6e4cb2b9ab
CAN stands for Controller Area Network, a broadcast network used in automation and automotive fields. For example, the NMEA2000 standard developped for marine devices uses a CAN network as the link layer. This is an implementation of the linux socketcan API: https://www.kernel.org/doc/Documentation/networking/can.txt you can also see can(4). This adds a new socket family (AF_CAN) and protocol (PF_CAN), as well as the canconfig(8) utility, used to set timing parameter of CAN hardware. Also inclued is a driver for the CAN controller found in the allwinner A20 SoC (I tested it with an Olimex lime2 board, connected with PIC18-based CAN devices). There is also the canloop(4) pseudo-device, which allows to use the socketcan API without CAN hardware. At this time the CANFD part of the linux socketcan API is not implemented. Error frames are not implemented either. But I could get the cansend and canreceive utilities from the canutils package to build and run with minimal changes. tcpudmp(8) can also be used to record frames, which can be decoded with etherreal.
77 lines
2.6 KiB
C
77 lines
2.6 KiB
C
/* $NetBSD: can_proto.c,v 1.2 2017/05/27 21:02:56 bouyer Exp $ */
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/*-
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* Copyright (c) 2003, 2017 The NetBSD Foundation, Inc.
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* All rights reserved.
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*
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* This code is derived from software contributed to The NetBSD Foundation
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* by Robert Swindells and Manuel Bouyer
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE NETBSD FOUNDATION, INC. AND CONTRIBUTORS
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* ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE FOUNDATION OR CONTRIBUTORS
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* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <sys/cdefs.h>
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__KERNEL_RCSID(0, "$NetBSD: can_proto.c,v 1.2 2017/05/27 21:02:56 bouyer Exp $");
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#include <sys/param.h>
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#include <sys/socket.h>
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#include <sys/protosw.h>
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#include <sys/domain.h>
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#include <sys/mbuf.h>
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#include <net/if.h>
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#include <net/radix.h>
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#include <net/route.h>
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/*
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* CAN protocol family
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*/
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#include <netcan/can.h>
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#include <netcan/can_var.h>
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DOMAIN_DEFINE(candomain); /* forward declare and add to link set */
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const struct protosw cansw[] = {
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{
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.pr_type = SOCK_RAW,
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.pr_domain = &candomain,
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.pr_init = can_init,
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.pr_flags = PR_ATOMIC|PR_ADDR,
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.pr_usrreqs = &can_usrreqs,
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.pr_ctloutput = &can_ctloutput,
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}
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};
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struct domain candomain = {
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.dom_family = PF_CAN,
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.dom_name = "can",
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.dom_init = can_init,
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.dom_externalize = NULL, .dom_dispose = NULL,
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.dom_protosw = cansw,
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.dom_protoswNPROTOSW = &cansw[__arraycount(cansw)],
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.dom_ifqueues = { &canintrq, NULL },
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.dom_link = { NULL },
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.dom_mowner = MOWNER_INIT("",""),
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.dom_sa_cmpofs = offsetof(struct sockaddr_can, can_ifindex),
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.dom_sa_cmplen = sizeof(int)
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};
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