Merge pull request #130 from RICCIARDI-Adrien/add_initial_can_stack_a…

…nd_example

Add initial CAN stack and example

com/ComStack_Types.h

@@ -0,0 +1,65 @@
+/**
+ * @file ComStack_Types.h
+ *
+ * @section desc File description
+ *
+ * This implementation is based on AUTOSAR CAN Driver R22-11, see
+ * https://www.autosar.org/fileadmin/standards/R22-11/CP/AUTOSAR_SWS_CommunicationStackTypes.pdf
+ *
+ * @section copyright Copyright
+ *
+ * Trampoline OS
+ *
+ * Trampoline is copyright (c) IRCCyN 2005+
+ * Trampoline is protected by the French intellectual property law.
+ *
+ * (C) BayLibre 2023
+ *
+ * This software is distributed under the Lesser GNU Public Licence
+ *
+ *  @section infos File informations
+ *
+ *  $Date$
+ *  $Rev$
+ *  $Author$
+ *  $URL$
+ */
+#ifndef COM_STACK_TYPES_H
+#define COM_STACK_TYPES_H
+
+#include <tpl_os_types.h>
+
+/**
+ * @typedef PduIdType
+ *
+ * Variables of this type serve as a unique identifier of a PDU within a
+ * software module or a set thereof, and also for interaction of two software
+ * modules where the PduId of the corresponding target module is being used for
+ * referencing.
+ */
+typedef uint8 PduIdType;
+
+/**
+ * @typedef PduLengthType
+ *
+ * Variables of this type serve as length information of a PDU. The length
+ * information is provided in number of bytes.
+ */
+typedef uint32 PduLengthType;
+
+/**
+ * @typedef PduInfoType
+ *
+ * Variables of this type shall be used to store the basic information about a
+ * PDU of any type, namely a pointer variable pointing to its SDU (payload), a
+ * pointer to Meta Data of the PDU, and the corresponding length of the SDU in
+ * bytes.
+ */
+typedef struct
+{
+	uint8 *SduDataPtr;
+	uint8 *MetaDataPtr;
+	PduLengthType SduLength;
+} PduInfoType;
+
+#endif

examples/posix/can_demo/.gitignore

@@ -0,0 +1,3 @@
+can_demo/
+can_demo_exe
+*.py

examples/posix/can_demo/README.md

@@ -0,0 +1,26 @@
+# Trampoline CAN demo example
+
+Have a look to ../README.md for more information about the POSIX target (using ViPER).
+
+This example allows to test the Trampoline CAN stack on the development PC.
+
+On Linux:
+```
+goil --target=posix/linux  --templates=../../../goil/templates/ can_demo.oil
+```
+
+Then, the makefile is generated, and it will call goil again when the .oil file
+is updated.
+```
+./make.py
+```
+
+Then, run the trampoline binary.
+```
+VIPER_PATH=../../../viper/ ./can_demo_exe
+```
+
+To quit, run the command below from another terminal.
+```
+killall -SIGINT can_demo_exe
+```

examples/posix/can_demo/can_demo.c

@@ -0,0 +1,79 @@
+#include <Can.h>
+#include <CanIf.h>
+#include <stdio.h>
+#include <string.h>
+#include <tpl_can_demo_driver.h>
+#include <tpl_os.h>
+
+int main(void)
+{
+	// Statically list the CAN controllers to use in the application
+	static tpl_can_controller_t *can_controllers[] =
+	{
+		&can_demo_driver_controller_1,
+		&can_demo_driver_controller_2,
+		NULL
+	};
+	static Can_ConfigType can_config_type =
+	{
+		can_controllers
+	};
+	int ret;
+
+	printf("Initializing all requested controllers...\r\n");
+	ret = Can_Init(&can_config_type);
+	if (ret)
+	{
+		printf("[%s:%d] Error : Can_Init() failed (%d).\r\n", __func__, __LINE__, ret);
+		return -1;
+	}
+
+	printf("Setting first controller baud rate...\r\n");
+	ret = CanIf_SetBaudrate(0, CAN_BAUD_RATE_500_KBPS);
+	if (ret)
+	{
+		printf("[%s:%d] Error : CanIf_SetBaudrate() failed (%d).\r\n", __func__, __LINE__, ret);
+		return -1;
+	}
+
+	StartOS(OSDEFAULTAPPMODE);
+	return 0;
+}
+
+TASK(can_task)
+{
+	Std_ReturnType ret;
+	uint8 payload[8];
+	Can_PduType can_pdu, *pointer_can_pdu;
+	PduInfoType pdu_info;
+	int i;
+
+	printf("Transmitting a CAN 2.0 frame with standard ID...\r\n");
+	can_pdu.id = 0x123 | TPL_CAN_ID_TYPE_STANDARD;
+	strcpy(payload, "Ciao !");
+	can_pdu.length = strlen(payload);
+	can_pdu.sdu = payload;
+	pdu_info.SduDataPtr = (uint8 *) &can_pdu;
+	pdu_info.SduLength = sizeof(can_pdu);
+	ret = CanIf_Transmit(0, &pdu_info);
+	if (ret)
+		printf("[%s:%d] Error : failed to transmit the frame (%d).\r\n", __func__, __LINE__, ret);
+	printf("Transmission succeeded.\r\n");
+
+	printf("Waiting for a CAN 2.0 frame with standard ID...\r\n");
+	ret = CanIf_ReadRxPduData(0, &pdu_info);
+	if (ret)
+		printf("No frame is available.\r\n");
+	else
+	{
+		printf("A frame has been received.\r\n");
+
+		pointer_can_pdu = (Can_PduType *) pdu_info.SduDataPtr;
+		printf("ID = 0x%X, length = %d, payload = ", pointer_can_pdu->id, pointer_can_pdu->length);
+		for (i = 0; i < pointer_can_pdu->length; i++)
+			printf("0x%02X ", pointer_can_pdu->sdu[i]);
+		printf("\r\n");
+	}
+
+	TerminateTask();
+}

examples/posix/can_demo/can_demo.oil

@@ -0,0 +1,27 @@
+OIL_VERSION = "2.5";
+
+CPU can_task {
+	OS config {
+		STATUS = EXTENDED;
+		BUILD = TRUE {
+			APP_SRC = "can_demo.c";
+			TRAMPOLINE_BASE_PATH = "../../..";
+			LDFLAGS = "-lrt -lpthread";
+			APP_NAME = "can_demo_exe";
+			LINKER = "gcc";
+			SYSTEM = PYTHON;
+			LIBRARY = can;
+		};
+	};
+
+	APPMODE stdAppmode {};
+
+	TASK can_task {
+		PRIORITY = 1;
+		AUTOSTART = TRUE {
+			APPMODE = stdAppmode;
+		};
+		ACTIVATION = 1;
+		SCHEDULE = FULL;
+	};
+};

goil/templates/build/build_py.goilTemplate

@@ -209,6 +209,7 @@ end foreach
 %
 if with_ioc:
   includeDirs += ["-I", "% !OS::BUILD_S::TRAMPOLINE_BASE_PATH %/ioc"]
+includeDirs += ["-I", "% !OS::BUILD_S::TRAMPOLINE_BASE_PATH %/com"]
 includeDirs += ["-I", "% !OS::BUILD_S::TRAMPOLINE_BASE_PATH %/os"]
 includeDirs += ["-I", "% !OS::BUILD_S::TRAMPOLINE_BASE_PATH %/debug"]
 includeDirs += ["-I", "% !PROJECT %"]

goil/templates/config/posix/config.oil

@@ -13,6 +13,9 @@ IMPLEMENTATION posix {
         STRING COMPILER = "gcc";
         STRING ASSEMBLER = "gcc";
         STRING LINKER = "gcc";
+        ENUM [
+          can
+        ] LIBRARY[];
       },
       FALSE
     ] BUILD = FALSE;
@@ -62,5 +65,10 @@ CPU posix {
     PATH = "../viper";
   };
 
+  LIBRARY can {
+    PATH = "../net/can";
+    CFILE = "tpl_can_core.c";
+    CFILE = "../../machines/posix/tpl_can_demo_driver.c";
+  };
 };
 

machines/posix/tpl_can_demo_driver.c

@@ -0,0 +1,117 @@
+/**
+ * @file tpl_can_demo_driver.c
+ *
+ * @section desc File description
+ *
+ * See tpl_can_demo_driver.h for description.
+ *
+ * @section copyright Copyright
+ *
+ * Trampoline OS
+ *
+ * Trampoline is copyright (c) IRCCyN 2005+
+ * Trampoline is protected by the French intellectual property law.
+ *
+ * (C) BayLibre 2023
+ *
+ * This software is distributed under the Lesser GNU Public Licence
+ *
+ *  @section infos File informations
+ *
+ *  $Date$
+ *  $Rev$
+ *  $Author$
+ *  $URL$
+ */
+#include <Can.h>
+#include <stdio.h>
+#include <string.h>
+#include <tpl_can_demo_driver.h>
+
+static int can_demo_driver_init(struct tpl_can_controller_t *ctrl, void *data);
+static int can_demo_driver_set_baudrate(struct tpl_can_controller_t *ctrl, tpl_can_baud_rate_t baud_rate);
+static Std_ReturnType can_demo_driver_transmit(struct tpl_can_controller_t *ctrl, const Can_PduType *pdu_info);
+static Std_ReturnType can_demo_driver_receive(struct tpl_can_controller_t *ctrl, Can_PduType *pdu_info);
+static int can_demo_driver_is_data_available(struct tpl_can_controller_t *ctrl);
+
+tpl_can_controller_t can_demo_driver_controller_1 =
+{
+	0x12341111,
+	can_demo_driver_init,
+	can_demo_driver_set_baudrate,
+	can_demo_driver_transmit,
+	can_demo_driver_receive,
+	can_demo_driver_is_data_available
+};
+
+tpl_can_controller_t can_demo_driver_controller_2 =
+{
+	0x12342222,
+	can_demo_driver_init,
+	can_demo_driver_set_baudrate,
+	can_demo_driver_transmit,
+	can_demo_driver_receive,
+	can_demo_driver_is_data_available
+};
+
+static int can_demo_driver_init(struct tpl_can_controller_t *ctrl, void *data)
+{
+	printf("[%s:%d] Initialized controller 0x%08X.\r\n", __func__, __LINE__, ctrl->base_address);
+	return 0;
+}
+
+static int can_demo_driver_set_baudrate(struct tpl_can_controller_t *ctrl, tpl_can_baud_rate_t baud_rate)
+{
+	static uint32 baud_rate_lut[] =
+	{
+		// CAN_BAUD_RATE_50_KBPS
+		50000,
+		// CAN_BAUD_RATE_100_KBPS
+		100000,
+		// CAN_BAUD_RATE_125_KBPS
+		125000,
+		// CAN_BAUD_RATE_250_KBPS
+		250000,
+		// CAN_BAUD_RATE_500_KBPS
+		500000,
+		// CAN_BAUD_RATE_1_MBPS
+		1000000
+	};
+	uint32 bits_per_second;
+
+	if (baud_rate >= CAN_BAUD_RATE_COUNT)
+	{
+		printf("[%s:%d] Wrong baud rate code %d, aborting.\r\n", baud_rate);
+		return -1;
+	}
+	bits_per_second = baud_rate_lut[baud_rate];
+
+	printf("[%s:%d] Baud rate set to %u for controller 0x%08X.\r\n", __func__, __LINE__, bits_per_second, ctrl->base_address);
+	return 0;
+}
+
+static Std_ReturnType can_demo_driver_transmit(struct tpl_can_controller_t *ctrl, const Can_PduType *pdu_info)
+{
+	uint32 i;
+
+	printf("[%s:%d] Transmission request for controller 0x%08X, CAN ID = 0x%X, flags = 0x%02X, payload length = %u, payload = ",
+		   __func__, __LINE__, ctrl->base_address, pdu_info->id & ~TPL_CAN_ID_TYPE_MASK, pdu_info->length, pdu_info->id >> 30);
+	for (i = 0; i < pdu_info->length; i++)
+		printf("0x%02X ", pdu_info->sdu[i]);
+	printf("\r\n");
+
+	return 0;
+}
+
+static Std_ReturnType can_demo_driver_receive(struct tpl_can_controller_t *ctrl, Can_PduType *pdu_info)
+{
+	pdu_info->id = 0x1ab; // Random value
+	strcpy(pdu_info->sdu, "Test");
+	pdu_info->length = strlen(pdu_info->sdu);
+	return 0;
+}
+
+static int can_demo_driver_is_data_available(struct tpl_can_controller_t *ctrl)
+{
+	return 1;
+}

machines/posix/tpl_can_demo_driver.h

@@ -0,0 +1,37 @@
+/**
+ * @file tpl_can_demo_driver.h
+ *
+ * @section desc File description
+ *
+ * Exposes two dummy CAN controllers that implements all controller operations
+ * by displaying debug messages.
+ * The purpose of this driver is to test the CAN stack.
+ *
+ * @section copyright Copyright
+ *
+ * Trampoline OS
+ *
+ * Trampoline is copyright (c) IRCCyN 2005+
+ * Trampoline is protected by the French intellectual property law.
+ *
+ * (C) BayLibre 2023
+ *
+ * This software is distributed under the Lesser GNU Public Licence
+ *
+ *  @section infos File informations
+ *
+ *  $Date$
+ *  $Rev$
+ *  $Author$
+ *  $URL$
+ */
+#ifndef TPL_CAN_DEMO_DRIVER_H
+#define TPL_CAN_DEMO_DRIVER_H
+
+#include <Can.h>
+
+// All available controllers
+extern tpl_can_controller_t can_demo_driver_controller_1;
+extern tpl_can_controller_t can_demo_driver_controller_2;
+
+#endif