[RFC] Add PF_CAN protocol for socket CAN

include/net/net_context.h

@@ -27,6 +27,8 @@
 #include <net/net_if.h>
 #include <net/net_stats.h>
 
+#include <net/socket_can.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -287,7 +289,7 @@ struct net_context {
 	u8_t iface;
 
 	/** Flags for the context */
-	u8_t flags;
+	u16_t flags;
 };
 
 static inline bool net_context_is_used(struct net_context *context)
@@ -354,6 +356,11 @@ static inline sa_family_t net_context_get_family(struct net_context *context)
 		return AF_INET6;
 	}
 
+	if (IS_ENABLED(CONFIG_SOCKET_CAN) &&
+	    (context->flags & CAN_CONTEXT_FAMILY)) {
+		return AF_CAN;
+	}
+
 	return AF_INET;
 }
 
@@ -376,6 +383,12 @@ static inline void net_context_set_family(struct net_context *context,
 		return;
 	}
 
+	if (IS_ENABLED(CONFIG_SOCKET_CAN) &&
+	    (family == AF_CAN)) {
+		context->flags |= CAN_CONTEXT_FAMILY;
+		return;
+	}
+
 	context->flags &= ~NET_CONTEXT_FAMILY;
 }
 
@@ -398,6 +411,11 @@ enum net_sock_type net_context_get_type(struct net_context *context)
 		return SOCK_STREAM;
 	}
 
+	if (IS_ENABLED(CONFIG_SOCKET_CAN) &&
+	    (context->flags & CAN_CONTEXT_FAMILY)) {
+		return SOCK_RAW;
+	}
+
 	return SOCK_DGRAM;
 }
 
@@ -420,6 +438,12 @@ static inline void net_context_set_type(struct net_context *context,
 		return;
 	}
 
+	if (IS_ENABLED(CONFIG_SOCKET_CAN) &&
+	    (type == SOCK_RAW)) {
+		context->flags |= CAN_CONTEXT_TYPE;
+		return;
+	}
+
 	context->flags &= ~NET_CONTEXT_TYPE;
 }
 
@@ -442,6 +466,11 @@ enum net_ip_protocol net_context_get_ip_proto(struct net_context *context)
 		return IPPROTO_TCP;
 	}
 
+	if (IS_ENABLED(CONFIG_SOCKET_CAN) &&
+	    (context->flags & CAN_CONTEXT_PROTO)) {
+		return CAN_RAW;
+	}
+
 	return IPPROTO_UDP;
 }
 
@@ -464,6 +493,12 @@ static inline void net_context_set_ip_proto(struct net_context *context,
 		return;
 	}
 
+	if (IS_ENABLED(CONFIG_SOCKET_CAN) &&
+	    (ip_proto == CAN_RAW)) {
+		context->flags |= CAN_CONTEXT_PROTO;
+		return;
+	}
+
 	context->flags &= ~NET_CONTEXT_PROTO;
 }
 

include/net/net_ip.h

@@ -40,18 +40,21 @@ extern "C" {
 #define PF_UNSPEC	0	/* Unspecified.  */
 #define PF_INET		2	/* IP protocol family.  */
 #define PF_INET6	10	/* IP version 6.  */
+#define PF_CAN		13	/* CAN protocol family */
 
 /** Address families.  */
 #define AF_UNSPEC	PF_UNSPEC
 #define AF_INET		PF_INET
 #define AF_INET6	PF_INET6
+#define AF_CAN		PF_CAN	/* CAN address family */
 
 /** Protocol numbers from IANA */
 enum net_ip_protocol {
 	IPPROTO_ICMP = 1,
 	IPPROTO_TCP = 6,
 	IPPROTO_UDP = 17,
 	IPPROTO_ICMPV6 = 58,
+	CAN_RAW = 252,
 };
 
 /* Protocol numbers for TLS protocols */
@@ -67,6 +70,7 @@ enum net_ip_protocol_secure {
 enum net_sock_type {
 	SOCK_STREAM = 1,
 	SOCK_DGRAM,
+	SOCK_RAW,
 };
 
 #define ntohs(x) sys_be16_to_cpu(x)

include/net/net_l2.h

@@ -103,6 +103,12 @@ NET_L2_DECLARE_PUBLIC(BLUETOOTH_L2);
 NET_L2_DECLARE_PUBLIC(OPENTHREAD_L2);
 #endif /* CONFIG_NET_L2_OPENTHREAD */
 
+#ifdef CONFIG_NET_L2_CAN
+#define CAN_L2  CAN
+#define CAN_L2_CTX_TYPE  void*
+NET_L2_DECLARE_PUBLIC(CAN_L2);
+#endif /* CONFIG_NET_L2_CAN */
+
 #define NET_L2_INIT(_name, _recv_fn, _send_fn, _reserve_fn, _enable_fn, \
 		    _get_flags_fn)					\
 	const struct net_l2 (NET_L2_GET_NAME(_name)) __used		\

include/net/socket.h

@@ -52,6 +52,10 @@ struct zsock_pollfd {
  */
 #define SOL_TLS 282
 
+/* Protocl level of CAN */
+#define SOL_CAN_BASE 100
+#define SOL_CAN_RAW (SOL_CAN_BASE + CAN_RAW)
+
 /* Socket options for TLS */
 
 /* Socket option to select TLS credentials to use. It accepts and returns an
@@ -93,6 +97,16 @@ struct zsock_pollfd {
  * 0 - client,
  * 1 - server.
  */
+
+/* Socket optaions for CAN */
+
+/* Get ifindex for corresponding socket*/
+#define SOCKET_CAN_GET_IF_INDEX 6
+/* Confifgure CAN controller operation mode defined in can.h */
+#define SOCKET_CAN_SET_MODE 7
+/* Configure CAN filter for acceptance filtering */
+#define SOCKET_CAN_SET_FILTER 8
+
 #define TLS_DTLS_ROLE 6
 
 struct zsock_addrinfo {

include/net/socket_can.h

@@ -0,0 +1,158 @@
+/*
+ * Copyright (c) 2018 Intel Corporation.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef _SOCKET_CAN_H_
+#define _SOCKET_CAN_H_
+
+#include <device.h>
+#include <net/net_ip.h>
+#include <can.h>
+#include <zephyr/types.h>
+
+/** Max length of socket packet */
+#define CAN_NET_MTU (72)
+
+/**  Protocol family of socket can connection */
+#define CAN_CONTEXT_FAMILY BIT(8)
+
+/**  Context type of socket can connection */
+#define CAN_CONTEXT_TYPE BIT(9)
+
+/**  Context proto for socket can connection */
+#define CAN_CONTEXT_PROTO BIT(10)
+
+/**
+ * @brief socket addr structure for AF_CAN protocol
+ *
+ * Socket address structure for AF_CAN protocol family
+ *
+ */
+struct sockaddr_can {
+	/** protocol family for socket can */
+	sa_family_t can_family;
+	/** net_if interface associated with socket */
+	u8_t can_ifindex;
+};
+
+/**
+ * @brief check matched CAN filter for incoming CAN message.
+ *
+ * This routine matches id with configured filters id and return true or false.
+ * *
+ * @param dev       Pointer to the device structure for the driver instance.
+ * @param pkt       incoming net_pkt
+ *
+ * @retval 1 if filter matched otherwise 0.
+ */
+typedef int (*socket_can_check_filter_matched_t)(struct device *dev,
+						 struct net_pkt *pkt);
+
+/**
+ * @brief configure filter for accpetance filter.
+ *
+ * This routine configure can filter and register rx callback.
+ * *
+ * @param dev       Pointer to the device structure for the driver instance.
+ * @param filter    can_filter structure
+ *
+ * @retval return < 0 in case of error and 0 for success.
+ */
+typedef int (*socket_can_config_filter_t)(struct device *dev,
+					  struct can_filter *filter);
+
+int socket_can_get_opt(struct net_context *context, int optname,
+		       void *optval, socklen_t *optlen);
+int socket_can_set_opt(struct net_context *context, int optname,
+		       const void *optval, socklen_t optlen);
+
+
+
+/**
+ * @brief socket can driver api structure
+ * Socket CAN driver apis for iface interface functions and ioctl call.
+ *
+ */
+struct socket_can_driver_api_t {
+	/** iface interface for socket apis to send and init function*/
+	struct net_if_api iface_api;
+	/** check matching filter for loopback messages */
+	socket_can_check_filter_matched_t check_matched_filter;
+	/** configure filter with rx callback */
+	socket_can_config_filter_t config_filter;
+};
+
+/**
+ * @brief socket can context structure
+ *
+ * socket can driver specific structure.
+ *
+ */
+struct socket_can_context {
+	/** id of CAN instance */
+	u32_t id;
+	/** iface interface reference structure*/
+	struct net_if *iface;
+	/** can device structure reference */
+	struct device *can_dev;
+};
+
+/**
+ * @brief socket can mode structure
+ *
+ * This structure will be passed via setSocketOpt and configure can controller
+ * operation mode as well as baud rate
+ */
+struct socket_can_mode {
+	enum can_mode op_mode;
+	u32_t baud_rate;
+};
+
+__syscall int socket_can_check_filter_matched(struct device *dev,
+					      struct net_pkt *pkt);
+
+static inline int _impl_socket_can_check_filter_matched(struct device *dev,
+							struct net_pkt *pkt)
+{
+	const struct socket_can_driver_api_t *api = NULL;
+	int result = 0;
+
+	if (pkt == NULL) {
+		goto err;
+	}
+
+	api = dev->driver_api;
+	if (api && api->check_matched_filter) {
+		result = api->check_matched_filter(dev, pkt);
+	}
+err:
+	return result;
+}
+
+__syscall int socket_can_config_filter(struct device *dev,
+				       struct can_filter *filter);
+
+static inline int _impl_socket_can_config_filter(struct device *dev,
+						 struct can_filter *filter)
+{
+	const struct socket_can_driver_api_t *api = NULL;
+	int res = 0;
+
+	if (filter == NULL) {
+		res = -EBADF;
+		goto err;
+	}
+
+	api = dev->driver_api;
+	if (api && api->config_filter) {
+		res = api->config_filter(dev, filter);
+	}
+err:
+	return res;
+}
+
+#include <syscalls/socket_can.h>
+
+#endif /*_SOCKET_CAN_H_ */

subsys/net/ip/CMakeLists.txt

@@ -31,6 +31,7 @@ zephyr_library_sources_ifdef(CONFIG_NET_TCP          connection.c tcp.c)
 zephyr_library_sources_ifdef(CONFIG_NET_TRICKLE      trickle.c)
 zephyr_library_sources_ifdef(CONFIG_NET_UDP          connection.c udp.c)
 zephyr_library_sources_ifdef(CONFIG_NET_PROMISCUOUS_MODE promiscuous.c)
+zephyr_library_sources_ifdef(CONFIG_SOCKET_CAN       connection.c)
 
 if(CONFIG_NET_SHELL)
 zephyr_library_include_directories(. ${ZEPHYR_BASE}/subsys/net/l2)

subsys/net/ip/connection.c

@@ -603,7 +603,10 @@ int net_conn_register(enum net_ip_protocol proto,
 				}
 			} else
 #endif
-			{
+			if (IS_ENABLED(CONFIG_SOCKET_CAN) &&
+			    (local_addr->sa_family == AF_CAN)) {
+				conns[i].local_addr.sa_family = AF_CAN;
+			} else {
 				NET_ERR("Remote address family not set");
 				return -EINVAL;
 			}
@@ -639,7 +642,12 @@ int net_conn_register(enum net_ip_protocol proto,
 				}
 			} else
 #endif
-			{
+			if (IS_ENABLED(CONFIG_SOCKET_CAN) &&
+			    (local_addr->sa_family == AF_CAN)) {
+				memcpy(&conns[i].local_addr,
+				       local_addr,
+				       sizeof(struct sockaddr_can));
+			} else {
 				NET_ERR("Local address family not set");
 				return -EINVAL;
 			}
@@ -1053,3 +1061,40 @@ void net_conn_init(void)
 	} while (0);
 #endif /* CONFIG_NET_CONN_CACHE */
 }
+#if defined(CONFIG_SOCKET_CAN)
+extern bool socket_can_check_matched_id_filter(struct net_pkt *pkt);
+
+enum net_verdict can_conn_input(struct net_pkt *pkt, bool loopback)
+{
+	int i;
+	int ret = NET_DROP;
+
+	if (!pkt || !(pkt->frags)) {
+		ret = NET_CONTINUE;
+		goto err;
+	}
+	for (i = 0; i < CONFIG_NET_MAX_CONN; i++) {
+		if ((conns[i].flags & NET_CONN_IN_USE) &&
+		    (conns[i].proto == CAN_RAW)) {
+			if (loopback) {
+				if (!socket_can_check_matched_id_filter(pkt)) {
+					/* No filter matched but dont unref */
+					/* net_pkt data */
+					ret = NET_OK;
+					goto err;
+				}
+			}
+
+			if (conns[i].cb(&conns[i], pkt, conns[i].user_data)
+			    == NET_DROP) {
+				goto err;
+			}
+			ret = NET_OK;
+			break;
+		}
+	}
+err:
+	return ret;
+}
+#endif
+