Initial commit of Version 2.0.0, with CAN FD support

.gitignore

@@ -32,6 +32,7 @@ modules.builtin
 *.lzo
 *.patch
 *.gcno
+*.old
 
 #
 # Top-level generic files
@@ -56,6 +57,11 @@ Module.symvers
 !.gitignore
 !.mailmap
 
+#
+# Visual Studio Code
+#
+!.vscode
+
 #
 # Generated include files
 #

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+	"editor.tabSize": 8,
+	"editor.insertSpaces": false,
+	"editor.rulers": [80]
+}

Makefile

@@ -8,3 +8,9 @@ install:
 	depmod -a
 clean:
 	make -C /lib/modules/$(KVERSION)/build M=$(PWD) clean
+reload: all
+	-sudo rmmod intrepid
+	sudo modprobe can
+	sudo modprobe can_raw
+	sudo modprobe can_dev
+	sudo insmod intrepid.ko

README.md

@@ -1,13 +1,23 @@
-This is the kernel object portion of Intrepid Control Systems' SocketCAN support. For SocketCAN to work with Intrepid devices you will need to have this kernel object loaded on your system. Once the module is built and loaded run [icsscand](https://github.com/intrepidcs/icsscand) to turn on SocketCAN support.
+Version 2.0.0
 
-First, build the KO.
+This is the kernel object portion of the Intrepid Control Systems SocketCAN support. For SocketCAN to work with Intrepid devices you will need to have this kernel object loaded on your system. Once the module is built and loaded run [icsscand](https://github.com/intrepidcs/icsscand) to turn on SocketCAN support.
 
-```
+First, install the necessary dependencies for building kernel modules.
-$ make
+
-```
+On Ubuntu, this is acomplished by running `sudo apt install linux-headers-generic build-essential gcc git`
+
+Clone this repository by running `git clone https://github.com/intrepidcs/intrepid-socketcan-kernel-module.git`
+
+Change into the resulting clone, `cd intrepid-socketcan-kernel-module`
+
+Then, build the KO, `make`
 
 The resulting file will be ```intrepid.ko```. This module depends on ```can```, ```can_dev```, and ```can_raw``` (which should already be a part of your system). Before you can load the module, make sure these modules are loaded, then ```insmod``` can be used to load it.
 
+A script is provided to help within the makefile, `make reload`.
+
+If you prefer to run it yourself, you can run
+
 ```
 $ sudo modprobe can
 $ sudo modprobe can_raw
@@ -15,7 +25,9 @@ $ sudo modprobe can_dev
 $ sudo insmod intrepid.ko
 ```
 
-```lsmod``` can confirm the module is loaded. If you wish you have the module auto-load on boot run ```make install``` once the module is built.
+```lsmod``` can confirm the module is loaded. At this point, you can refer to the [icsscand](https://github.com/intrepidcs/icsscand) instructions.
+
+If you wish you have the module auto-load on boot run ```make install``` once the module is built.
 
 ```
 $ sudo make install

neomessage.h

@@ -0,0 +1,152 @@
+// This file is a subset of the neomessage.h found in libicsneo/include/communication/message
+
+#ifndef __NEOMESSAGE_H_
+#define __NEOMESSAGE_H_
+
+#pragma pack(push, 1)
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4201) // nameless struct/union
+#endif
+typedef union {
+	struct {
+		uint32_t globalError : 1;
+		uint32_t transmitMessage : 1;
+		uint32_t extendedFrame : 1;
+		uint32_t remoteFrame : 1;
+		uint32_t crcError : 1;
+		uint32_t canErrorPassive : 1;
+		uint32_t incompleteFrame : 1;
+		uint32_t lostArbitration : 1;
+		uint32_t undefinedError : 1;
+		uint32_t canBusOff : 1;
+		uint32_t canErrorWarning : 1;
+		uint32_t canBusShortedPlus : 1;
+		uint32_t canBusShortedGround : 1;
+		uint32_t checksumError : 1;
+		uint32_t badMessageBitTimeError : 1;
+		uint32_t ifrData : 1;
+		uint32_t hardwareCommError : 1;
+		uint32_t expectedLengthError : 1;
+		uint32_t incomingNoMatch : 1;
+		uint32_t statusBreak : 1;
+		uint32_t avsiRecOverflow : 1;
+		uint32_t testTrigger : 1;
+		uint32_t audioComment : 1;
+		uint32_t gpsData : 1;
+		uint32_t analogDigitalInput : 1;
+		uint32_t textComment : 1;
+		uint32_t networkMessageType : 1;
+		uint32_t vsiTXUnderrun : 1;
+		uint32_t vsiIFRCRCBit : 1;
+		uint32_t initMessage : 1;
+		//uint32_t highSpeedMessage : 1; // Occupies the same space as flexraySecondStartupFrame
+		uint32_t flexraySecondStartupFrame : 1;
+		uint32_t extended : 1;
+		// ~~~ End of bitfield 1 ~~~
+		uint32_t hasValue : 1;
+		uint32_t valueIsBoolean : 1;
+		uint32_t highVoltage : 1;
+		uint32_t longMessage : 1;
+		uint32_t : 12;
+		uint32_t globalChange : 1;
+		uint32_t errorFrame : 1;
+		uint32_t : 2;
+		uint32_t endOfLongMessage : 1;
+		uint32_t linErrorRXBreakNotZero : 1;
+		uint32_t linErrorRXBreakTooShort : 1;
+		uint32_t linErrorRXSyncNot55 : 1;
+		uint32_t linErrorRXDataGreaterEight : 1;
+		uint32_t linErrorTXRXMismatch : 1;
+		uint32_t linErrorMessageIDParity : 1;
+		//isoFrameError
+		uint32_t linSyncFrameError : 1;
+		//isoOverflowError
+		uint32_t linIDFrameError : 1;
+		//isoParityError
+		uint32_t linSlaveByteError : 1;
+		uint32_t rxTimeoutError : 1;
+		uint32_t linNoSlaveData : 1;
+		// mostPacketData
+		// mostStatus
+		// mostLowLevel
+		// mostControlData
+		// mostMHPUserData
+		// mostMHPControlData
+		// mostI2SDump
+		// mostTooShort
+		// most50
+		// most150
+		// mostChangedParameter
+		// ethernetCRCError
+		// ethernetFrameTooShort
+		// ethernetFCSAvailable
+		// ~~~ End of bitfield 2 ~~~
+		//uint32_t linJustBreakSync : 1;
+		//uint32_t linSlaveDataTooShort : 1;
+		//uint32_t linOnlyUpdateSlaveTableOnce : 1;
+		uint32_t canfdESI : 1;
+		uint32_t canfdIDE : 1;
+		uint32_t canfdRTR : 1;
+		uint32_t canfdFDF : 1;
+		uint32_t canfdBRS : 1;
+	};
+	uint32_t statusBitfield[4];
+} neomessage_statusbitfield_t;
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#define ICSNEO_NETWORK_TYPE_INVALID ((uint8_t)0)
+#define ICSNEO_NETWORK_TYPE_INTERNAL ((uint8_t)1) // Used for statuses that don't actually need to be transferred to the client application
+#define ICSNEO_NETWORK_TYPE_CAN ((uint8_t)2)
+#define ICSNEO_NETWORK_TYPE_LIN ((uint8_t)3)
+#define ICSNEO_NETWORK_TYPE_FLEXRAY ((uint8_t)4)
+#define ICSNEO_NETWORK_TYPE_MOST ((uint8_t)5)
+#define ICSNEO_NETWORK_TYPE_ETHERNET ((uint8_t)6)
+#define ICSNEO_NETWORK_TYPE_ANY ((uint8_t)0xFE) // Never actually set as type, but used as flag for filtering
+#define ICSNEO_NETWORK_TYPE_OTHER ((uint8_t)0xFF)
+
+typedef struct {
+	neomessage_statusbitfield_t status;
+	uint64_t timestamp;
+	uint64_t timestampReserved;
+	const uint8_t* data;
+	size_t length;
+	uint8_t header[4];
+	uint16_t netid;
+	uint8_t type;
+	uint8_t reserved[17];
+} neomessage_t; // 72 bytes total
+// Any time you add another neomessage_*_t type, make sure to add it to the static_asserts below!
+
+typedef struct {
+	neomessage_statusbitfield_t status;
+	uint64_t timestamp;
+	uint64_t timestampReserved;
+	const uint8_t* data;
+	size_t length;
+	uint32_t arbid;
+	uint16_t netid;
+	uint8_t type;
+	uint8_t dlcOnWire;
+	uint8_t reserved[16];
+} neomessage_can_t;
+
+typedef struct {
+	neomessage_statusbitfield_t status;
+	uint64_t timestamp;
+	uint64_t timestampReserved;
+	const uint8_t* data;
+	size_t length;
+	uint8_t preemptionFlags;
+	uint8_t reservedHeader[3];
+	uint16_t netid;
+	uint8_t type;
+	uint8_t reserved[17];
+} neomessage_eth_t;
+
+#pragma pack(pop)
+
+#endif

reload_mod.sh

@@ -1,8 +0,0 @@
-#!/bin/sh
-
-sudo rmmod intrepid
-sudo modprobe can
-sudo modprobe can_raw
-sudo modprobe can_dev
-sudo insmod intrepid.ko
-