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drivers: can: mcux: flexcan: fix handling of RTR frames

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When installing a RX filter, the driver uses "filter->rtr &
filter->rtr_mask" for setting the filter mask. It should just be using
filter->rtr_mask, otherwise filters for non-RTR frames will match RTR
frames as well.

When transmitting a RTR frame, the hardware automatically switches the
mailbox used for TX to RX in order to receive the reply. This, however,
does not match the Zephyr CAN driver model, where mailboxes are dedicated
to either RX or TX. Attempting to reuse the TX mailbox (which was
automatically switched to an RX mailbox by the hardware) fails on the first
call, after which the mailbox is reset and can be reused for TX. To
overcome this, the driver must abort the RX mailbox operation when the
hardware performs the TX to RX switch.

Fixes: #47902

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit is contained in:
Henrik Brix Andersen 2022-07-16 23:28:10 +02:00 • committed by Fabio Baltieri
commit 3e5aaf837e
1 changed files with 4 additions and 4 deletions
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8
drivers/can/can_mcux_flexcan.c
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@ -301,13 +301,11 @@ static void mcux_flexcan_copy_zfilter_to_mbconfig(const struct zcan_filter *src,
if (src->id_type == CAN_STANDARD_IDENTIFIER) { if (src->id_type == CAN_STANDARD_IDENTIFIER) {
dest->format = kFLEXCAN_FrameFormatStandard; dest->format = kFLEXCAN_FrameFormatStandard;
dest->id = FLEXCAN_ID_STD(src->id); dest->id = FLEXCAN_ID_STD(src->id);
*mask = FLEXCAN_RX_MB_STD_MASK(src->id_mask, *mask = FLEXCAN_RX_MB_STD_MASK(src->id_mask, src->rtr_mask, 1);
src->rtr & src->rtr_mask, 1);
} else { } else {
dest->format = kFLEXCAN_FrameFormatExtend; dest->format = kFLEXCAN_FrameFormatExtend;
dest->id = FLEXCAN_ID_EXT(src->id); dest->id = FLEXCAN_ID_EXT(src->id);
*mask = FLEXCAN_RX_MB_EXT_MASK(src->id_mask, *mask = FLEXCAN_RX_MB_EXT_MASK(src->id_mask, src->rtr_mask, 1);
src->rtr & src->rtr_mask, 1);
} }
if ((src->rtr & src->rtr_mask) == CAN_DATAFRAME) { if ((src->rtr & src->rtr_mask) == CAN_DATAFRAME) {
@ -661,6 +659,7 @@ static inline void mcux_flexcan_transfer_rx_idle(const struct device *dev,
static FLEXCAN_CALLBACK(mcux_flexcan_transfer_callback) static FLEXCAN_CALLBACK(mcux_flexcan_transfer_callback)
{ {
struct mcux_flexcan_data *data = (struct mcux_flexcan_data *)userData; struct mcux_flexcan_data *data = (struct mcux_flexcan_data *)userData;
const struct mcux_flexcan_config *config = data->dev->config;
/* /*
* The result field can either be a MB index (which is limited to 32 bit * The result field can either be a MB index (which is limited to 32 bit
* value) or a status flags value, which is 32 bit on some platforms but * value) or a status flags value, which is 32 bit on some platforms but
@ -680,6 +679,7 @@ static FLEXCAN_CALLBACK(mcux_flexcan_transfer_callback)
mcux_flexcan_transfer_error_status(data->dev, status_flags); mcux_flexcan_transfer_error_status(data->dev, status_flags);
break; break;
case kStatus_FLEXCAN_TxSwitchToRx: case kStatus_FLEXCAN_TxSwitchToRx:
FLEXCAN_TransferAbortReceive(config->base, &data->handle, mb);
__fallthrough; __fallthrough;
case kStatus_FLEXCAN_TxIdle: case kStatus_FLEXCAN_TxIdle:
mcux_flexcan_transfer_tx_idle(data->dev, mb); mcux_flexcan_transfer_tx_idle(data->dev, mb);