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drivers: can: use flags fields for can_frame and can_filter structs #51361

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Merged
merged 4 commits into from
Oct 25, 2022
Merged

drivers: can: use flags fields for can_frame and can_filter structs #51361

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eec4f4c
canbus: isotp: avoid reusing CAN controller driver API definitions
henrikbrixandersen Oct 16, 2022
36dd499
drivers: can: use flags fields for can_frame and can_filter structs
henrikbrixandersen Sep 30, 2022
4e7dd04
tests: drivers: can: api: test sending CAN-FD frame in non-FD mode
henrikbrixandersen Oct 17, 2022
5093239
samples: drivers: can: babbling: set CAN-FD mode if requested
henrikbrixandersen Oct 18, 2022
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14 changes: 4 additions & 10 deletions doc/hardware/peripherals/canbus/controller.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -152,8 +152,7 @@ a mailbox. When a transmitting mailbox is assigned, sending cannot be canceled.
.. code-block:: C

struct can_frame frame = {
.id_type = CAN_STANDARD_IDENTIFIER,
.rtr = CAN_DATAFRAME,
.flags = 0,
.id = 0x123,
.dlc = 8,
.data = {1,2,3,4,5,6,7,8}
Expand Down Expand Up @@ -187,8 +186,7 @@ occurred. It does not block until the message is sent like the example above.
int send_function(const struct device *can_dev)
{
struct can_frame frame = {
.id_type = CAN_EXTENDED_IDENTIFIER,
.rtr = CAN_DATAFRAME,
.flags = CAN_FRAME_IDE,
.id = 0x1234567,
.dlc = 2
};
Expand Down Expand Up @@ -227,10 +225,8 @@ The filter for this example is configured to match the identifier 0x123 exactly.
.. code-block:: C

const struct can_filter my_filter = {
.id_type = CAN_STANDARD_IDENTIFIER,
.rtr = CAN_DATAFRAME,
.flags = CAN_FILTER_DATA,
.id = 0x123,
.rtr_mask = 1,
.id_mask = CAN_STD_ID_MASK
};
int filter_id;
Expand All @@ -252,10 +248,8 @@ The filter for this example is configured to match the extended identifier
.. code-block:: C

const struct can_filter my_filter = {
.id_type = CAN_EXTENDED_IDENTIFIER,
.rtr = CAN_DATAFRAME,
.flags = CAN_FILTER_DATA | CAN_FILTER_IDE,
.id = 0x1234567,
.rtr_mask = 1,
.id_mask = CAN_EXT_ID_MASK
};
CAN_MSGQ_DEFINE(my_can_msgq, 2);
Expand Down
4 changes: 2 additions & 2 deletions drivers/can/can_handlers.c
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Original file line number Diff line number Diff line change
Expand Up @@ -129,12 +129,12 @@ static inline int z_vrfy_can_set_bitrate_data(const struct device *dev,

#endif /* CONFIG_CAN_FD_MODE */

static inline int z_vrfy_can_get_max_filters(const struct device *dev, enum can_ide id_type)
static inline int z_vrfy_can_get_max_filters(const struct device *dev, bool ide)
{
/* Optional API function */
Z_OOPS(Z_SYSCALL_OBJ(dev, K_OBJ_DRIVER_CAN));

return z_impl_can_get_max_filters(dev, id_type);
return z_impl_can_get_max_filters(dev, ide);
}
#include <syscalls/can_get_max_filters_mrsh.c>

Expand Down
57 changes: 37 additions & 20 deletions drivers/can/can_loopback.c
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Original file line number Diff line number Diff line change
Expand Up @@ -33,11 +33,14 @@ struct can_loopback_filter {
struct can_loopback_data {
struct can_loopback_filter filters[CONFIG_CAN_MAX_FILTER];
struct k_mutex mtx;
bool loopback;
struct k_msgq tx_msgq;
char msgq_buffer[CONFIG_CAN_LOOPBACK_TX_MSGQ_SIZE * sizeof(struct can_loopback_frame)];
struct k_thread tx_thread_data;
bool started;
bool loopback;
#ifdef CONFIG_CAN_FD_MODE
bool fd;
#endif /* CONFIG_CAN_FD_MODE */

K_KERNEL_STACK_MEMBER(tx_thread_stack,
CONFIG_CAN_LOOPBACK_TX_THREAD_STACK_SIZE);
Expand All @@ -51,9 +54,8 @@ static void dispatch_frame(const struct device *dev,

LOG_DBG("Receiving %d bytes. Id: 0x%x, ID type: %s %s",
frame->dlc, frame->id,
frame->id_type == CAN_STANDARD_IDENTIFIER ?
"standard" : "extended",
frame->rtr == CAN_DATAFRAME ? "" : ", RTR frame");
(frame->flags & CAN_FRAME_IDE) != 0 ? "extended" : "standard",
(frame->flags & CAN_FRAME_RTR) != 0 ? ", RTR frame" : "");

filter->rx_cb(dev, &frame_tmp, filter->cb_arg);
}
Expand Down Expand Up @@ -99,15 +101,29 @@ static int can_loopback_send(const struct device *dev,

LOG_DBG("Sending %d bytes on %s. Id: 0x%x, ID type: %s %s",
frame->dlc, dev->name, frame->id,
frame->id_type == CAN_STANDARD_IDENTIFIER ?
"standard" : "extended",
frame->rtr == CAN_DATAFRAME ? "" : ", RTR frame");
(frame->flags & CAN_FRAME_IDE) != 0 ? "extended" : "standard",
(frame->flags & CAN_FRAME_RTR) != 0 ? ", RTR frame" : "");

#ifdef CONFIG_CAN_FD_MODE
if (frame->fd != 0) {
if ((frame->flags & ~(CAN_FRAME_IDE | CAN_FRAME_RTR |
CAN_FRAME_FDF | CAN_FRAME_BRS)) != 0) {
LOG_ERR("unsupported CAN frame flags 0x%02x", frame->flags);
return -ENOTSUP;
}

if ((frame->flags & CAN_FRAME_FDF) != 0) {
if (!data->fd) {
return -ENOTSUP;
}

max_dlc = CANFD_MAX_DLC;
}
#endif /* CONFIG_CAN_FD_MODE */
#else /* CONFIG_CAN_FD_MODE */
if ((frame->flags & ~(CAN_FRAME_IDE | CAN_FRAME_RTR)) != 0) {
LOG_ERR("unsupported CAN frame flags 0x%02x", frame->flags);
return -ENOTSUP;
}
#endif /* !CONFIG_CAN_FD_MODE */

if (frame->dlc > max_dlc) {
LOG_ERR("DLC of %d exceeds maximum (%d)", frame->dlc, max_dlc);
Expand Down Expand Up @@ -150,14 +166,12 @@ static int can_loopback_add_rx_filter(const struct device *dev, can_rx_callback_
struct can_loopback_filter *loopback_filter;
int filter_id;

LOG_DBG("Setting filter ID: 0x%x, mask: 0x%x", filter->id,
filter->id_mask);
LOG_DBG("Filter type: %s ID %s mask",
filter->id_type == CAN_STANDARD_IDENTIFIER ?
"standard" : "extended",
((filter->id_type && (filter->id_mask == CAN_STD_ID_MASK)) ||
(!filter->id_type && (filter->id_mask == CAN_EXT_ID_MASK))) ?
"with" : "without");
LOG_DBG("Setting filter ID: 0x%x, mask: 0x%x", filter->id, filter->mask);

if ((filter->flags & ~(CAN_FILTER_IDE | CAN_FILTER_DATA | CAN_FILTER_RTR)) != 0) {
LOG_ERR("unsupported CAN filter flags 0x%02x", filter->flags);
return -ENOTSUP;
}

k_mutex_lock(&data->mtx, K_FOREVER);
filter_id = get_free_filter(data->filters);
Expand Down Expand Up @@ -242,14 +256,17 @@ static int can_loopback_set_mode(const struct device *dev, can_mode_t mode)
LOG_ERR("unsupported mode: 0x%08x", mode);
return -ENOTSUP;
}

data->fd = (mode & CAN_MODE_FD) != 0;
#else
if ((mode & ~(CAN_MODE_LOOPBACK)) != 0) {
LOG_ERR("unsupported mode: 0x%08x", mode);
return -ENOTSUP;
}
#endif /* CONFIG_CAN_FD_MODE */

data->loopback = (mode & CAN_MODE_LOOPBACK) != 0 ? 1 : 0;
data->loopback = (mode & CAN_MODE_LOOPBACK) != 0;

return 0;
}

Expand Down Expand Up @@ -335,9 +352,9 @@ static int can_loopback_get_core_clock(const struct device *dev, uint32_t *rate)
return 0;
}

static int can_loopback_get_max_filters(const struct device *dev, enum can_ide id_type)
static int can_loopback_get_max_filters(const struct device *dev, bool ide)
{
ARG_UNUSED(id_type);
ARG_UNUSED(ide);

return CONFIG_CAN_MAX_FILTER;
}
Expand Down
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