+/** @} */
diff --git a/sys/include/can/raw.h b/sys/include/can/raw.h
new file mode 100644
index 0000000000..1316bf9663
--- /dev/null
+++ b/sys/include/can/raw.h
@@ -0,0 +1,261 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * 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.
+ */
+
+/**
+ * @ingroup can_dll
+ * @{
+ *
+ *
+ * @file
+ * @brief Definitions high-level RAW CAN interface
+ *
+ * This file defines the hig-level CAN interface to send and receive RAW CAN frame.
+ *
+ * @author Vincent Dupont <vincent@otakeys.com>
+ * @author Toon Stegen <toon.stegen@altran.com>
+ * @author Aurelien Gonce <aurelien.gonce@altran.com>
+ */
+
+#ifndef CAN_RAW_H
+#define CAN_RAW_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "kernel_types.h"
+#include "can/can.h"
+#include "can/common.h"
+#include "can/device.h"
+
+#ifdef MODULE_CAN_MBOX
+#include "mbox.h"
+#endif
+
+
+/**
+ * @brief Default value for undefined interface number
+ */
+#define RAW_CAN_DEV_UNDEF (-1)
+
+/**
+ * @brief Send a CAN frame
+ *
+ * Send a CAN @p frame through the @p ifnum interface. The result is
+ * sent to the @p pid thread via IPC.
+ *
+ * @param[in] ifnum the interface number to send to
+ * @param[in] frame the frame to send
+ * @param[in] pid the user thread id to whom the result msg will be sent
+ * it can be THREAD_PID_UNDEF if no feedback is expected
+ *
+ * @return a positive handle identifying the sent frame on success
+ * @return < 0 on error
+ */
+int raw_can_send(int ifnum, const struct can_frame *frame, kernel_pid_t pid);
+
+/**
+ * @brief Abort a CAN frame
+ *
+ * Abort the frame identified by @p handle in the interface @p ifnum
+ * If no tx confirmation is received, this function must be called by the upper layer
+ * to ensure the driver frees its tx mailbox. The driver is not responsible of tx timeouts.
+ *
+ * @param[in] ifnum the interface number used to send the frame
+ * @param[in] handle the handle of the frame to abort,
+ * it must be the value returned by raw_can_send
+ * @return 0 on succes
+ * @return < 0 on error (-ENODEV)
+ */
+int raw_can_abort(int ifnum, int handle);
+
+/**
+ * @brief Subscribe to a CAN filter
+ *
+ * This function must be called if a user thread @p pid wants to receive the CAN frame matching @p filter
+ * on the interface @p ifnum.
+ * The user thread will then receive msg via IPC on reception of frame matching @p filters.
+ *
+ * @param[in] ifnum the interface number to listen
+ * @param[in] filter the list of filter to receive
+ * @param[in] pid the thread id of the user
+ * @param[in] param optional user parameter
+ *
+ * @return the @p ifnum on success
+ * @return < 0 on error
+ */
+int raw_can_subscribe_rx(int ifnum, struct can_filter *filter, kernel_pid_t pid, void *param);
+
+/**
+ * @brief Unsubscribe from reception for the given CAN @p filter on @p pid thread
+ *
+ * @param[in] ifnum the interface number
+ * @param[in] filter the filter to remove
+ * @param[in] pid the thread id of the user
+ * @param[in] param optional user parameter
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int raw_can_unsubscribe_rx(int ifnum, struct can_filter *filter, kernel_pid_t pid, void *param);
+
+/**
+ * @brief Free a received frame
+ *
+ * This function must be called by the user when a received frame is not needed anymore.
+ *
+ * @param[in] frame the frame to free, it must be a pointer to a frame received by the stack
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int raw_can_free_frame(can_rx_data_t *frame);
+
+/**
+ * @brief Get a CAN option @p opt from interface @p ifnum
+ *
+ * @param[in] ifnum the interface number
+ * @param[in,out] opt the option to get
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int raw_can_get_can_opt(int ifnum, can_opt_t *opt);
+
+/**
+ * @brief Set a CAN option @p opt to interface @p ifnum
+ *
+ * @param[in] ifnum the interface number
+ * @param[in,out] opt the option to set
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int raw_can_set_can_opt(int ifnum, can_opt_t *opt);
+
+#if defined(MODULE_CAN_MBOX) || defined(DOXYGEN)
+/**
+ * @brief Send a CAN frame
+ *
+ * Send a CAN @p frame through the @p ifnum interface. The result is
+ * sent to the @p mbox thread via mailbox IPC.
+ *
+ * @param[in] ifnum the interface number to send to
+ * @param[in] frame the frame to send
+ * @param[in] mbox the user mbox to whom the result msg will be sent
+ * it can be NULL if no feedback is expected
+ *
+ * @return a positive handle identifying the sent frame on success
+ * @return < 0 on error
+ */
+int raw_can_send_mbox(int ifnum, const struct can_frame *frame, mbox_t *mbox);
+
+/**
+ * @brief Subscribe to a CAN filter
+ *
+ * This function must be called if a user thread waiting on @p mbox wants to receive
+ * the CAN frame matching @p filter on the interface @p ifnum.
+ * The user thread will then receive msg via mailbox IPC on reception of frame matching @p filters.
+ *
+ * Currently only single frame ID (i.e. filters->can_mask = 0xFFFFFFFF) are supported.
+ *
+ * @param[in] ifnum the interface number to listen
+ * @param[in] filter the list of filter to receive
+ * @param[in] mbox the mbox of the user
+ * @param[in] param optional user parameter
+ *
+ * @return the @p ifnum on success
+ * @return < 0 on error
+ */
+int raw_can_subscribe_rx_mbox(int ifnum, struct can_filter *filter, mbox_t *mbox, void *param);
+
+/**
+ * @brief Unsubscribe from reception for the given CAN @p filter and @p mbox
+ *
+ * @param[in] ifnum the interface number
+ * @param[in] filter the filter to remove
+ * @param[in] mbox the mbox of the user
+ * @param[in] param optional user parameter
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int raw_can_unsubscribe_rx_mbox(int ifnum, struct can_filter *filter, mbox_t *mbox, void *param);
+#endif
+
+/**
+ * @brief Power down a given interface
+ *
+ * @param[in] ifnum the interface number to power down
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int raw_can_power_down(int ifnum);
+
+/**
+ * @brief Power up a given interface
+ *
+ * @param[in] ifnum the interface number to power up
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int raw_can_power_up(int ifnum);
+
+/**
+ * @brief Get the interface number of a given interface
+ *
+ * @param[in] name interface name
+ *
+ * @return the interface number, RAW_CAN_DEV_UNDEF if not defined
+ */
+int raw_can_get_ifnum_by_name(const char *name);
+
+/**
+ * @brief Get the interface name of a given interface number
+ *
+ * @param[in] ifnum interface number
+ *
+ * @return the interface name, NULL if no interface registered with this number
+ */
+const char *raw_can_get_name_by_ifnum(int ifnum);
+
+/**
+ * @brief Get the candev descriptor from a given interface number
+ *
+ * @param[in] ifnum interface number
+ *
+ * @return pointer to a candev descriptor, NULL if no interface is registered with
+ * this number
+ */
+candev_dev_t *raw_can_get_dev_by_ifnum(int ifnum);
+
+/**
+ * @brief Set the given bitrate/sample_point to the given ifnum
+ *
+ * Set the given @p bitrate and @p sample_point to the given @p ifnum. This is a
+ * helper function which calculates the right bittiming from @p bitrate and
+ * @p sample_point.
+ *
+ * @param[in] ifnum the interface number
+ * @param[in] bitrate the bitrate in bits/s
+ * @param[in] sample_point the sample point in tenth of percent (875 = 87.5%)
+ * if not set, the default value of 87.5% is used
+ * @return 0 on success
+ * @return 1 if the bitrate/sample_point couple can not be reached precisely but the bitrate is set
+ * @return < 0 on error
+ */
+int raw_can_set_bitrate(int ifnum, uint32_t bitrate, uint32_t sample_point);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CAN_RAW_H */
+/** @} */
diff --git a/sys/include/can/router.h b/sys/include/can/router.h
new file mode 100644
index 0000000000..d5679a1df8
--- /dev/null
+++ b/sys/include/can/router.h
@@ -0,0 +1,116 @@
+/*
+ * Copyright (C) 2016 OTA keys S.A.
+ *
+ * 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.
+ */
+
+/**
+ * @ingroup can_dll
+ * @{
+ *
+ *
+ * @file
+ * @brief Functions for routing RX can frames
+ *
+ * @author Toon Stegen <toon.stegen@altran.com>
+ * @author Vincent Dupont <vincent@otakeys.com>
+ */
+
+#ifndef CAN_ROUTER_H
+#define CAN_ROUTER_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "kernel_types.h"
+
+#include "can/can.h"
+#include "can/pkt.h"
+
+/**
+ * @brief Register a user @p entry to receive a frame @p can_id
+ *
+ * @param[in] entry the entry containing ifnum and user info
+ * @param[in] can_id the CAN ID of the frame to receive
+ * @param[in] mask the mask of the frame to receive
+ * @param[in] param a user private pointer
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int can_router_register(can_reg_entry_t *entry, canid_t can_id, canid_t mask, void *param);
+
+/**
+ * @brief Unregister a user @p entry from receiving @p can_id
+ *
+ * The filter is unregistered from the 'router' layer if @p can_id, @p mask and @p param
+ * matches a registered entry.
+ *
+ * @param[in] entry the entry containing ifnum and user info which was registered
+ * @param[in] can_id the CAN ID of the frame to stop receiving
+ * @param[in] mask the mask of the frame to stop receiving
+ * @param[in] param a user private pointer
+ *
+ * @return 0 if @p can_id is not used anymore
+ * @return 1 if @p can_id is still used by another pid
+ * @return < 0 on error
+ */
+int can_router_unregister(can_reg_entry_t *entry, canid_t can_id, canid_t mask, void *param);
+
+/**
+ * @brief Free a received frame
+ *
+ * This function decrements the ref counter of the packet and frees it if the packet
+ * is no more in use.
+ *
+ * @param[in] frame the frame to free, it must be a frame returned by the stack
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int can_router_free_frame(struct can_frame *frame);
+
+/**
+ * @brief Dispatch a RX indication to subscribers threads
+ *
+ * This function goes through the list of subscribed filters to send a message to each
+ * subscriber's thread. If all the subscriber's threads cannot receive message,
+ * the packet is freed.
+ *
+ * @param[in] pkt the packet to dispatch
+ *
+ * @return 0 on success
+ * @return < 0 on error, if at least a thread cannot receive message
+ */
+int can_router_dispatch_rx_indic(can_pkt_t *pkt);
+
+/**
+ * @brief Dispatch a TX confirmation to the sender's thread
+ *
+ * @param[in] pkt the correctly sent packet
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int can_router_dispatch_tx_conf(can_pkt_t *pkt);
+
+/**
+ * @brief Dispatch a TX error to the sender's thread
+ *
+ * @param[in] pkt the error packet
+ *
+ * @return 0 on success
+ * @return < 0 on error
+ */
+int can_router_dispatch_tx_error(can_pkt_t *pkt);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CAN_ROUTER_H */
+
+/** @} */
--
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