[GitHub] [incubator-nuttx] JacobCrabill commented on a diff in pull request #6057: arch/stm32h7: Add SocketCAN FDCAN driver

[GitBox <gi...@apache.org>]

JacobCrabill commented on code in PR #6057:
URL: https://github.com/apache/incubator-nuttx/pull/6057#discussion_r866064551


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arch/arm/src/stm32h7/stm32_fdcan_sock.c:
##########
@@ -0,0 +1,2522 @@
+/****************************************************************************
+ * arch/arm/src/stm32h7/stm32_fdcan_sock.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <unistd.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/can.h>
+#include <nuttx/wdog.h>
+#include <nuttx/irq.h>
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/signal.h>
+#include <nuttx/net/netdev.h>
+#include <nuttx/net/can.h>
+#include <netpacket/can.h>
+
+#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE
+#include <sys/time.h>
+#endif
+
+#include <arch/board/board.h>
+
+#include "arm_internal.h"
+#include "chip.h"
+#include "stm32.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* General Configuration ****************************************************/
+
+#if !defined(CONFIG_SCHED_WORKQUEUE)
+#  error Work queue support is required; HPWORK is recommended
+#endif
+
+#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE
+#  define TX_TIMEOUT_WQ
+#endif
+
+/* If processing is not done at the interrupt level, then work queue support
+ * is required.
+ *
+ * The high-priority work queue is suggested in order to minimize latency of
+ * critical Rx/Tx transactions on the CAN bus.
+ */
+
+#define CANWORK HPWORK

Review Comment:
   Good point.  Implemented.



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