zephyr

History

Henrik Brix Andersen 3436c93387 drivers: can: remove run-time RTR filtering, add build-time RTR filter A growing number of CAN controllers do not have support for individual RX hardware filters based on the Remote Transmission Request (RTR) bit. This leads to various work-arounds on the driver level mixing hardware and software filtering. As the use of RTR frames is discouraged by CAN in Automation (CiA) - and not even supported by newer standards, e.g. CAN FD - this often leads to unnecessary overhead, added complexity, and worst-case to non-portable behavior between various CAN controller drivers. Instead, move to a simpler approach where the ability to accept/reject RTR frames is globally configured via Kconfig. By default, all incoming RTR frames are rejected at the driver level, a setting which can be supported in hardware by most in-tree CAN controllers drivers. Legacy applications or protocol implementations, where RTR reception is required, can now select CONFIG_CAN_ACCEPT_RTR to accept incoming RTR frames matching added CAN filters. These applications or protocols will need to distinguish between RTR and data frames in their respective CAN RX frame handling routines. Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>		2024-01-21 11:00:31 +01:00
..
boards	boards: posix: native_posix: enable can_loopback0 by default	2022-10-03 10:17:12 +02:00
src	drivers: can: remove run-time RTR filtering, add build-time RTR filter	2024-01-21 11:00:31 +01:00
CMakeLists.txt
Kconfig
prj.conf	samples: net: sockets: can: add console harness configuration	2022-07-19 10:31:10 +02:00
README.rst	samples: net: doc: Use new Sphinx extension to document networking samples	2023-09-19 15:22:59 +01:00
sample.yaml	samples, tests: convert string-based twister lists to YAML lists	2023-05-10 09:52:37 +02:00

README.rst

.. zephyr:code-sample:: socket-can
   :name: SocketCAN
   :relevant-api: bsd_sockets socket_can

   Send and receive raw CAN frames using BSD sockets API.

Overview
********

The socket CAN sample is a server/client application that sends and receives
raw CAN frames using BSD socket API.

The application consists of these functions:

* Setup function which creates a CAN socket, binds it to a CAN network
  interface, and then installs a CAN filter to the socket so that the
  application can receive CAN frames.
* Receive function which starts to listen the CAN socket and prints
  information about the CAN frames.
* Send function which starts to send raw CAN frames to the bus.

The source code for this sample application can be found at:
:zephyr_file:`samples/net/sockets/can`.

Requirements
************

You need a CANBUS enabled board like :ref:`nucleo_l432kc_board` or
:ref:`stm32f072b_disco_board`.

Building and Running
********************

Build the socket CAN sample application like this:

.. zephyr-app-commands::
   :zephyr-app: samples/net/sockets/can
   :board: <board to use>
   :conf: <config file to use>
   :goals: build
   :compact:

Example building for the nucleo_l432kc:

.. zephyr-app-commands::
   :zephyr-app: samples/net/sockets/can
   :host-os: unix
   :board: nucleo_l432kc
   :goals: run
   :compact: