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