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canbus: isotp: use flags for configuration in isotp_msg_id

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The previous design with dedicated bits in the structure required a
user to explicitly set each bit.

Using one flags variable allows to extend the features more easily
in the future and avoids breaking existing code.

This change is particularly useful for the FDF and BRS flags required
for CAN-FD support.

See also previous similar change for the CAN driver in
f8a88cdb27

Signed-off-by: Martin Jäger <martin@libre.solar>
This commit is contained in:
Martin Jäger 2023-08-30 16:14:19 +02:00 committed by Carles Cufí
parent 7c80473e0a
commit f13791d5ba
5 changed files with 49 additions and 50 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

29
include/zephyr/canbus/isotp.h
View File

@ -128,6 +128,27 @@
extern "C" {
#endif
/**
* @name ISO-TP message ID flags
* @anchor ISOTP_MSG_FLAGS
*
* @{
*/
/** Message uses ISO-TP extended addressing (first payload byte of CAN frame) */
#define ISOTP_MSG_EXT_ADDR BIT(0)
/**
* Message uses ISO-TP fixed addressing (according to SAE J1939). Only valid in combination with
* ``ISOTP_MSG_IDE``.
*/
#define ISOTP_MSG_FIXED_ADDR BIT(1)
/** Message uses extended (29-bit) CAN ID */
#define ISOTP_MSG_IDE BIT(2)
/** @} */
/**
* @brief ISO-TP message id struct
*
@ -146,12 +167,8 @@ struct isotp_msg_id {
};
/** ISO-TP extended address (if used) */
uint8_t ext_addr;
/** Indicates the CAN identifier type (0 for standard or 1 for extended) */
uint8_t ide : 1;
/** Indicates if ISO-TP extended addressing is used */
uint8_t use_ext_addr : 1;
/** Indicates if ISO-TP fixed addressing (acc. to SAE J1939) is used */
uint8_t use_fixed_addr : 1;
/** Flags. @see @ref ISOTP_MSG_FLAGS. */
uint8_t flags;
};
/*

8
samples/subsys/canbus/isotp/src/main.c
View File

@ -12,23 +12,15 @@ const struct isotp_fc_opts fc_opts_0_5 = {.bs = 0, .stmin = 5};
const struct isotp_msg_id rx_addr_8_0 = {
.std_id = 0x80,
.ide = 0,
.use_ext_addr = 0
};
const struct isotp_msg_id tx_addr_8_0 = {
.std_id = 0x180,
.ide = 0,
.use_ext_addr = 0
};
const struct isotp_msg_id rx_addr_0_5 = {
.std_id = 0x01,
.ide = 0,
.use_ext_addr = 0
};
const struct isotp_msg_id tx_addr_0_5 = {
.std_id = 0x101,
.ide = 0,
.use_ext_addr = 0
};
const struct device *can_dev;

34
subsys/canbus/isotp/isotp.c
View File

@ -118,7 +118,7 @@ static inline uint32_t receive_get_sf_length(struct net_buf *buf)
static void receive_send_fc(struct isotp_recv_ctx *ctx, uint8_t fs)
{
struct can_frame frame = {
.flags = ctx->tx_addr.ide != 0 ? CAN_FRAME_IDE : 0,
.flags = (ctx->tx_addr.flags & ISOTP_MSG_IDE) != 0 ? CAN_FRAME_IDE : 0,
.id = ctx->tx_addr.ext_id
};
uint8_t *data = frame.data;
@ -127,7 +127,7 @@ static void receive_send_fc(struct isotp_recv_ctx *ctx, uint8_t fs)
__ASSERT_NO_MSG(!(fs & ISOTP_PCI_TYPE_MASK));
if (ctx->tx_addr.use_ext_addr) {
if ((ctx->tx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) {
*data++ = ctx->tx_addr.ext_addr;
}
@ -374,13 +374,13 @@ static void process_ff_sf(struct isotp_recv_ctx *ctx, struct can_frame *frame)
uint8_t payload_len;
uint32_t rx_sa; /* ISO-TP fixed source address (if used) */
if (ctx->rx_addr.use_ext_addr) {
if ((ctx->rx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) {
if (frame->data[index++] != ctx->rx_addr.ext_addr) {
return;
}
}
if (ctx->rx_addr.use_fixed_addr) {
if ((ctx->rx_addr.flags & ISOTP_MSG_FIXED_ADDR) != 0) {
/* store actual CAN ID used by the sender */
ctx->rx_addr.ext_id = frame->id;
/* replace TX target address with RX source address */
@ -465,7 +465,7 @@ static void process_cf(struct isotp_recv_ctx *ctx, struct can_frame *frame)
int index = 0;
uint32_t data_len;
if (ctx->rx_addr.use_ext_addr) {
if ((ctx->rx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) {
if (frame->data[index++] != ctx->rx_addr.ext_addr) {
return;
}
@ -557,14 +557,15 @@ static inline int attach_ff_filter(struct isotp_recv_ctx *ctx)
{
uint32_t mask;
if (ctx->rx_addr.use_fixed_addr) {
if ((ctx->rx_addr.flags & ISOTP_MSG_FIXED_ADDR) != 0) {
mask = ISOTP_FIXED_ADDR_RX_MASK;
} else {
mask = CAN_EXT_ID_MASK;
}
struct can_filter filter = {
.flags = CAN_FILTER_DATA | ((ctx->rx_addr.ide != 0) ? CAN_FILTER_IDE : 0),
.flags = CAN_FILTER_DATA |
((ctx->rx_addr.flags & ISOTP_MSG_IDE) != 0 ? CAN_FILTER_IDE : 0),
.id = ctx->rx_addr.ext_id,
.mask = mask
};
@ -755,7 +756,7 @@ static void send_process_fc(struct isotp_send_ctx *ctx,
{
uint8_t *data = frame->data;
if (ctx->rx_addr.use_ext_addr) {
if ((ctx->rx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) {
if (ctx->rx_addr.ext_addr != *data++) {
return;
}
@ -854,7 +855,7 @@ static void pull_data_ctx(struct isotp_send_ctx *ctx, size_t len)
static inline int send_sf(struct isotp_send_ctx *ctx)
{
struct can_frame frame = {
.flags = ctx->tx_addr.ide != 0 ? CAN_FRAME_IDE : 0,
.flags = (ctx->tx_addr.flags & ISOTP_MSG_IDE) != 0 ? CAN_FRAME_IDE : 0,
.id = ctx->tx_addr.ext_id
};
size_t len = get_ctx_data_length(ctx);
@ -865,7 +866,7 @@ static inline int send_sf(struct isotp_send_ctx *ctx)
data = get_data_ctx(ctx);
pull_data_ctx(ctx, len);
if (ctx->tx_addr.use_ext_addr) {
if ((ctx->tx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) {
frame.data[index++] = ctx->tx_addr.ext_addr;
}
@ -895,7 +896,7 @@ static inline int send_sf(struct isotp_send_ctx *ctx)
static inline int send_ff(struct isotp_send_ctx *ctx)
{
struct can_frame frame = {
.flags = ctx->tx_addr.ide != 0 ? CAN_FRAME_IDE : 0,
.flags = (ctx->tx_addr.flags & ISOTP_MSG_IDE) != 0 ? CAN_FRAME_IDE : 0,
.id = ctx->tx_addr.ext_id,
.dlc = ISOTP_CAN_DL
};
@ -904,7 +905,7 @@ static inline int send_ff(struct isotp_send_ctx *ctx)
int ret;
const uint8_t *data;
if (ctx->tx_addr.use_ext_addr) {
if ((ctx->tx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) {
frame.data[index++] = ctx->tx_addr.ext_addr;
}
@ -936,7 +937,7 @@ static inline int send_ff(struct isotp_send_ctx *ctx)
static inline int send_cf(struct isotp_send_ctx *ctx)
{
struct can_frame frame = {
.flags = ctx->tx_addr.ide != 0 ? CAN_FRAME_IDE : 0,
.flags = (ctx->tx_addr.flags & ISOTP_MSG_IDE) != 0 ? CAN_FRAME_IDE : 0,
.id = ctx->tx_addr.ext_id,
};
int index = 0;
@ -945,7 +946,7 @@ static inline int send_cf(struct isotp_send_ctx *ctx)
int rem_len;
const uint8_t *data;
if (ctx->tx_addr.use_ext_addr) {
if ((ctx->tx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0) {
frame.data[index++] = ctx->tx_addr.ext_addr;
}
@ -1116,7 +1117,8 @@ static void send_work_handler(struct k_work *item)
static inline int attach_fc_filter(struct isotp_send_ctx *ctx)
{
struct can_filter filter = {
.flags = CAN_FILTER_DATA | ((ctx->rx_addr.ide != 0) ? CAN_FILTER_IDE : 0),
.flags = CAN_FILTER_DATA |
((ctx->rx_addr.flags & ISOTP_MSG_IDE) != 0 ? CAN_FILTER_IDE : 0),
.id = ctx->rx_addr.ext_id,
.mask = CAN_EXT_ID_MASK
};
@ -1164,7 +1166,7 @@ static int send(struct isotp_send_ctx *ctx, const struct device *can_dev,
len = get_ctx_data_length(ctx);
LOG_DBG("Send %zu bytes to addr 0x%x and listen on 0x%x", len,
ctx->tx_addr.ext_id, ctx->rx_addr.ext_id);
if (len > ISOTP_CAN_DL - (tx_addr->use_ext_addr ? 2 : 1)) {
if (len > ISOTP_CAN_DL - ((ctx->tx_addr.flags & ISOTP_MSG_EXT_ADDR) != 0 ? 2 : 1)) {
ret = attach_fc_filter(ctx);
if (ret) {
LOG_ERR("Can't attach fc filter: %d", ret);

23
tests/subsys/canbus/isotp/conformance/src/main.c
View File

@ -72,43 +72,34 @@ const struct isotp_fc_opts fc_opts_single = {
.bs = 0,
.stmin = 0
};
const struct isotp_msg_id rx_addr = {
.std_id = 0x10,
.ide = 0,
.use_ext_addr = 0
};
const struct isotp_msg_id tx_addr = {
.std_id = 0x11,
.ide = 0,
.use_ext_addr = 0
};
const struct isotp_msg_id rx_addr_ext = {
.std_id = 0x10,
.ide = 0,
.use_ext_addr = 1,
.ext_addr = EXT_ADDR
.ext_addr = EXT_ADDR,
.flags = ISOTP_MSG_EXT_ADDR,
};
const struct isotp_msg_id tx_addr_ext = {
.std_id = 0x11,
.ide = 0,
.use_ext_addr = 1,
.ext_addr = EXT_ADDR
.ext_addr = EXT_ADDR,
.flags = ISOTP_MSG_EXT_ADDR,
};
const struct isotp_msg_id rx_addr_fixed = {
.ext_id = 0x18DA0201,
.ide = 1,
.use_ext_addr = 0,
.use_fixed_addr = 1
.flags = ISOTP_MSG_FIXED_ADDR | ISOTP_MSG_IDE,
};
const struct isotp_msg_id tx_addr_fixed = {
.ext_id = 0x18DA0102,
.ide = 1,
.use_ext_addr = 0,
.use_fixed_addr = 1
.flags = ISOTP_MSG_FIXED_ADDR | ISOTP_MSG_IDE,
};
const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));

5
tests/subsys/canbus/isotp/implementation/src/main.c
View File

@ -35,15 +35,12 @@ const struct isotp_fc_opts fc_opts_single = {
.bs = 0,
.stmin = 1
};
const struct isotp_msg_id rx_addr = {
.std_id = 0x10,
.ide = 0,
.use_ext_addr = 0
};
const struct isotp_msg_id tx_addr = {
.std_id = 0x11,
.ide = 0,
.use_ext_addr = 0
};
struct isotp_recv_ctx recv_ctx;