startet canbus implementation

software/lib/canbus.c

@@ -0,0 +1,75 @@
+#include "canbus.h"
+#include <zephyr/logging/log.h>
+#include <zephyr/kernel.h>
+#include "settings.h"
+
+const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
+
+K_THREAD_STACK_DEFINE(rx_thread_stack, RX_THREAD_STACK_SIZE);
+
+static uint8_t node_id = 12; // Default node ID
+
+LOG_MODULE_REGISTER(canbus, CONFIG_LOG_CAN_LEVEL);
+
+static int canbus_set(const char *key, size_t len, settings_read_cb read_cb, void *cb_arg)
+{
+    // Handle setting values for CAN bus configuration
+    LOG_DBG("Setting CAN bus configuration: key=%s, len=%zu", key, len);
+    // Implement the logic to set the CAN bus configuration based on the key and value
+    return 0; // Return 0 on success
+}
+
+struct settings_handler canbus_settings_handler = {
+    .name = "canbus",
+    .h_set = canbus_set, // No settings set handler
+};
+
+int canbus_init(void)
+{
+    int rc;
+    settings_subsys_init();
+    settings_register(&canbus_settings_handler);
+    settings_load();
+    
+    rc = settings_get_val_len("canbus/node_id");
+    if (rc < 0)
+    {
+        LOG_ERR("Failed to check CAN bus settings: %d", rc);
+        return rc;
+    }
+
+    else if (rc == 0)
+    {
+        LOG_WRN("No CAN bus node id found in settings, using default default (%d)", node_id);
+        settings_save_one("canbus/node_id", &node_id, sizeof(node_id));
+        if (rc < 0)
+        {
+            LOG_ERR("Failed to save default CAN bus node id: %d", rc);
+            return rc;
+        }
+    } else {
+        rc = settings_load_one("canbus/node_id", &node_id, sizeof(node_id));
+        if (rc < 0)
+        {
+            LOG_ERR("Failed to load CAN bus node id from settings: %d", rc);
+            return rc;
+        }
+        LOG_DBG("Loaded CAN bus node id: %d", node_id);
+    }
+
+    if (!device_is_ready(can_dev))
+    {
+        LOG_ERR("CAN device %s is not ready", can_dev->name);
+        return -ENODEV;
+    }
+
+#ifdef CONFIG_LOOPBACK_MODE
+    rc = can_set_mode(can_dev, CAN_MODE_LOOPBACK);
+    if (rc != 0)
+    {
+        LOG_ERR("Failed to set CAN loopback mode: %d", rc);
+        return rc;
+    }
+#endif
+    return 0;
+}

software/lib/canbus.h

@@ -0,0 +1,13 @@
+#ifndef __CANBUS_H__
+#define __CANBUS_H__
+
+#include <zephyr/drivers/can.h>
+#include <zephyr/kernel.h>
+
+#define RX_THREAD_STACK_SIZE 512
+#define RX_THREAD_PRIORITY 2
+
+int canbus_init(void);
+int canbus_send_message(const struct can_frame *frame);
+
+#endif // __CANBUS_H__

software/lib/settings.h

@@ -0,0 +1,17 @@
+#ifndef __SETTINGS_H__
+#define __SETTINGS_H__
+
+#include <zephyr/settings/settings.h>
+
+#include <errno.h>
+#include <zephyr/sys/printk.h>
+
+#if defined(CONFIG_SETTINGS_FILE)
+#include <zephyr/fs/fs.h>
+#include <zephyr/fs/littlefs.h>
+#endif
+
+#define STORAGE_PARTITION storage_partition
+#define STORAGE_PARTITION_ID FIXED_PARTITION_ID(STORAGE_PARTITION)
+
+#endif // __SETTINGS_H__