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7832738ae9
Add a k_timeout_t type, and use it everywhere that kernel API functions were accepting a millisecond timeout argument. Instead of forcing milliseconds everywhere (which are often not integrally representable as system ticks), do the conversion to ticks at the point where the timeout is created. This avoids an extra unit conversion in some application code, and allows us to express the timeout in units other than milliseconds to achieve greater precision. The existing K_MSEC() et. al. macros now return initializers for a k_timeout_t. The K_NO_WAIT and K_FOREVER constants have now become k_timeout_t values, which means they cannot be operated on as integers. Applications which have their own APIs that need to inspect these vs. user-provided timeouts can now use a K_TIMEOUT_EQ() predicate to test for equality. Timer drivers, which receive an integer tick count in ther z_clock_set_timeout() functions, now use the integer-valued K_TICKS_FOREVER constant instead of K_FOREVER. For the initial release, to preserve source compatibility, a CONFIG_LEGACY_TIMEOUT_API kconfig is provided. When true, the k_timeout_t will remain a compatible 32 bit value that will work with any legacy Zephyr application. Some subsystems present timeout (or timeout-like) values to their own users as APIs that would re-use the kernel's own constants and conventions. These will require some minor design work to adapt to the new scheme (in most cases just using k_timeout_t directly in their own API), and they have not been changed in this patch, instead selecting CONFIG_LEGACY_TIMEOUT_API via kconfig. These subsystems include: CAN Bus, the Microbit display driver, I2S, LoRa modem drivers, the UART Async API, Video hardware drivers, the console subsystem, and the network buffer abstraction. k_sleep() now takes a k_timeout_t argument, with a k_msleep() variant provided that works identically to the original API. Most of the changes here are just type/configuration management and documentation, but there are logic changes in mempool, where a loop that used a timeout numerically has been reworked using a new z_timeout_end_calc() predicate. Also in queue.c, a (when POLL was enabled) a similar loop was needlessly used to try to retry the k_poll() call after a spurious failure. But k_poll() does not fail spuriously, so the loop was removed. Signed-off-by: Andy Ross <andrew.j.ross@intel.com>
84 lines
2.0 KiB
Plaintext
84 lines
2.0 KiB
Plaintext
# CAN configuration options
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# Copyright (c) 2018 Alexander Wachter
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# SPDX-License-Identifier: Apache-2.0
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#
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# CAN options
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#
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menuconfig CAN
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bool "CAN Drivers"
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select LEGACY_TIMEOUT_API
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help
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Enable CAN Driver Configuration
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if CAN
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module = CAN
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module-str = CAN
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source "subsys/logging/Kconfig.template.log_config"
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config CAN_SHELL
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bool "Enable CAN Shell"
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depends on SHELL
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help
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Enable CAN Shell for testing.
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config CAN_INIT_PRIORITY
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int "CAN driver init priority"
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default 80
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help
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CAN device driver initialization priority.
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Do not mess with it unless you know what you are doing.
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Note that the priority needs to be lower than the net stack
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so that it can start before the networking sub-system.
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config CAN_WORKQ_FRAMES_BUF_CNT
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int "Work queue buffer frame count"
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default 4
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range 1 65534
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help
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Number of frames in the buffer of a zcan_work.
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config CAN_RX_TIMESTAMP
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bool "Enable receiving timestamps"
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depends on CAN_STM32 || CAN_MCUX_FLEXCAN
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help
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This option enables a timestamp value of the CAN free running timer.
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The value is incremented every bit time and starts when the controller
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is initialized.
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config CAN_AUTO_BUS_OFF_RECOVERY
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bool "Enable automatic recovery from bus-off"
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default y
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help
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This option enables the automatic bus-off recovery according to
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ISO 11898-1 (recovery after 128 occurrences of 11 consecutive
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recessive bits). When this option is enabled, the recovery API is not
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available.
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config CAN_0
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bool "Enable CAN 0"
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help
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Enable CAN controller 0
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config CAN_1
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bool "Enable CAN 1"
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help
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Enable CAN controller 1
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config CAN_2
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bool "Enable CAN 2"
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depends on SOC_SERIES_STM32F4X
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help
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Enable CAN controller 2 on the STM32F4 series of processors.
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(Tested on the STM32F4 series, may also work on F7, F1, F2 and L4)
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source "drivers/can/Kconfig.stm32"
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source "drivers/can/Kconfig.mcux"
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source "drivers/can/Kconfig.mcp2515"
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source "drivers/can/Kconfig.loopback"
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source "drivers/can/Kconfig.net"
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endif # CAN
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