Since all CAN controllers drivers seem to support automatic recovery (for
any future drivers for hardware without this hardware capability this can
easily be implemented in the driver), change the Zephyr CAN controller API
policy to:
- Always enable automatic bus recovery upon driver initialization,
regardless of Kconfig options. Since CAN controllers are initialized in
"stopped" state, no unwanted bus-off recovery will be started at this
point.
- Invert and rename the Kconfig CONFIG_CAN_AUTO_BUS_OFF_RECOVERY, which is
enabled by default, to CONFIG_CAN_MANUAL_RECOVERY_MODE, which is disabled
by default. Enabling CONFIG_CAN_MANUAL_RECOVERY_MODE=y enables support
for the can_recover() API function and a new manual recovery mode (see
next bullet). Keeping this guarded by Kconfig allows keeping the flash
footprint down for applications not using manual bus-off recovery.
- Introduce a new CAN controller operational mode
CAN_MODE_MANUAL_RECOVERY. Support for this is only enabled if
CONFIG_CAN_MANUAL_RECOVERY_MODE=y. Having this as a mode allows
applications to inquire whether the CAN controller supports manual
recovery mode via the can_get_capabilities() API function and either fail
or rely on automatic recovery - and it allows CAN controller drivers not
supporting manual recovery mode to fail early in can_set_mode() during
application startup instead of failing when can_recover() is called at a
later point in time.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
a57db0ddcb
